Processing system, adjustment method, and adjustment program

Abstract

The present invention reduces personnel costs related to carry-in and carry-out of a medium.　A processing system 1 includes: a printer 3 that performs printing during which an ink is discharged onto a medium M which is placed on a table 31; a belt conveyor 5 that carries in a medium M which has not been printed on, and that carries out the medium M which has been processed; and a robot 7 that, from the belt conveyor 5, acquires the medium M which has not been printed on, places the medium M on the table 31, collects from the table 31 the medium M which has been processed, and places the medium M on the belt conveyor 5. The robot 7 is arranged between the printer 3 and the belt conveyor 5 in the X direction.

Description

Processing system, adjustment method and adjustment program

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

[0002] The processing system includes, for example, a droplet ejection device (e.g., a printer). The droplet ejection device performs a process of ejecting droplets onto media placed on a table. To perform processing using the droplet ejection device, it is necessary to supply the media to the table and then collect the processed media from the table. Deploying workers to supply and collect the media increases labor costs. To reduce labor costs, it has been proposed to introduce a robot that supplies and collects media into the processing system (see, for example, Patent Document 1).

[0003] The processing system also includes, for example, a droplet ejection device (e.g., a printer). The droplet ejection device performs processing by ejecting droplets onto media placed on a table. To perform processing using the droplet ejection device, it is necessary to supply media to the table and then collect the processed media from the table. Deploying workers to supply and collect media increases labor costs. To reduce labor costs, it has been proposed to introduce a robot that supplies and collects media into the processing system (see, for example, Patent Document 1). The robot grasps and transports media from a supply location and supplies it to the droplet ejection device. The robot also grasps and transports media that has been processed by the droplet ejection device and releases it at a discharge location.

[0004] JP 2012-183595 A

[0005] For example, the robot can retrieve media from a stocker or the like located at the supply position, place it on the table of the droplet ejection device, and store the processed media in a stocker or the like located at the recovery position. However, because the stocker's capacity is limited, workers must periodically load media into the stocker and unload the processed media from the stocker. Furthermore, when processing the processed media in the next process, workers must transport the media to the location of the next process.

[0006] There is a need to reduce the labor costs associated with loading and unloading media in processing systems.

[0007] The height position of the robot when gripping or releasing media should desirably be set according to the thickness of the media. For example, the height position can be set using a preset value for the media thickness measured in advance. However, even when processing the same type of media, individual differences in media thickness can occur. Furthermore, when droplets adhere to the surface of the media during processing with the droplet ejection device, the thickness of the media can change. The amount of thickness change varies depending on the processing content of the droplet ejection device. Therefore, if the height position for gripping or releasing media is set based on the thickness of the media before processing, the robot may not operate properly.

[0008] In a processing system, a robot is required to grip or release a processed medium at an appropriate height position.

[0009] A processing system according to one aspect of the present invention comprises: (1) a droplet ejection device that performs a process of ejecting droplets onto media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, and the robot is positioned between the droplet ejection device and the belt conveyor.

[0010] A processing system according to one aspect of the present invention includes: (2) a droplet ejection device that performs a process of ejecting droplets onto media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, wherein the belt conveyor has a portion that is positioned between the droplet ejection device and the robot.

[0011] In the processing system of (1) or (2), (3) the robot is a SCARA robot.

[0012] In any of the processing systems (1) to (3), (4) the droplet ejection device comprises: an ejection section that ejects the droplets onto the medium; a guide bar that supports the ejection section at a position opposite the table and extends along a first direction in which the table extends; and a movement mechanism that moves the guide bar along a second direction in which the table extends and that is perpendicular to the first direction, and the belt conveyor has a portion that is arranged along the first direction, to the side of an end of the table in the second direction.

[0013] In any of the processing systems (1) to (3), (5) the droplet ejection device comprises: an ejection section that ejects the droplets onto the media; a guide bar that supports the ejection section at a position opposite the table and extends along a first direction in which the table extends; and a movement mechanism that moves the media placement section of the table along a second direction in which the table extends and which is perpendicular to the first direction, and the belt conveyor has a portion that is arranged along the second direction, which is the movement direction of the placement section, on the side of the end of the table in the first direction.

[0014] A processing system in one aspect of the present invention includes: (6) a droplet ejection device that performs a process of ejecting droplets onto media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and recovers the media after processing from the table and places it on the belt conveyor, wherein the robot includes an arm that retrieves the media and a base that supports the arm, and the base is attached to a wall above or to the side of the droplet ejection device.

[0015] In the processing system of (6), (7) the table of the droplet ejection device extends along a first direction and a second direction perpendicular to the first direction, and the base of the robot is positioned so as to overlap with the table when viewed from a third direction perpendicular to the first direction and the second direction.

[0016] In the processing system of (6) or (7), (8) the belt conveyor has a portion disposed to the side of the end of the table in the first direction or the second direction, and when viewed from the third direction, the base of the robot is located closer to the belt conveyor than the center of the table in the second direction or the first direction.

[0017] In any of the processing systems (1) to (8), (9) the belt conveyor comprises a first belt conveyor that carries in the media before processing, and a second belt conveyor that carries out the media after processing, and the robot is disposed between the downstream end of the first belt conveyor in the transport direction and the upstream end of the second belt conveyor in the transport direction.

[0018] In any of the processing systems (1) to (9), (10) the table of the droplet ejection device extends along a first direction and a second direction perpendicular to the first direction, and when the belt conveyor is viewed from the second direction or the first direction, the height of the portion of the belt conveyor that overlaps with the table is lower than the height of the table.

[0019] In any one of the processing systems (1) to (10), (11) a carrying-out robot is provided, which is disposed downstream of the belt conveyor in the transport direction of the media, and carries the processed media out of the belt conveyor.

[0020] In any one of the processing systems (1) to (11), (12) the droplet ejection device includes a plurality of droplet ejection devices each capable of processing a medium, and the belt conveyor transports the medium to be processed by each of the plurality of droplet ejection devices.

[0021] In any one of the processing systems (1) to (12), (13) a sorting unit is provided downstream of the belt conveyor in the media transport direction, which sorts the processed media and sorts them into a plurality of output positions.

[0022] A processing system in one aspect of the present invention (14) comprises: a cutting device that performs a process of cutting media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, and the robot is positioned between the cutting device and the belt conveyor.

[0023] A processing system in one aspect of the present invention (15) comprises: a cutting device that performs a process of cutting media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, wherein the belt conveyor has a portion that is positioned between the cutting device and the robot.

[0024] A processing system in one aspect of the present invention (16) comprises: a cutting device that performs a process of cutting media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, wherein the robot has an arm that retrieves the media and a base that supports the arm, and the base is attached to a wall above or to the side of the cutting device.

[0025] A processing system according to one aspect of the present invention is (17) a processing system having a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that grasps the media after processing by the droplet ejection device and releases it at a discharge location, wherein the robot adjusts at least one of the height position when grasping the processed media and the height position when releasing the processed media at the discharge location based on information regarding the thickness of the processed media.

[0026] (18) In the processing system of (17), the information regarding the thickness of the processed media includes the thickness of the media before processing by the droplet ejection device and the amount of change in thickness of the media due to processing by the droplet ejection device, and the system is equipped with a first sensor that detects the height position of the media by the robot coming into contact with the media before processing, and an estimation unit that estimates the thickness of the media before processing based on the detection result of the first sensor.

[0027] (19) In the processing system of (18), the estimation unit estimates the amount of change in thickness of the medium based on print data for controlling the operation of the droplet ejection device.

[0028] (20) In the processing system of (18) or (19), the robot grasps the unprocessed media at a supply point and releases the unprocessed media at the droplet ejection device, and the robot adjusts at least one of the height position when grasping the unprocessed media and the height position when releasing the unprocessed media based on the thickness of the unprocessed media estimated by the estimation unit.

[0029] (21) In any of the processing systems (17) to (20), a second sensor is provided to detect the height position of the processed media, and an estimation unit is provided to estimate the thickness of the processed media based on the detection result of the second sensor.

[0030] (22) The processing system according to any one of (17) to (20) above, further comprising an estimation unit that estimates the thickness of the processed medium based on print data for controlling the operation of the droplet ejection device.

[0031] (23) In the processing system of (22), the estimation unit estimates the thickness of the processed media based on the print data and a table showing the correspondence between the print data and the thickness of the processed media.

[0032] (24) In any of the processing systems (17) to (21), the robot is provided with the second sensor, and the second sensor detects the vertical position of the processed media by the robot coming into contact with the processed media.

[0033] (25) In the processing system of (24), the second sensor detects the height positions of multiple parts of the processed media by the robot displacing the processed media while contacting the processed media or by contacting multiple parts of the processed media, and the estimation unit estimates the thickness of the processed media based on the height positions of the multiple parts detected by the second sensor.

[0034] (26) In the processing system according to any one of (17) to (25), the robot releases the media from a position in the height direction that is a predetermined distance away from the media placement surface at the discharge location.

[0035] (27) The processing system according to (26) above, further comprising an update unit that periodically acquires the stack height of the media released from the robot and stacked at the discharge location.

[0036] (28) In the processing system of (27), the update unit estimates the stack height based on at least one of characteristic information of the media, operation information of the droplet discharge device, and operation information of the robot.

[0037] (29) The processing system according to any one of (17) to (26) above, further comprising a support member at the discharge location for supporting the media released from the robot and stacked.

[0038] (30) The processing system of (27) further comprises: a support member that supports the media released from the robot and stacked at the discharge location; and a third sensor that is provided on the support member and can detect the stack height of the media, and the update unit acquires the detection result of the third sensor.

[0039] An adjustment method in one aspect of the present invention is (31) a method for adjusting the operation of a robot that grasps media processed by a droplet ejection device that ejects droplets onto the media and releases it at a discharge location, wherein at least one of the height position of the robot when grasping the processed media and the height position of the robot when releasing the processed media is adjusted based on information regarding the thickness of the media after processing by the droplet ejection device.

[0040] An adjustment program in one aspect of the present invention is (32) a program for adjusting the operation of a robot that grasps media processed by a droplet ejection device that ejects droplets onto the media and releases it at a discharge location, and causes an electronic device to adjust at least one of the height position of the robot when grasping the processed media and the height position of the robot when releasing the processed media, based on information regarding the thickness of the media after processing by the droplet ejection device.

[0041] According to the present invention, it is possible to reduce the labor costs involved in carrying in and out media.

[0042] Furthermore, according to the present invention, the robot can grip or release the processed media at an appropriate height position.

[0043] 20 is a diagram illustrating an example of the configuration of a processing system according to an embodiment. FIG. 21 is a schematic diagram of a printer viewed from the X direction. FIG. 22 is a schematic diagram illustrating an example of the operation of a robot. FIG. 23 is a diagram illustrating an example of the configuration of a processing system according to Modification 1. FIG. 24 is a diagram illustrating an example of the operation of a robot according to Modification 1. FIG. 25 is a diagram illustrating an example of the configuration of a processing system according to Modification 2. FIG. 26 is a diagram illustrating an example of the configuration of a processing system according to Modification 3. FIG. 27 is a diagram illustrating an example of the placement of a robot when viewed from the Z direction. FIG. 28 is a diagram illustrating an example of the configuration of a processing system according to Modification 4. FIG. 29 is a diagram illustrating another example of the configuration of a processing system according to Modification 4. FIG. 29 is a diagram illustrating an example of the configuration of a processing system according to Modification 5. FIG. 29 is a diagram illustrating an example of the configuration of a processing system according to Modification 6. FIG. 29 is a block diagram illustrating the configuration of a processing system. FIG. 29 is a schematic diagram illustrating media supply by a robot. FIG. 29 is a schematic diagram illustrating media collection by a robot. FIG. 29 is a diagram illustrating an example of the hardware configuration of an electronic device. FIG. 29 is a diagram illustrating detection processing by a sensor of a robot. FIG. 29 is a flowchart illustrating the flow of a printing process. FIG. 29 is a diagram illustrating details of the media supply processing in step S04 of FIG. 29. FIG. 29 is a flowchart illustrating details of the adjustment processing in step S42 of FIG. 29. FIG. 29 is a diagram illustrating details of the collection processing in step S07 of FIG. 23 is a flowchart illustrating details of the adjustment process of step S72 in FIG. 22. FIG. 24 is a block diagram illustrating an example configuration of an electronic device according to Modification 1. FIG. 25 is a diagram illustrating an example of processing for detecting the height direction position of media M after printing processing. FIG. 26 is a diagram illustrating another example of processing for detecting the height direction position of media M after printing processing. FIG. 27 is a diagram illustrating an example of processing for detecting multiple height direction positions of media M. FIG. 28 is a flowchart illustrating the flow of adjustment processing according to Modification 1. FIG. 29 is a schematic diagram illustrating an example configuration of a processing system according to Modification 2. FIG. 30 is a schematic diagram illustrating detection by a sensor provided on a support member. FIG. 31 is a flowchart illustrating the flow of update processing according to Modification 2.

[0044] First Embodiment A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an example of the configuration of a processing system 1 according to an embodiment. In FIG. 1, for ease of understanding, the media M is cross-hatched, and the movement mechanisms 37, 37 of the printer 3 are hatched. In the following description, positional relationships will be described based on the X, Y, and Z directions in FIG. 1. The Z direction is a vertical (up-down) direction extending from the front side to the back side of the paper in FIG. 1. The X and Y directions are directions perpendicular to the Z direction. The X direction is a direction parallel to the up-down direction of the paper in FIG. 1. The Y direction is a direction perpendicular to the X direction and parallel to the left-right direction of the paper. The upper side of the paper in the X direction is the X1 side, and the lower side of the paper is the X2 side. The left side of the paper in the Y direction is the Y1 side, and the right side of the paper is the Y2 side.

[0045] As shown in FIG. 1 , the processing system 1 includes, for example, a printer 3, which is an example of a droplet ejection device, a belt conveyor 5, a robot 7, and a control device 9. The printer 3 performs a printing process by ejecting droplets onto a medium M placed on a table 31. The belt conveyor 5 carries in the medium M before printing and carries out the medium M after printing. The robot 7 retrieves the medium M before printing from the belt conveyor 5 and places it on the table 31. The robot 7 also retrieves the medium M after printing from the table 31 and places it on the belt conveyor 5. In this way, the processing system 1 of this embodiment can automate the entire process of carrying in, printing, and carrying out the medium M without human intervention.

[0046] The control device 9 comprehensively controls the operations of the printer 3, the belt conveyor 5, and the robot 7. The control device 9 is communicably connected to the controllers (not shown) of the printer 3, the belt conveyor 5, and the robot 7 via, for example, a LAN cable or a wireless network. Although not shown, the control device 9 can be composed of electronic devices including, for example, a processor such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), or an SSD (Solid State Drive), an input device such as a keyboard, a mouse, or a touch panel, and a display device such as a monitor.

[0047] The medium M is not limited to a specific shape or material as long as it can be applied with droplets and can be transported by the robot 7 and conveyor. In Fig. 1, a rectangular thin panel is shown as an example of the medium M. The panel can be made of, for example, plastic such as acrylic resin, paper, wood, metal, etc.

[0048] The printer 3 is an example of a droplet ejection device, and performs a printing process by ejecting droplets of ink or other liquid onto a medium M. As shown in FIG. 1 , the printer 3 includes a table 31 on which the medium M is placed. The upper surface of the table 31 in the Z direction serves as a placement surface 31a for the medium M. As an example, the table 31 can be rectangular and extend along the Y direction (first direction) and the X direction (second direction) when viewed from the Z direction. The table 31 can be large enough to accommodate multiple media M, for example.

[0049] FIG. 2 is a schematic diagram of the printer 3 as viewed from the X direction. As shown in FIG. 2, the table 31 is supported on its underside by legs 33. The support surface 31a of the table 31 is located at a height H1 in the Z direction from the floor F on which the printer 3 is installed. The printer 3 includes a carriage 34 disposed above the table 31 facing the support surface 31a, and a guide bar 36 supporting the carriage 34. The guide bar 36 extends horizontally along the Y direction above the table 31. When viewed from the Z direction, the guide bar 36 crosses the table 31 in the Y direction. The width W2 of the guide bar 36 in the Y direction is longer than the width W1 of the table 31 in the Y direction. Therefore, the ends 36a and 36b of the guide bar 36 in the Y direction protrude further than the table 31 on the Y1 and Y2 sides, respectively. A guide rail (not shown) is provided on the guide bar 36 along the Y direction, and the carriage 34 is driven by a drive mechanism (not shown) to move along the guide rail in the Y direction. A head 35 (ejection unit) that ejects ink is mounted on the carriage 34. By moving the carriage 34 in the Y direction, the head 35 mounted on the carriage 34 also moves in the Y direction.

[0050] Although not shown, the underside of the head 35 is provided with multiple nozzles for ejecting ink. The underside of the head 35 faces the mounting surface 31a of the table 31 in the Z direction with a small gap between them. This allows ink ejected from the nozzles on the underside of the head 35 to land on the medium M placed on the mounting surface 31a of the table 31. The ink used in the printer 3 is not limited to a specific type, but may be, for example, ultraviolet-curable ink that is cured by ultraviolet light or heat-curable ink that is cured by heat. In this case, although not shown, the carriage 34 of the printer 3 may be equipped with an ultraviolet irradiation device or a heating device for curing the ink ejected onto the medium M. Furthermore, the droplets ejected by the printer 3 are not limited to ink; any droplets having a viscosity sufficient to adhere to the medium M may be used as appropriate.

[0051] A maintenance station 41 is provided at the Y1-side end 36a of the guide bar 36 that projects beyond the table 31. Although not shown, the maintenance station 41 has a built-in device that flushes and cleans the nozzles of the head 35. When the carriage 34 moves to the Y1-side end 36a of the guide bar 36, the head 35 is flushed and cleaned at the maintenance station 41.

[0052] An ink supply device 42 is provided at an end 36b of the guide bar 36 on the Y2 side that protrudes beyond the table 31. Although not shown, an ink tank is built into the ink supply device 42. The ink tank and the head 35 are connected via an ink tube (not shown), and ink is supplied from the ink tank to the head 35.

[0053] Movement mechanisms 37, 37 are provided at ends 32a, 32b of the table 31 on the Y1 and Y2 sides in the Y direction. The movement mechanisms 37, 37 move the guide bar 36, the maintenance station 41, and the ink supply device 42 together in the X direction. When the guide bar 36 moves in the X direction, the carriage 34 supported by the guide bar 36 and the head 35 mounted on the carriage 34 also move in the X direction.

[0054] When performing a printing process, the printer 3 ejects ink from the head 35 onto the medium M while moving the carriage 34 in the Y direction. When the printer 3 completes one reciprocating movement of the head 35 in the Y direction (one pass), the printer 3 moves the guide bar 36 a predetermined distance in the X direction, and then ejects ink from the head 35 while moving the carriage 34 in the Y direction again. In other words, the printer 3 can print on the medium M by alternately repeating one reciprocating movement of the head 35 in the Y direction (one pass) and an operation to feed the medium M a predetermined distance in the X direction.

[0055] Although not shown, the printer 3 includes a controller that controls the operation of each unit. The controller is communicably connected to a control device 9 that performs overall control of the processing system 1. The controller controls the operation of each unit of the printer 3 based on print data input from the control device 9, thereby performing print processing.

[0056] The robot 7 is not limited to a specific type as long as it can acquire and transport media M, but for example, a horizontally articulated robot (a so-called SCARA robot) such as that shown in Figure 1 can be used. A SCARA robot is made up of a combination of multiple arms that rotate horizontally.

[0057] As shown in FIG. 1 , the robot 7 includes a base 71, an arm 73 supported by the base 71, and an arm 75 supported by the arm 73. The arms 73 and 75 each extend horizontally. The base 71 is disposed, for example, on the floor F between the printer 3 and the belt conveyor 5. The base end of the arm 73 is supported on the upper surface of the base 71 so as to be rotatable about an axis Z1 along the Z direction. The base end of the arm 75 is supported on the tip of the arm 73 so as to be rotatable about an axis Z2 parallel to the axis Z1. A shaft 77 extending in the Z direction passes through the tip of the arm 75. The shaft 77 is movable up and down by a drive mechanism (not shown).

[0058] Although not shown, a mechanism for retrieving media M is provided at the lower end of the shaft 77. The mechanism for retrieving media M can be, for example, a suction pad. The suction pad adheres to the media M by contacting the suction pad with the surface of the media M and applying negative pressure. Furthermore, the suction pad releases the media M by applying positive pressure to the suction pad while it is holding the media M. Note that the mechanism for retrieving media M on the robot 7 is not limited to a suction pad, and other configurations can also be used as appropriate.

[0059] The robot 7 can move the shaft 77 at the tip of the arm 75 in the X and Y directions by combining the rotations of the arms 73 and 75. The robot 7 can then pick up or release the media M by moving the shaft 77 up and down at a desired position.

[0060] Although not shown in the figure, the robot 7 is equipped with a controller that is communicatively connected to the control device 9. The controller controls the operation of the robot 7 based on teaching data set in a prior teaching operation and operation commands input from the control device 9.

[0061] As shown in FIG. 1 , the belt conveyor 5 includes a pair of frames 51 extending parallel to each other in the Y direction, and a conveyor belt 53 disposed between the pair of frames 51. Note that FIG. 1 illustrates the conveyor belt 53 cut away at the Y1-side end 5a of the belt conveyor 5. A pulley 55 is disposed at each of the Y1-side end 5a and the Y2-side end 5b of the belt conveyor 5. The pulley 55 is supported at both ends in the X direction by the pair of frames 51. The conveyor belt 53 is looped around the two pulleys 55 to form a ring shape. A plurality of carrier rollers 57 are disposed between the two pulleys 55, aligned in the Y direction. Note that while FIG. 1 illustrates only some of the carrier rollers 57, the carrier rollers 57 are horizontally and continuously disposed from the Y1 side to the Y2 side. The carrier roller 57 is supported at both ends in the X direction by the pair of frames 51. The plurality of carrier rollers 57 support an upper surface 53a of the ring-shaped conveyor belt 53. The upper surface 53a of the conveyor belt 53 is supported by the carrier rollers 57 to form a horizontal plane extending in the Y direction.

[0062] Although not shown, the belt conveyor 5 includes a drive mechanism that rotates the Y2-side pulley 55. When the drive mechanism rotates the Y2-side pulley 55, the conveyor belt 53 wound around the pulley 55 rotates. Specifically, the conveyor belt 53 rotates such that the portion of the conveyor belt 53 that passes above the rollers 57 moves to one side in the Y direction, and the portion of the conveyor belt 53 that passes below the rollers 57 moves to the other side in the Y direction.

[0063] In the illustrated example, when the Y2-side pulley 55 is rotated clockwise, the upper surface 53a of the conveyor belt 53 moves from the Y1 side toward the Y2 side (the direction of the white arrow in the figure). By placing media M on the upper surface 53a of this conveyor belt 53, the media M is transported from the Y1 side to the Y2 side. Hereinafter, the direction from the Y1 side to the Y2 side in the Y direction is also referred to as the transport direction of the media M.

[0064] Although not shown in the figure, the belt conveyor 5 is provided with a controller that is communicably connected to the control device 9. Based on an operation command input from the control device 9, the controller controls the operation of the belt conveyor 5 in the conveying direction, the operation in the reverse direction, and stopping.

[0065] 1, the control device 9 can be located, for example, in area A2 where workers are stationed. The printer 3 and robot 7 can be located, for example, in area A1 where printing processing is performed, which is separate from area A2. Area A1 can be separated by a wall or the like, or can be an open area.

[0066] 1, for example, the Y1-side end 5a of the belt conveyor 5 is located in a carry-in area A3 for media M, and the Y2-side end 5b is located in an unloading area A4 for media M. The belt conveyor 5 can be positioned so that a middle portion 5c in the Y direction is located within area A1. In this embodiment, the belt conveyor 5 transports media M in the transport direction, allowing the media M to be seamlessly moved between the carry-in area A3, the area A1 where printing processing is performed, and the unloading area A4.

[0067] In the carry-in area A3, the media M before printing is placed on the Y1-side end 5a of the belt conveyor 5. The belt conveyor 5 transports the media M to an intermediate section 5c within area A1. The robot 7 retrieves the media M transported to the intermediate section 5c and places it on the table 31 of the printer 3, which then performs printing on the media M. After printing, the robot 7 retrieves the printed media M from the table 31 and places it back on the belt conveyor 5. Note that the belt conveyor 5 can be stopped until the robot 7 has completed supplying and retrieving the media M. Once the printed media M is placed on the belt conveyor 5, the belt conveyor 5 resumes operation and transports the media M in the Y direction from area A1 toward the end 5b of the unloading area A4. In the unloading area A4, the printed media M is unloaded from the Y2-side end 5b of the belt conveyor 5.

[0068] In area A1, the intermediate section 5c of the belt conveyor 5 can be positioned within the reach of the arms 73, 75 of the robot 7. The intermediate section 5c is positioned so as to cross area A1 in the Y direction and overlap the printer 3 when viewed from the X direction. The intermediate section 5c of the belt conveyor 5 is positioned on the end 32d side of the table 31 in the X direction and extends in the Y direction. FIG. 1 illustrates a center line CLa that passes through the center of the table 31 in the Y direction and is aligned with the X direction. The intermediate section 5c of the belt conveyor 5 is positioned along a direction (Y direction) that intersects with this center line CLa.

[0069] As described above, the ends 36a and 36b of the guide bar 36 protrude from the ends 32a and 32b of the table 31 of the printer 3 in the Y direction, and a maintenance station 41 and an ink supply device 42 are provided. The guide bar 36, together with the maintenance station 41 and the ink supply device 42, is movable in the X direction by the movement mechanisms 37 and 37. Therefore, when the belt conveyor 5 is disposed on the end 32a or end 32b of the table 31 in the Y direction, a large gap must be provided between the belt conveyor 5 and the table 31 so as not to interfere with the movement of the guide bar 36 in the X direction. On the other hand, in this embodiment, the belt conveyor 5 is disposed on the end 32d of the table 31 in the X direction, where the guide bar 36 does not protrude. This allows the belt conveyor 5 to be positioned close to the table 31 without interfering with the movement of the guide bar 36.

[0070] The robot 7 can be positioned, for example, between the table 31 and the belt conveyor 5 in the X direction. That is, the table 31 is positioned on one side of the robot 7 in the X direction (the X1 side), and the middle section 5c of the belt conveyor 5 is positioned on the opposite side (the X2 side). The position of the robot 7 in the Y direction is not limited, but it can be positioned, for example, on the center CLa of the table 31 in the Y direction. By positioning the printer 3, the belt conveyor 5, and the robot 7 in this manner, the robot 7 can transport the media M with simple operations and with a reduced travel distance of the arms 73 and 75.

[0071] FIG. 3 is a schematic diagram showing an example of the operation of the robot 7. As shown in FIG. 1, the robot 7 has multiple arms 73 and 75, and is capable of complex movements in response to the rotation of each arm 73 and 75. However, FIG. 3 simplifies the operation of the robot 7 and shows the operation of a single arm rotating about axis Z1. In the example of FIG. 3 , media M1 and M2 are located at positions P1 and P2 on the belt conveyor 5, respectively, on the left and right of the center line CLa. The robot 7 retrieves media M1 and M2 from positions P1 and P2 on the belt conveyor 5 and places them on positions P3 and P4 on the table 31, respectively, on the left and right of the center line CLa. After printing is completed by the printer 3, the robot 7 retrieves media M1 and M2 from positions P3 and P4 on the table 31 and places them back on the belt conveyor 5 at positions P1 and P2.

[0072] When the robot 7 transports the media M1, the robot 7 first positions its arm along a line segment L1 connecting the robot 7's axis Z1 to position P1 on the belt conveyor 5, and retrieves the media M1 from position P1. The robot 7 then moves its arm from the position along line segment L1 to a position along line segment L2 connecting the robot 7's axis Z1 to position P3 on the table 31, and releases the media M1 at position P3. Relative to the robot 7, position P1 on the belt conveyor 5 is located on the opposite side of position P3 on the table 31 in the X direction. This allows the robot 7 to change direction from the belt conveyor 5 to the table 31 with a small rotation angle. In the illustrated example, the rotation angle α of the robot 7 from line segment L1 to line segment L2 is kept within 180°.

[0073] When the robot 7 transports media M2, it first positions its arm along line segment L3, which connects the robot 7's axis Z1 to position P2 on the belt conveyor 5, and retrieves media M2 from position P2. Next, the robot 7 moves its arm from the position along line segment L3 to a position along line segment L4, which connects the robot 7's axis Z1 to position P4 on the table 31, and releases media M2 at position P4. As with media M1, the rotation angle α of the robot 7 from line segment L3 to line segment L4 is limited to 180° or less. As mentioned above, if the robot 7 has two arms 73 and 75 (see FIG. 1 ), it is also possible to rotate the arm 73 at an angle smaller than the illustrated rotation angle α and then rotate the arm 75 to transport media M1 and M2 to positions P3 and P4. By turning in the direction opposite to the thick arrow shown in the figure, the robot 7 can transport the media M1 and M2 after printing from positions P3 and P4 to positions P1 and P2. In other words, the robot 7 can both supply and collect the media M1 and M2 with a small turning angle.

[0074] Thus, in this embodiment, by placing the robot 7 between the belt conveyor 5 and the printer 3, the robot 7 is positioned close to both, allowing the arm's rotation range to be reduced. When the arm's rotation range is increased, the centrifugal force acting on the arm increases. This can lead to slight misalignment in the position where the arm picks up the media M or the position where the media M is placed. In this embodiment, the arm's rotation range is reduced, making it possible to reduce such misalignment. Reducing misalignment when the robot 7 places the media M on the table 31 of the printer 3 also reduces misalignment when the printer 3 ejects ink, thereby improving the print quality of the printer 3. Furthermore, reducing the rotation range of the robot 7's arm also reduces the power consumption of the robot 7.

[0075] Furthermore, by positioning the robot 7 close to the printer 3, the arm length of the robot 7 can be used to its full potential, allowing it to transport media M even to printers 3 equipped with large tables 31. By introducing a printer 3 equipped with a large table 31 capable of placing a large number of media M, the processing efficiency of media M can be improved. Furthermore, when the robot 7 is placed between the belt conveyor 5 and the printer 3, the robot 7 can change direction between the belt conveyor 5 and the printer 3 with a simple horizontal rotation. In other words, in this embodiment, a SCARA robot, which operates simply and is easy to teach, can be effectively used.

[0076] As shown in FIG. 1 , a carry-in robot 58 for media M can be placed in the carry-in area A3, where the Y1-side end 5a of the belt conveyor 5 is located. Furthermore, a carry-out robot 59 for media M can be placed in the carry-out area A4, where the Y2-side end 5b of the belt conveyor 5 is located. The carry-in robot 58 and the carry-out robot 59 may be, for example, the same type of robot 7 as the robot 7 in area A1, or may be a different type of robot 7. As shown in FIG. 1 , the robot 7 in area A1 is placed between the carry-in robot 58 and the carry-out robot 59 in the Y direction. In this way, by placing the robot 7, the carry-in robot 58, and the carry-out robot 59 on a line along the Y direction, the process of carrying in, printing, and carrying out media M can be carried out smoothly.

[0077] The carry-in area A3 can be, for example, a storage location for media M before printing. In this case, the carry-in robot 58 can, for example, obtain media M from a stocker (not shown) or the like and place them on the belt conveyor 5. The carry-in area A3 can alternatively be an area where pre-processing steps before printing are performed on media M. In this case, the carry-in robot 58 can obtain media M from the device that performed the pre-processing step and place them on the belt conveyor 5. The carry-in area A3 can alternatively be an area where another belt conveyor that transports media M before printing is located. In this case, the carry-in robot 58 can obtain media M from the other belt conveyor and place them on the belt conveyor 5.

[0078] The unloading area A4 can be, for example, a storage location for media M after printing processing. In this case, the unloading robot 59 places the media M obtained from the belt conveyor 5 in a stocker or the like. The unloading area A4 may alternatively be an area for performing post-processing on the media M after printing processing. In this case, the unloading robot 59 can supply the media M obtained from the belt conveyor 5 to a device that performs post-processing. The unloading area A4 may alternatively be an area where another belt conveyor 5 that transports media M after printing processing is located. In this case, the unloading robot 59 can obtain the media M from the belt conveyor 5 and place them on the other belt conveyor.

[0079] Note that media M may be loaded onto and unloaded from the belt conveyor 5 by means other than the robot 7. For example, in the loading area A3, another belt conveyor may be placed at a higher position than the belt conveyor 5, and media M that slide off the end of the other belt conveyor may be placed on the end 5a of the belt conveyor 5. Also, in the unloading area A4, a stocker (not shown) may be placed at the end 5b on the Y2 side of the belt conveyor 5, and media M that slide off the end 5b may enter the stocker.

[0080] In the illustrated example, the ends 5a, 5b on the Y1 and Y2 sides of the belt conveyor 5 located outside the area A1 also extend along the Y direction, but the ends 5a, 5b on the Y1 and Y2 sides may be bent with respect to the intermediate portion 5c, for example. The shape of the belt conveyor 5 can be changed as appropriate depending on the positional relationship between the area A1, the carry-in area A3, and the carry-out area A4.

[0081] In FIG. 2 , the height H2 of the middle portion 5c of the belt conveyor 5 is indicated by an imaginary line. Height H2 can be set as appropriate, but as an example, it can be set lower than height H1 of the mounting surface 31a of the table 31 of the printer 3. Printers 3 with large tables 31 are often installed at the back of area A1. That is, when a worker enters area A1, he or she will view area A1 from the belt conveyor 5 side. Here, if the belt conveyor 5 is higher than the table 31, it will be difficult to get a bird's-eye view of the entire area A1. By making the belt conveyor 5 lower than the table 31, as in this embodiment, it becomes easier for the worker to see the entire area A1. This makes it easier to detect malfunctions or wear and tear in the devices within area A1.

[0082] As described above, the processing system 1 described in the embodiment has, for example, the following configuration: (1) The processing system 1 has: a printer 3 (droplet ejection device) that performs a printing process by ejecting ink (droplets) onto a medium M placed on a table 31; a belt conveyor 5 that carries in the medium M before printing and carries out the medium M after printing; and a robot 7 that retrieves the medium M before printing from the belt conveyor 5 and places it on the table 31, and collects the medium M after printing from the table 31 and places it on the belt conveyor 5. The robot 7 is positioned between the printer 3 and the belt conveyor 5 in the X direction.

[0083] In the processing system 1, the robot 7 supplies and collects media M to the printer 3 (droplet ejection device), automating the printing process and reducing labor costs. It is conceivable to place a stocker near the robot 7 to store media M before and after printing. However, because the stocker's capacity is limited, workers would need to periodically visit the area A1 where the printer 3 and robot 7 are located to load and unload media M. This could potentially affect the effective reduction of labor costs. In this embodiment, the belt conveyor 5 is used to automate the loading and unloading of media M. This eliminates the need for workers to periodically enter the area A1 to load and unload media M, thereby reducing labor costs. Furthermore, the printer 3 can perform printing without being restricted by the stocker's capacity, improving the efficiency of the printing process.

[0084] The robot 7 can be disposed, for example, between the printer 3 and the belt conveyor 5 in the X direction. The robot 7 is disposed at a relatively short distance from both the printer 3 and the belt conveyor 5. This shortens the travel distance of the arms 73, 75 of the robot 7 when transporting the media M between the printer 3 and the belt conveyor 5. By shortening the travel distance of the robot 7, misalignment when the robot 7 places the media M on the table 31 is reduced. This also improves the accuracy of alignment when the printer 3 prints on the media M. Since the printer 3 can eject ink at an accurate position on the media M, the print quality of the media M can be improved. In particular, when a large printer 3 is used, the travel distance of the robot 7 tends to be long, but by applying the configuration of this embodiment, the travel distance of the robot 7 can be reduced.

[0085] In the embodiment, a printer 3 is used as an example of a droplet ejection device, but the droplet ejection device is not limited to the printer 3. The droplet ejection device may be, for example, a dispenser capable of ejecting a fixed amount of liquid, or a coating device capable of ejecting a coating agent. Furthermore, the processing system 1 may include a cutting plotter (cutting device) that cuts the medium M instead of the droplet ejection device. The cutting plotter can form a cut line in the medium M or a V-groove in the medium M by pressing a cutting tool (blade) against the medium M and moving it relative to the medium M. In other words, the printers shown in the drawings referenced in this embodiment and in the modified examples described below can be replaced with other droplet ejection devices or cutting plotters.

[0086] (3) The robot 7 may be, for example, a SCARA robot.

[0087] The SCARA robot is equipped with multiple arms 73, 75 that rotate horizontally, and its operation is simpler than that of a vertical articulated robot. Therefore, teaching the robot 7 in advance is easy. Furthermore, when the robot 7 is placed between the printer 3 and the belt conveyor 5 as in this embodiment, the robot 7 can change direction between the printer 3 and the belt conveyor 5 with a relatively small rotation. In other words, in this embodiment, the operation required of the robot 7 is simple, and therefore a SCARA robot can be suitably used.

[0088] (4) The printer 3 includes a head 35 (discharge unit) that discharges droplets onto the medium M, a guide bar 36 that supports a carriage 34 on which the head 35 is mounted at a position facing the table 31 and extends along the Y direction (first direction) in which the table 31 extends, and movement mechanisms 37, 37 that move the guide bar 36 along the X direction (second direction) in which the table 31 extends and which is perpendicular to the Y direction. The belt conveyor 5 has an intermediate portion 5c. The intermediate portion 5c is a portion that is disposed along the Y direction on the side of the end 32d of the table 31 in the X direction.

[0089] The printer 3 may be configured, for example, such that the table 31 is fixed, and the guide bar 36 supporting the head 35 (ejection unit) moves relative to the table 31 in the X direction. Furthermore, the Y-direction ends 36a and 36b of the guide bar 36 may extend beyond the table 31. In this case, it is desirable to position the belt conveyor 5 as close to the table 31 as possible without interfering with the movement of the guide bar 36 in the X direction. In this embodiment, the middle portion 5c of the belt conveyor 5 is positioned along the Y direction on the side of the X-direction end 32d of the table 31. This allows the belt conveyor 5 to move closer to the table 31 without interfering with the movement of the guide bar 36. This reduces the travel distance of the robot 7 when transporting the media M between the belt conveyor 5 and the printer 3. Furthermore, by positioning the belt conveyor 5 closer to the printer 3, space in the area A1 can be saved. Furthermore, because a wide area of ​​the belt conveyor 5 can face the table 31, the arms 73, 75 of the robot 7 can easily reach multiple media M on the belt conveyor 5. This makes it possible to take advantage of the arm length of the robot 7 to transport the media M, improving the efficiency of the printing process.

[0090] (10) The table 31 of the printer 3 extends along the Y and X directions. The height H2 of the intermediate portion 5c of the belt conveyor 5 (the portion that overlaps with the table 31 when viewed from the X or Y direction) can be set lower than the height H1 of the support surface 31a of the table 31.

[0091] Typically, the printer 3 having a large table 31 is often installed at the back of area A1. Therefore, when a worker enters area A1, if the belt conveyor 5 is higher than the table 31, the printer 3 becomes difficult to see. By making the belt conveyor 5 lower than the table 31, the worker can easily get a bird's-eye view of the entire area A1 when entering area A1, making it easier to check whether the printer 3 or robot 7 is malfunctioning or worn out.

[0092] (11) The processing system 1 may have a carry-out robot 59. The carry-out robot 59 is located downstream of the belt conveyor 5 in the transport direction of the media M, and carries the media M out of the belt conveyor 5 after printing processing.

[0093] By providing a carry-out robot 59 that carries media M off the belt conveyor 5, labor costs can be further reduced. For example, a stocker can be placed at the end 5b of the belt conveyor 5 to collect media M that have fallen from the end 5b. However, if the media M are made of a flexible material such as paper or film, or a fragile material, they may be damaged by being dropped. By using the carry-out robot 59 to carry out media M, even media M that are susceptible to damage from being dropped can be safely carried out.

[0094] (i) The processing system 1 may have a carry-in robot 58. The carry-in robot 58 is disposed upstream of the belt conveyor 5 in the transport direction of the media M, and carries the media M onto the belt conveyor 5 before printing processing.

[0095] By providing a carry-in robot 58 in the same manner as the carry-out robot 59, the labor costs can be further reduced.

[0096] (Variation 1) FIG. 4 is a diagram showing an example of the configuration of a processing system 1A according to Variation 1. FIG. 4 shows only area A1, where the printer 3, robot 7, and intermediate portion 5c of the belt conveyor 5 are located. The other areas can be configured similarly to the embodiment, and are therefore not shown. The robot 7 is also shown in a simplified form. In the following variations, if the basic configuration of each device is similar to that of the embodiment, it will be denoted by the same reference numerals as in the embodiment, and detailed description will be omitted. In Variation 1, in area A1, the intermediate portion 5c of the belt conveyor 5 is located between the printer 3 and the robot 7 in the X direction. The intermediate portion 5c of the belt conveyor 5 is positioned in area A1 so as to cross between the printer 3 and the robot 7 in the Y direction. The intermediate portion 5c of the belt conveyor 5 is positioned in area A1 along the Y direction, on the X2-side end 32d of the table 31 of the printer 3 in the X direction. In the first modification, since the robot 7 is not interposed between the belt conveyor 5 and the printer 3, the middle portion 5c of the belt conveyor 5 directly faces the end 32d of the table 31 on the X2 side.

[0097] In Modification 1, the intermediate section 5c of the belt conveyor 5 and the table 31 of the printer 3 are arranged on the same side in the X direction (X1 side) relative to the robot 7. For example, as in the embodiment, the robot 7 can be arranged on the center line CLa passing through the center in the Y direction of the table 31. The robot 7 may be a SCARA robot as in the embodiment, or may be a vertical articulated robot.

[0098] 5 is a diagram showing an example of the operation of the robot 7 according to Modification 1. Like Fig. 3, Fig. 5 simplifies the operation of the robot 7 and shows it as the operation of a single arm that rotates around axis Z1. Like Fig. 3, Fig. 5 shows an example in which the robot 7 transports media M1 and M2 between positions P1 and P2 on the belt conveyor 5 and positions P3 and P4 on the table 31.

[0099] When the robot 7 transports the media M1, it first positions its arm along a line segment L5 connecting the robot 7's axis Z1 to position P1 on the belt conveyor 5 and retrieves the media M1 from position P1. The robot 7 then moves its arm from the position along line segment L5 to a position along line segment L6 connecting the robot 7's axis Z1 to position P3 on the table 31 and releases the media M1 at position P3. In Variation 1, the belt conveyor 5 and the table 31 of the printer 3 are located on the same side (X1 side) of the robot 7 in the X direction. In other words, from the robot 7's perspective, the belt conveyor 5 and the printer 3 are located on a linear movement path toward the X1 side in the X direction. Therefore, in Variation 1, the robot 7 does not need to make a large pivoting motion to turn to the opposite side after retrieving the media M1 from the belt conveyor 5. As a result, the pivot angle β from line segment L5 to line segment L6 is small, and as shown by the thick arrow in the figure, the path of movement of media M1 from position P1 to P3 is linear. When robot 7 transports media M2, it first positions its arm along line segment L7, which connects the robot 7's axis Z1 to position P2 on the belt conveyor 5, and retrieves media M1 from position P2. Next, robot 7 moves its arm from the position along line segment L7 to a position along line segment L8, which connects the robot 7's axis Z1 to position P4 on the table 31, and releases media M1 at position P4. The pivot angle β from line segment L7 to line segment L8 is small, and as shown by the thick arrow in the figure, the path of movement of media M2 is linear. Note that by moving in the direction opposite to the thick arrow in the figure, robot 7 can transport media M1 and M2 after printing from positions P3 and P4 to positions P1 and P2.

[0100] In this way, in the arrangement example of Modification 1, the robot 7 can reduce the rotation angle and transport the media M along a linear movement path. As described above, reducing the rotation angle of the robot 7 can reduce positional deviation due to centrifugal force, improving the print quality of the printer 3. It can also reduce the power consumption of the robot 7.

[0101] In Modification 1, since the belt conveyor 5 is interposed between the robot 7 and the printer 3, the distance between the robot 7 and the table 31 of the printer 3 is longer than in the embodiment. In this case, by employing a printer 3 with a relatively small table 31 as shown in Fig. 4, the table 31 can be placed within a range that can be reached by the arm of the robot 7. When using a printer 3 with a large table 31 as in the embodiment, this can be addressed by lengthening the arm of the robot 7 or increasing the number of arms.

[0102] As described above, the processing system 1A according to Variation 1 has, for example, the following configuration: (2) The processing system 1A has: a printer 3 that performs a process of ejecting ink onto a medium M placed on a table 31; a belt conveyor 5 that carries in the medium M before printing and carries out the medium M after printing; and a robot 7 that retrieves the medium M before printing from the belt conveyor 5 and places it on the table 31, and retrieves the medium M after printing from the table 31 and places it on the belt conveyor 5. The belt conveyor 5 has an intermediate section 5c. The intermediate section 5c is a section located between the printer 3 and the robot 7.

[0103] In variant 1, the belt conveyor 5 is placed between the printer 3 and the robot 7. In other words, the belt conveyor 5 and the printer 3 are located on the linear movement path of the robot 7. This allows the robot 7 to move the media M between the belt conveyor 5 and the printer 3 with linear movement that reduces pivoting. The greater the pivoting movement of the robot 7, the greater the centrifugal force that is applied, which can cause greater positional deviation and increase power consumption, but this arrangement reduces pivoting. This reduces positional deviation of the media M, reduces power consumption of the robot 5, and improves print quality in the printer 3.

[0104] (Variation 2) FIG. 6 is a diagram showing an example configuration of a processing system 1B according to Variation 2. In the embodiment, a printer 3 was illustrated in which a guide bar 36 was moved in the X direction by movement mechanisms 38 relative to a fixed table 31 to perform printing. As shown in FIG. 6 , Variation 2 illustrates a printer 3 in which a table 31 is moved in the X direction relative to a fixed guide bar 36 to perform printing. The printer 3 includes movement mechanisms 38 that move the table 31 along the X direction. The movement mechanisms 38 are provided, for example, at the ends 32 a, 32 b of the table 31 on the Y1 and Y2 sides in the Y direction. The table 31 can move, for example, along the X direction within a range from an initial position indicated by a solid line to a position indicated by a virtual line. Note that the movement mechanisms 38 need only move the media M placement surface 31 a of the table 31 along the X direction, and do not necessarily need to move the entire table 31. For example, if the table 31 has a structure in which a top plate and a bottom plate are stacked on top of each other, the movement mechanisms 38, 38 may move only the top plate having the mounting surface 31 a for the media M. Note that in the second modification, the carriage 34 supported by the guide bar 36 can also move in the Y direction, as in the embodiment.

[0105] In Modification 2, the intermediate portion 5c of the belt conveyor 5 can be disposed on the end 32b side of the table 31 in the Y direction (first direction), along the X direction (second direction), which is the movement direction of the table 31. Note that, although the belt conveyor 5 is disposed on the end 32b side of the table 31 in the example of FIG. 6 , it may also be disposed on the end 32a side. In Modification 2, if the belt conveyor 5 were disposed on the end 32c or 32d side of the table 31 in the X direction, it may interfere with the movement of the table 31 in the X direction. Therefore, in Modification 2, the belt conveyor 5 is disposed on the end 32b side of the table 31 in the Y direction. This allows the belt conveyor 5 to be disposed close to the table 31 without interfering with the movement of the table 31. Furthermore, by disposing the belt conveyor 5 along the X direction, the multiple media M transported by the belt conveyor 5 can be positioned facing the table 31.

[0106] As shown by the solid line in the figure, the robot 7 may be positioned between the table 31 and the belt conveyor 5 in the Y direction. In this case, as in the embodiment, the robot 7 can be positioned close to both the table 31 and the belt conveyor 5. This is an ideal position for a SCARA robot, as it reduces the travel distance of the robot 7 and enables it to transport the media M with a simple turning motion. Also, because the end 36b of the guide bar 36 protrudes in the Y direction from the table 31 of the printer 3, a space is created between the table 31 and the belt conveyor 5, but the robot 7 can be positioned to take advantage of this space.

[0107] Alternatively, as in Variation 1, the belt conveyor 5 may be positioned between the table 31 of the printer 3 and the robot 7 in the Y direction. In this case, the robot 7 can be positioned, for example, at the position shown by the dashed line in the figure. The table 31 of the printer 3 and the belt conveyor 5 are positioned side by side on the Y1 side of the robot 7 in the Y direction. In this case, as in Variation 1, the robot 7 can transport the media M from the belt conveyor 5 to the table 31 along a linear movement path.

[0108] Furthermore, when viewed from the Y direction, the robot 7 can be positioned so that it overlaps the table 31 in its initial position, as indicated by the solid line. This allows the robot 7 to transport the media M from the belt conveyor 5 to the printer 3 while reducing the travel distance.

[0109] In Variation 2, with the table 31 of the printer 3 in its initial position, the robot 7 retrieves the medium M from the belt conveyor 5 and places it on the table 31. The printer 3 uses the movement mechanisms 38, 38 to move the table 31 in the X1 direction by a predetermined distance at a time, causing the medium M to pass below the carriage 34 supported by the guide bar 36. The printer 3 ejects ink from the head 35 onto the medium M positioned below the carriage 34 while moving the carriage 34 in the Y direction, thereby printing.

[0110] When the table 31 moves to the position indicated by the imaginary line and printing is completed, the printer 3 moves the table 31 toward the X2 side and returns it to the initial position indicated by the solid line. The robot 7 retrieves the printed medium M from the table 31 and places it back on the belt conveyor 5.

[0111] In the embodiment, the guide bar 36 is movable in the X direction, and in the second variant example, the table is movable in the X direction. However, both the table 31 and the guide bar 36 may be movable in the X direction.

[0112] As described above, the processing system 1B of Modification 2 has, for example, the following configuration. (5) The printer 3 includes: a head 35 (ejection unit) that ejects ink (droplets) onto the medium M; a guide bar 36 that supports the head 35 in a position facing the table 31 and extends along the Y direction in which the table 31 extends; and movement mechanisms 38, 38 that move the media M placement surface 31a (placement unit) of the table 31 along the X direction in which the table 31 extends and which is perpendicular to the Y direction. The belt conveyor 5 has an intermediate section 5c. The intermediate section 5c is a section that is located on the 32b side of the table 31 in the Y direction, along the X direction in which the placement surface 31a of the table 31 moves.

[0113] The printer 3 may be configured with a movable table 31. In this configuration, it is desirable to position the belt conveyor 5 as close to the table 31 as possible without interfering with the movement of the table 31. For example, if the table 31 moves along the X direction, the belt conveyor 5 can be positioned along the X direction on the Y-direction end 32b side of the table 31. This allows the belt conveyor 5 to be close to the table 31 without interfering with the movement of the table 31 in the X direction. Furthermore, by positioning the belt conveyor 5 close to the table 31, space in the area A1 can be saved. Furthermore, because a wide area of ​​the belt conveyor 5 can face the table 31, the arms 73 and 75 (see FIG. 1 ) of the robot 7 can easily reach the media M being transported on the belt conveyor 5. This allows the robot 7 to utilize its arm length to transport the media M, improving the efficiency of the printing process.

[0114] (Variation 3) FIG. 7 is a diagram showing an example of the configuration of a processing system 1C according to Variation 3. As shown in FIG. 7 , Variation 3 describes an example in which the base 71 of the robot 7 is attached to the wall (ceiling R) above or to the wall (side wall SW) to the side of the table 31 of the printer 3. In FIG. 7 , the printer 3 is illustrated in a simplified manner, showing only the table 31 and legs 33. In FIG. 7 , the robot 7 attached to the ceiling R is illustrated with solid lines, and the robot 7 attached to the side wall SW is illustrated with dashed lines. Note that for the robot 7 attached to the side wall SW, only the base 71 is illustrated, and the arms 73, 75, and shaft 77 are not shown. When the base 71 of the robot 7 is attached to the ceiling R or the side wall SW, space for arranging the base 71 on the floor F (see FIG. 1 ) is not required. The space saved can be used to position the belt conveyor 5 and the table 31 of the printer 3 closer to each other.

[0115] As shown in Figure 7, when the base 71 of the robot 7 is attached to the side wall SW, the base 71 can be attached at a position higher in the Z direction than the table 31 of the printer 3. The number, length, and attachment positions of the arms of the robot 7 can be adjusted as needed so that the robot 7 can retrieve media M located below the base 71. Note that while Figure 7 shows a SCARA robot as an example of the robot 7, other robots such as a vertical articulated robot may also be used.

[0116] FIG. 8 is a diagram showing an example of the arrangement of the robot 7 when viewed from the Z direction. In FIG. 8, the position of the robot base 71 is indicated by a dashed line. As shown in FIG. 8A, the table 31 of the printer 3 extends along the Y and X directions. Similarly to the embodiment, FIG. 8A shows an example in which the belt conveyor 5 is arranged on the end 32d side of the printer 3 in the X direction. By attaching the base 71 of the robot 7 to the ceiling R or the side wall SW (see FIG. 7), the base 71 of the robot 7 can be positioned so as to overlap the table 31 when viewed from the Z direction, for example. Note that while the drawing shows an example in which the entire base 71 of the robot 7 overlaps the table 31, the base 71 may be positioned so that at least a portion of the base 71 overlaps the table 31. For example, if the base 71 is attached to the side wall SW, the base 71 can be positioned so as to extend above the table 31 from the side wall SW. This arrangement allows the robot 7 to be closer to the printer 3, thereby reducing the distance traveled by the arms 73, 75 (see FIG. 7 ) of the robot 7 when transporting media M. When viewed from the Z direction, the base 71 of the robot 7 can also be positioned closer to the belt conveyor 5 than an imaginary line (hereinafter referred to as the "center line CLb") that passes through the center of the table 31 in the X direction. This arrangement also allows the robot 7 to be closer to the belt conveyor 5, thereby further reducing the distance traveled by the arms 73, 75 of the robot 7 when transporting media M.

[0117] FIG. 8B illustrates an example in which the belt conveyor 5 is disposed on the end 32b side of the printer 3 in the Y direction, similar to the second modification. Even in the example of FIG. 8B , the base 71 of the robot 7 can be attached to the ceiling R or the side wall SW (see FIG. 7 ) so that the base 71 of the robot 7 overlaps the table 31 when viewed from the Z direction. While the drawing illustrates an example in which the entire base 71 of the robot 7 overlaps the table 31, the base 71 may be disposed so that at least a portion of the base overlaps the table 31. This arrangement allows the arms 73 and 75 of the robot 7 (see FIG. 7 ) to be closer to the printer 3, thereby reducing the travel distance of the arms 73 and 75 when transporting media M. Furthermore, the base 71 of the robot 7 can be disposed closer to the belt conveyor 5 than the center line CLa of the table 31 in the Y direction when viewed from the Z direction. By arranging the arms 73 and 75 of the robot 7 in this manner, the arms 73 and 75 can be brought closer to the belt conveyor 5, further reducing the distance that the arms 73 and 75 must travel when transporting the media M.

[0118] As described above, the processing system 1C according to Variation 3 has, for example, the following configuration: (6) The processing system 1C includes: a printer 3 that performs a printing process by ejecting ink onto media M placed on a table 31; a belt conveyor 5 that carries in media M before printing and carries out media M after printing; and a robot 7 that retrieves media M before printing from the belt conveyor 5 and places them on the table 31, and retrieves media M after printing from the table 31 and places them on the belt conveyor 5. The robot 7 includes arms 73 and 75 that retrieve media M, and a base 71 that supports the arms 73 and 75. The base 71 can be attached to the ceiling R or side wall SW (upper or side wall) of the printer 3.

[0119] By attaching the robot 7 to the ceiling R or side wall SW, there is no need to provide space for the robot 7 on the floor, making it easier to position the printers 3 and the belt conveyor 5 closer together. This reduces the movement distance of the robot 7, reducing misalignment and saving space. In addition, by effectively utilizing the arm length of the robot 7, it becomes easier to accommodate large printers 3. Furthermore, since space for the robot 7 on the floor F is no longer required, it becomes possible to increase the number of printers 3 or place multiple belt conveyors 5, improving the freedom of layout design.

[0120] (7) The table 31 of the printer 3 extends along the Y direction and the X direction perpendicular to the Y direction. When viewed from the Z direction (third direction) perpendicular to the Y and X directions, the base 71 of the robot 7 can be positioned so as to overlap the table 31.

[0121] By positioning the table 31 and the base 71 of the robot 7 in this way, the arms 73, 75 of the robot 7 can be brought closer to the printer 3. This reduces the travel distance required for the arms 73, 75 of the robot 7 to transport the media M, thereby reducing misalignment. Furthermore, because the arm length of the robot 7 can be used effectively, it is easier to accommodate printers 3 with large tables 31.

[0122] (8) The intermediate portion 5c of the belt conveyor 5 is disposed, for example, on the side of the end portion 32b in the Y direction of the table 31. In this case, when viewed from the Z direction, the base 71 of the robot 7 can be positioned closer to the belt conveyor 5 than the center of the table 31 in the X direction or the Y direction. Alternatively, the intermediate portion 5c of the belt conveyor 5 is disposed on the side of the end portion 32d in the X direction of the table 31. In this case, when viewed from the Z direction, the base 71 of the robot 7 can be positioned closer to the belt conveyor 5 than the center of the table 31 in the Y direction.

[0123] By arranging the robot 7 in this manner, the arms 73 and 75 can be brought closer to both the printer 3 and the belt conveyor 5, thereby reducing the movement distance required for the arms 73 and 75 and reducing positional deviation. In addition, by making effective use of the arm length of the robot 7, it becomes easier to support a large printer 3.

[0124] (Variation 4) FIG. 9 is a diagram showing an example configuration of a processing system 1D according to Variation 4. In the embodiment, an example was described in which a single belt conveyor 5 was used to load and unload media M. However, in Variation 4, an example is described in which loading and unloading are performed using separate belt conveyors 5. As shown in FIG. 9 , the processing system 1D according to Variation 4 includes a belt conveyor 50A (first belt conveyor) that loads media M before printing, and a belt conveyor 50B (second belt conveyor) that unloads media M after printing. The belt conveyors 50A and 50B can each have the same configuration as the belt conveyor 5 described in the embodiment. FIG. 9 shows an example in which the belt conveyors 50A and 50B are disposed on the end 32d side of the table 31 in the X direction, as in the embodiment. Both the belt conveyors 50A and 50B extend along the Y direction, and as indicated by the arrows in the figure, the media M are transported from the Y1 side to the Y2 side in the Y direction. The upstream end 5a of the belt conveyor 50A in the conveying direction is located in the carry-in area A3 (see FIG. 1), and the downstream end 5b of the belt conveyor 50B in the conveying direction is located in the area A1, and the downstream end 5b of the belt conveyor 50B in the conveying direction is located in the carry-in area A4 (see FIG. 1).

[0125] The robot 7 can be positioned within a range where its arms 73, 75 (see FIG. 1) can reach both the belt conveyor 50A and the belt conveyor 50B. For example, the robot 7 can be positioned in the Y direction between the downstream end 5b of the belt conveyor 50A in the conveying direction and the upstream end 5a of the belt conveyor 50B in the conveying direction. When viewed from the Y direction, the robot 7 can be positioned so that it overlaps the belt conveyor 50A and the belt conveyor 50B. Positioning the robot 7 in this way allows a single robot 7 to transport media M even when the belt conveyor 5 is divided into two. The robot 7 retrieves the media M that has been transported to the downstream end 5b of the belt conveyor 50A in the conveying direction and places it on the table 31 of the printer 3. When printing processing is completed in the printer 3, the robot 7 retrieves the media M from the table 31 and places it on the upstream end 5a of the belt conveyor 50B in the conveying direction.

[0126] In Variation 4, by providing separate belt conveyors for loading and unloading, it is not necessary to control the operation taking into account both the timing of printing start and completion. Therefore, the operation required of belt conveyors 50A and 50B is simplified. This reduces the frequency of replacement due to wear of the parts that make up belt conveyors 50A and 50B.

[0127] Note that Figure 9 is merely an example, and the arrangement of the belt conveyors 50A and 50B can be modified as appropriate. For example, similar to variant example 2 (see Figure 6), the belt conveyors 50A and 50B can be arranged along the X direction on the Y-direction end 32b side of the table 31 of the printer 3. Furthermore, for example, the belt conveyor 50B can be arranged side by side with the belt conveyor 50A in the X or Y direction. In this case, the media M carried in by the belt conveyor 50A is returned after printing and then carried out by the belt conveyor 50B. For example, such an arrangement can be adopted when the carry-in area A3 and the carry-out area A4 for the media M are located in the same place.

[0128] Furthermore, for example, the belt conveyors 50A and 50B may be arranged in different directions. FIG. 10 is a diagram showing another example configuration of a processing system 1D according to Modification 4. As shown in FIG. 10 , for example, the belt conveyor 50A may be arranged along the Y direction on the side of the end 32d of the table 31 in the X direction. The belt conveyor 50B may be arranged along the X direction on the side of the end 32b of the table 31 in the Y direction. In this case, as viewed from the Y direction, the upstream end 5a of the belt conveyor 50B in the transport direction is arranged to overlap the belt conveyor 50A. Furthermore, the robot 7 may be arranged between the downstream end 5b of the belt conveyor 50A in the transport direction and the upstream end 5a of the belt conveyor 50B in the transport direction. The robot 7 may be arranged, for example, near the corner where the end 32d of the table 31 in the X direction and the end 32b in the Y direction connect. For example, due to layout constraints, the loading area A3 and the unloading area A4 (see FIG. 1 ) may not be arranged in one direction. In such a case, it is possible to adopt the layout shown in Fig. 10. When the loading and unloading belt conveyors 50A and 50B are provided in this manner, it is possible to accommodate a variety of layouts.

[0129] As described above, the processing system 1D according to Variation 4 has, for example, the following configuration: (9) The belt conveyor 5 includes a belt conveyor 50A (first belt conveyor) that carries in media M before printing processing, and a belt conveyor 50B (second belt conveyor) that carries out media M after printing processing. The robot 7 can be disposed between the downstream end 5b of the belt conveyor 50A in the transport direction and the upstream end 5a of the belt conveyor 50B in the transport direction.

[0130] By providing a belt conveyor 50A for loading media M and a belt conveyor 50B for unloading media M in this way, the operation of each belt conveyor 5 is simplified, reducing wear on the belt conveyor 5 components and reducing the frequency of component replacement and the occurrence of malfunctions. Furthermore, by positioning the robot 7 between the downstream end 5b of the belt conveyor 50A in the transport direction and the upstream end 5a of the belt conveyor 50B in the transport direction, a single robot 7 can retrieve unprocessed media M from the belt conveyor 50A and place processed media M on the belt conveyor 50B. Furthermore, by providing both loading and unloading belt conveyors 50A and 50B, various layouts of the loading area A3 and unloading area A4 can be flexibly accommodated.

[0131] (Variation 5) FIG. 11 is a diagram showing an example configuration of a processing system 1E according to Variation 5. As shown in FIG. 11, the processing system 1E according to Variation 5 may include multiple printers 3A, 3B (droplet ejection devices) that each perform a printing process on a medium M. The multiple printers 3A, 3B may be arranged side by side in the Y direction, for example. The multiple printers 3A, 3B may be arranged so that their tables 31 extend along the X and Y directions. The belt conveyor 5 may be arranged along the Y direction, for example, on the end 32d side of the table 31 of each printer 3A, 3B in the X direction. The robot 7 may be arranged between the multiple printers 3A, 3B and the belt conveyor 5 in the X direction, as shown by the solid line in the figure. Alternatively, the belt conveyor 5 may be arranged between the multiple printers 3A, 3B and the robot 7 in the X direction. In this case, the robot 7 may be arranged on the X2 side of the multiple printers 3A, 3B and the belt conveyor 5, as shown by the dashed line in the figure. When viewed from the X direction, the robot 7 can be disposed so as to be located between the printers 3A and 3B. Although two printers 3A and 3B are illustrated in Fig. 11, the number of printers is not limited, and three or more printers may be disposed. In this case, the length or number of arms of the robot 7 may be adjusted accordingly, or the number of robots 7 may be increased.

[0132] The belt conveyor 5 transports media M to be printed by each of the printers 3A and 3B. The printers 3A and 3B may process the same type of media M, or different types of media M. When different types of media M are supplied to the printers 3A and 3B, the belt conveyor 5 can transport the media M to each printer. In this case, the robot 7 may use a sensor such as a camera to identify and transport the media M to each of the printers 3A and 3B. Alternatively, the belt conveyor 5 may transport the media M to each of the printers 3A and 3B in a predetermined order. In this case, the robot 7 can be set in advance by a teaching operation to supply media M to each of the printers 3A and 3B in a predetermined transport order.

[0133] Printers 3A and 3B may perform the same printing process on medium M, or different printing processes. Alternatively, printer 3B may perform a different printing process on medium M after printer 3A has performed a printing process on it. In this case, robot 7 acquires medium M that has been processed by printer 3A and places it on printer 3B. For example, after printer 3A has performed a printing process using color inks, printer 3B may perform a printing process using special color inks such as clear ink.

[0134] As described above, the processing system 1E according to Modification 5 has, for example, the following configuration: (12) The printer includes a plurality of printers 3A, 3B (droplet ejection devices) each capable of processing media M. The belt conveyor 5 transports the media M to be processed by each of the plurality of printers 3A, 3B.

[0135] If it takes a long time to print on the media M using a single printer, arranging multiple printers 3A, 3B can improve the processing efficiency of the media M. Furthermore, by using a single belt conveyor 5 to transport the media M to each of the printers 3A, 3B, the increase in equipment costs that would occur if the number of printers were increased can be reduced. As mentioned above, the droplet ejection device is not limited to a printer. Therefore, at least one of the multiple droplet ejection devices may be a droplet ejection device other than the printer 3 (for example, a dispenser, a coating device, etc.). Alternatively, at least one of the multiple droplet ejection devices may be replaced with a cutting plotter (cutting device).

[0136] (Variation 6) Figure 12 is a diagram showing an example configuration of a processing system 1G according to Variation 6. As shown in Figure 12, the processing system 1G according to Variation 6 includes a sorting unit 8 located downstream in the transport direction of the belt conveyor 5. The sorting unit 8, for example, sorts the media M printed by the printer 3 and sorts them to multiple output positions. The sorting unit 8 can be located between the area A1 where the printer 3 is located and the output area A4 (see Figure 1) in the Y direction, which is the extension direction of the belt conveyor 5.

[0137] The classification criteria for the media M in the sorting unit 8 are not limited, but for example, the sorting unit 8 can classify the media M as non-defective or defective. Alternatively, as illustrated in Variation 5, if multiple printers 3 print different images on the media M, the sorting unit 8 can classify the media M by each printed image. Alternatively, if the printers 3 perform printing processes on different types of media M, the sorting unit 8 can classify the media M by type. Alternatively, if different types of post-processing are performed on the media M after printing, the media M can be classified by the type of post-processing. The following example describes how the sorting unit 8 classifies media M into non-defective and defective. Media M classified as defective by the sorting unit 8 can be ejected from the belt conveyor 5 and sorted to the ejection stocker 85, for example. Non-defective media M are transported directly on the belt conveyor 5 and sorted to the discharge area A4 (see FIG. 1 ).

[0138] As shown in FIG. 12 , the sorting unit 8 may include, for example, an inspection device 81 that inspects media M after printing to determine whether they are defective, and a discharge mechanism 82 that discharges media M determined to be defective from the belt conveyor 5. The inspection device 81 may include, for example, a camera 83 that captures the appearance of the media M and a processor (not shown) that determines whether the media M are defective based on the image captured by the camera 83. The processor may, for example, analyze the image of the media M captured by the camera 83 to determine whether the printing process was performed on appropriate media M, whether the media M is dirty or scratched, or whether there are any printing defects. The discharge mechanism 82 may, for example, be an arm that pushes media M determined to be defective in the X direction to remove them from the belt conveyor 5 and thereby discharge the media M. Alternatively, the discharge mechanism 82 may be a robot 7 similar to the robot 7 provided in area A1. Media M discharged from the belt conveyor 5 are stored, for example, in a discharge stocker 85. Alternatively, a separate belt conveyor may be provided that branches off from the belt conveyor 5, and the media M discharged by the discharge mechanism 82 may be transported to a predetermined position by the separate belt conveyor.

[0139] The sorting unit 8 may sort the media M without relying on the inspection device 81. For example, as described in Variation 5, the belt conveyor 5 can transport different types of media M in a preset order. In this case, the sorting unit 8 can sort the media M according to the preset transport order of the media M.

[0140] The sorting unit 8 may be located upstream in the conveying direction of the belt conveyor 5. In this case, the sorting unit 8 can be located between the area A1 where the printer 3 is located and the loading area A3 (see FIG. 1) in the Y direction, which is the extension direction of the belt conveyor 5. The sorting unit 8 can classify and sort the media M before printing based on criteria such as whether they are defective. The inspection device 81 of the sorting unit 8 can determine whether the media M are suitable for printing, whether they are free of dirt or scratches, whether the previous process was performed properly, etc. The sorting unit 8 can eject media M determined to be defective to an ejection stocker 85 or the like using an ejection mechanism 82, and transport only non-defective media M to the area A1 where printing is performed.

[0141] (13) The processing system 1G has a sorting unit 8 downstream of the conveying direction of the media M on the belt conveyor 5, which sorts the processed media M and distributes them to multiple unloading positions, namely, an unloading area A4 and a discharge stocker 85.

[0142] This makes it possible to automate the sorting process of the media M after printing, thereby further reducing personnel costs and improving processing efficiency.

[0143] (ii) The processing system 1G has a sorting unit 8 on the upstream side of the conveying direction of the media M on the belt conveyor 5, which sorts the media M before processing and distributes them to multiple discharge positions, area A1 and a discharge stocker 85.

[0144] This makes it possible to automate the process of sorting media M before printing, thereby further reducing personnel costs and improving processing efficiency.

[0145] (iii) The sorting unit 8 can include an inspection device 81 that inspects the media M, and a discharge mechanism 82 that can discharge the media M from the belt conveyor 5 based on the inspection results.

[0146] This allows, for example, media M that is determined to be defective based on the inspection results of the inspection device 81 to be discharged from the belt conveyor 5 by the discharge mechanism 82, so that the belt conveyor 5 can transport only good media M.

[0147] The above-described modified examples can be applied not only to the embodiment but also to combinations of the modified examples with each other.

[0148] The present invention is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the technical concept of the present invention.

[0149] Second Embodiment A second embodiment of the present invention will be described below with reference to the drawings. FIG. 13 is a diagram showing an example of the configuration of a processing system 101 according to an embodiment. FIG. 14 is a block diagram showing the configuration of the processing system 101. In the following description, positional relationships will be described based on the X, Y, and Z directions in FIG. 13 . The Z direction is a direction along the vertical line (up and down) and extends from the front side to the back side of the paper in FIG. 13 . The X and Y directions are directions perpendicular to the Z direction. The X direction is a direction along the up and down direction of the paper in FIG. 13 . The Y direction is a direction perpendicular to the X direction and extends along the left and right direction of the paper. The upper side of the paper in the X direction is the X1 side, and the lower side of the paper is the X2 side. The left side of the paper in the Y direction is the Y1 side, and the right side of the paper is the Y2 side.

[0150] 13 and 14 , the processing system 101 includes, for example, a printer 103, which is an example of a droplet ejection device, a robot 105, and electronic equipment 109. The printer 103 performs a printing process by ejecting droplets onto a medium M placed on a table 131. The robot 105 supplies the medium M to the printer 103 and collects the medium M from the printer 103 after the printing process. As an example, FIG. 13 illustrates one printer 103 and one robot 105. The processing system 101 may include multiple printers 103 and multiple robots 105.

[0151] The printer 103 and robot 105 are communicatively connected to the electronic device 109 via a LAN network or by wireless communication. The electronic device 109 can be located, for example, in an area A2 where workers are stationed, separate from the processing area A1 where the printer 103 and robot 105 are located. The electronic device 109 is a device that comprehensively manages the progress of processing of media M, and transmits data necessary for processing media M to the printer 103 and robot 105.

[0152] The shape and material of the medium M used for printing are not limited to any particular one, and any material may be used as long as it can be printed on by the printer 103 and transported by the robot 105. The medium M can be made of, for example, plastic such as acrylic resin, paper, wood, ceramics, metal, food, leather, etc. In Figure 13, a rectangular thin panel is shown as an example of the medium M.

[0153] As shown in FIG. 13 , the processing area A1 is provided with a supply point 106 for media M before printing and a discharge point 107 for media M after printing. In FIG. 13 , as an example, the supply point 106 is provided with a belt conveyor 160 that transports media M before printing in the horizontal direction. The discharge point 107 is provided with a stocker 170 that stores media M stacked in the Z direction after printing. The belt conveyor 160 can transport media M, for example, from outside the processing area A1 to the supply point 106 within the processing area A1. In this case, the belt conveyor 160 is positioned so that at least the downstream end of the media M in the transport direction is located at the supply point 106. The belt conveyor 160 may transport media M from a device that performs a pre-printing process, or may transport media M from a storage facility.

[0154] The stocker 170 may be, for example, a platform with an upper surface 171 on which media M can be placed. The upper surface 171 of the stocker 170 may be provided with support members 172 that support the placed media M. The support members 172 may be, for example, columnar members that protrude upward in the Z direction from the upper surface 171 of the stocker 170. Two support members 172, 172 are arranged facing each other, for example, in the X or Y direction, with a distance that corresponds to the size of the media M. The media M are placed on the upper surface 171 sandwiched between the two support members 172, 172. The media M can be stacked by the two support members 172, 172 while being aligned in the X or Y direction. The shape and number of the support members 172 are not limited to the illustrated example. For example, three or more support members 172 may be arranged so that the positions of the media M in the X and Y directions are aligned. The support member 172 may be, for example, a columnar member that forms an L shape when viewed from the Z direction, and may be positioned so as to support the corners of the media M. This allows the position of the media M in the X and Y directions to be aligned with a single support member 172.

[0155] The supply point 106 and discharge point 107 shown in Figure 13 are merely examples and can be modified as appropriate. For example, a stocker may be provided at the supply point 106, and a belt conveyor may be provided at the discharge point 107. Alternatively, a single belt conveyor may be provided across the processing area A1, and the media M may be brought in before printing processing and the media M may be taken out after printing processing using the same belt conveyor. In this case, the supply point 106 and discharge point 107 for the media M may be the same location on the belt conveyor.

[0156] <Printer> The printer 103 is an example of a droplet ejection device, and performs a printing process by ejecting droplets of ink or the like onto the medium M. As shown in FIG. 13 , the printer 103 includes a table 131 on which the medium M is placed. The upper surface of the table 131 in the Z direction is a placement surface 131a for the medium M. As an example, the table 131 can be rectangular and extend along the Y direction (first direction) and the X direction (second direction) when viewed from the Z direction. The table 131 can be large enough to accommodate multiple media M, for example.

[0157] The printer 103 includes a carriage 134 disposed above the table 131, facing the mounting surface 131a, and a guide bar 136 supporting the carriage 134. The guide bar 136 extends horizontally along the Y direction above the table 131. When viewed from the Z direction, the guide bar 136 crosses the table 131 in the Y direction. Y-direction ends 136a and 136b of the guide bar 136 protrude toward the Y1 and Y2 sides, respectively, beyond the table 131. A guide rail (not shown) is provided on the guide bar 136 along the Y direction, and the carriage 134 is driven by a drive mechanism (not shown) to move along the guide rail in the Y direction. A head 135 (ejection unit) that ejects ink is mounted on the carriage 134. By moving the carriage 134 in the Y direction, the head 135 mounted on the carriage 134 also moves in the Y direction.

[0158] Although not shown, the underside of the head 135 is provided with multiple nozzles for ejecting ink. The underside of the head 135 faces the mounting surface 131a of the table 131 in the Z direction with a small gap between them. This allows ink ejected from the nozzles on the underside of the head 135 to land on the medium M placed on the mounting surface 131a of the table 131. The ink used in the printer 103 is not limited to a specific type, but may be, for example, ultraviolet-curable ink that is cured by ultraviolet light or heat-curable ink that is cured by heat. In this case, although not shown, the carriage 134 of the printer 103 may be equipped with an ultraviolet irradiation device or a heating device for curing the ink ejected onto the medium M. Furthermore, the droplets ejected by the printer 103 are not limited to ink; any droplets having a viscosity sufficient to adhere to the medium M may be used as appropriate. The head 135 may eject a single color of ink or multiple colors of ink. The ink may be, for example, C (cyan), M (magenta), Y (yellow), or K (black) process color ink (hereinafter referred to as "color ink"). Alternatively, the ink may be a special color ink such as LC (light cyan), LM (light magenta), Gy (gray), W (white), CL (clear), Pr (primer), O (orange), violet, metallic colors (gold, silver), or fluorescent colors. Furthermore, the droplets ejected by the printer 103 are not limited to ink, and any droplets having a viscosity that can adhere to the medium M may be used as appropriate.

[0159] A maintenance station 141 is provided at an end 136a of the guide bar 136 on the Y1 side that protrudes beyond the table 131. Although not shown, the maintenance station 141 has a built-in device that performs flushing and cleaning of the nozzles of the head 135. When the carriage 134 moves to the end 136a on the Y1 side of the guide bar 136, flushing and cleaning of the head 135 are performed at the maintenance station 141.

[0160] An ink supply device 142 is provided at an end 136b of the guide bar 136 on the Y2 side that protrudes beyond the table 131. Although not shown, an ink tank is built into the ink supply device 142. The ink tank and the head 135 are connected via an ink tube (not shown), and ink is supplied from the ink tank to the head 135.

[0161] Movement mechanisms 137, 137 are provided at ends 132a, 132b of the table 131 on the Y1 side and Y2 side in the Y direction. In Fig. 13, the movement mechanisms 137, 137 are hatched. The movement mechanisms 137, 137 move the guide bar 136, the maintenance station 141, and the ink supply device 142 together in the X direction. As the guide bar 136 moves in the X direction, the carriage 134 supported by the guide bar 136 and the head 135 mounted on the carriage 134 also move in the X direction.

[0162] When performing a printing process, the printer 103 ejects ink from the head 135 onto the medium M while moving the carriage 134 in the Y direction. When the printer 103 completes one reciprocating movement of the head 135 in the Y direction (one pass), it moves the guide bar 136 a predetermined distance in the X direction, and then ejects ink from the head 135 while moving the carriage 134 in the Y direction again. In other words, the printer 103 can print on the medium M by alternately repeating one reciprocating movement of the head 135 in the Y direction (one pass) and an operation to feed the medium M a predetermined distance in the X direction.

[0163] 14 , the printer 103 includes a controller 130 that controls the operation of each unit. The controller 130 is communicably connected to the electronic device 109. The controller 130 controls the operation of each unit of the printer 103 based on print data input from the electronic device 109, thereby performing print processing.

[0164] <Robot> The robot 105 may be any type capable of acquiring and transporting media M. For example, a vertically articulated robot or a horizontally articulated robot (a so-called SCARA robot) as shown in FIG. 13 may be used. A SCARA robot is composed of multiple arms that rotate horizontally. To ensure worker safety, the area including the rotation range of the robot's arms may be isolated by a safety fence or the like, or a collaborative robot that can operate in the same space as the worker may be used. The robot 105 includes a base 151, an arm 152 supported by the base 151, and an arm 153 supported by the arm 152. The arm 152 and the arm 153 each extend horizontally. The base 151 is disposed, for example, on the floor F between the printer 103 and the belt conveyor 160. The base end of the arm 152 is supported on the upper surface of the base 151 so as to be rotatable about an axis Z1 along the Z direction. The base end of the arm 153 is supported on the tip of the arm 152 so as to be rotatable around an axis Z2 parallel to the axis Z1. A shaft 154 extending in the Z direction passes through the tip of the arm 153. The shaft 154 is movable up and down by a drive mechanism (not shown). The robot 105 can move the shaft 154 in the X and Y directions by combining the rotation ranges of the arms 152 and 153. The robot 105 is disposed so that the supply point 106, the table 131 of the printer 103, and the discharge point 107 are located within the reachable range of the shaft 154. In the illustrated example, the supply point 106, the robot 105, and the discharge point 107 are disposed side by side along the Y direction on the side of the end 132d of the table 131 of the printer 103 in the X direction. The robot 105 is disposed between the supply point 106 and the discharge point 107 in the Y direction.

[0165] FIG. 15 is a schematic diagram illustrating the supply of media M by the robot 105. FIG. 16 is a schematic diagram illustrating the collection of media M by the robot 105. As shown in FIGS. 15 and 16 , a suction pad 155, for example, is provided at the lower end of the shaft 154 as a mechanism for gripping media M. The suction pad 155 can adhere to the media M by applying negative pressure while in contact with the surface of the media M. The suction pad 155 can also release the media M by applying positive pressure from a state in which the media M is being sucked. Note that the mechanism for gripping media M by the robot 105 is not limited to the suction pad 155; other mechanisms, such as a mechanism for clamping media M from above and below, may also be used as appropriate.

[0166] The robot 105 can be provided with a sensor 156 such as a pressure sensor or a force sensor. The sensor 156 can be built into the shaft 154 to which the suction pad 155 is attached, for example. By using the sensor 156, the robot 105 can perform more precise operations. Furthermore, by using the sensor 156, direct teaching can be performed, in which an operator manually moves the robot 105 to teach it an operation. Furthermore, as will be described in detail later, in this embodiment, the sensor 156 built into the robot 105 can be used as a sensor (first sensor) that detects the height position of the media M when the suction pad 155 comes into contact with the media M.

[0167] 14 , the robot 105 includes a controller 150 that controls the operation of each part. Teaching data for automatically operating the robot 105 is set in the controller 150 through a teaching operation performed in advance. The controller 150 is also communicably connected to the electronic device 109. The controller 150 controls the operation of the robot 105 based on an operation command input from the electronic device 109.

[0168] In the processing system 101 of this embodiment, the robot 105 receives, as teaching data, coordinate data indicating a movement path for supplying the unprinted media M to the printer 103 and a movement path for retrieving the printed media M from the printer 103. As shown in FIG. 15A, when the robot 105 supplies the media M, it moves from a standby position (not shown) to a supply point 106 and grasps the unprinted media M from the placement surface 161 of the belt conveyor 160. As shown in FIG. 15B, the robot 105 moves from the supply point 106 to above the table 131 of the printer 103, releases the media M onto the table 131 of the printer 103, and returns to its standby position. As shown in FIG. 16A, when retrieving the media M, the robot 105 moves from a standby position (not shown) to above the table 131 of the printer 103 and grasps the printed media M. As shown in FIG. 16B, the robot 105 moves from the printer 103 to the ejection location 107, releases the media M onto the top of the stocker 170, and returns to the standby position.

[0169] <Electronic Device> Fig. 17 is a diagram showing an example of the hardware configuration of the electronic device 109. As shown in Fig. 17, the electronic device 109 has a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a HDD (Hard Disk Drive) 904, a display 905 (display unit), an input device 906, a communication I / F 907, and a media I / F 908. Each component is connected to each other via a bus.

[0170] The CPU 901 controls the entire electronic device 109. The CPU 901 can load an OS and various programs stored in the ROM 902 or HDD 904 into the RAM 903 and execute them. Alternatively, the CPU 901 can load a program stored in a storage medium RM into the RAM 903 via the media I / F 908 and execute it. The storage medium RM can be an optical storage medium, a magneto-optical storage medium, a magnetic storage medium, a conductive memory tape medium, a semiconductor memory, or the like. Note that the electronic device 10900 may include a GPU (Graphics Processing Unit) or the like as a processor in addition to the CPU 901. The CPU 901 performs processing in response to user operations via the input device 906 and displays the processing results on the display 905. The input device 906 can be, for example, a keyboard, a mouse, a touchpad, or the like.

[0171] The HDD 904 stores programs executed by the CPU 901, data used by the programs, etc. The communication I / F 907 outputs data received from other devices to the CPU 901 via a network NW such as the Internet or a LAN (Local Area Network). The notification I / F transmits data generated by the CPU 901 to other devices. The other devices may be devices such as the robot 105 and printer 103 that constitute the processing system 101, or devices external to the processing system 101. The CPU 901 may load required programs onto the RAM 903 from other devices via the network NW.

[0172] In this embodiment, the electronic device 109 realizes the functional configuration of the electronic device 109 shown in FIG. 13 by having its CPU 901 execute application programs loaded onto the RAM 903. The electronic device 109 displays a screen on the display 905 for inputting information necessary for managing the processing system 101 in response to user input. The electronic device 109 also controls the operation of the printer 103 and robot 105 for processing the media M in response to user input. As shown in FIG. 14 , the electronic device 109 includes, as its functional configuration, a job management unit 191, a print data creation unit 192, and an operation adjustment unit 193. Each functional unit performs processing in response to user input via the input device 906 (see FIG. 17 ) and displays the processing results on the screen of the display 905 (see FIG. 17 ). Each functional unit also obtains data necessary for processing from the storage unit 195 and temporarily stores the processing results in the storage unit 195 as needed. The storage unit 195 is configured from a ROM 902, a RAM 903, an HDD 904, etc. shown in FIG.

[0173] The job management unit 191 creates print jobs based on image data uploaded by the user and registers them in a job list (not shown). The job management unit 191 also manages the operations of the printer 103 and robot 105 to execute each print job. When the user selects a print job to be executed from the job list and inputs an instruction to start printing, the job management unit 191 outputs the image data of the specified print job to the print data creation unit 192.

[0174] The print data creation unit 192 creates print data for controlling the operation of the printer 103. When uploading image data or inputting an instruction to start printing, the user can specify various print conditions via the operation screen. The job management unit 191 outputs the specified print conditions together with the image data to the print data creation unit 192. The print data creation unit 192 creates print data according to the print conditions.

[0175] The print data creation unit 192 creates print data by performing RIP (Raster Image Processing) on ​​image data according to the specified printing conditions. RIP is a process for generating a raster image that specifies the ejection positions for ejecting ink of a color corresponding to the image data. In RIP, a raster image is generated by performing halftone processing on a grayscale image corresponding to each color of C, M, Y, and K color ink or spot color ink. Furthermore, various commands for controlling the printer 103 according to the specified printing conditions are added to the generated raster image, and print data is created.

[0176] The job management unit 191 communicates with the printer 103 and the robot 105 to send and receive data necessary to execute a print job. The job management unit 191 outputs, for example, operation commands to the printer 103 and the robot 105. The operation commands can be, for example, commands to standby, start operation, end operation, interrupt, etc. The job management unit 191 transmits print data created by the print data creation unit 192 to the printer 103. The job management unit 191 transmits teaching data to the robot 105, in which the gripping position and release position have been adjusted by the operation adjustment unit 193 (described later). The job management unit 191 receives, for example, notifications of operation start, operation completion, and status information from the printer 103 and the robot 105. The job management unit 191 can also receive detection results from the robot 105 by a sensor 156 built into the robot 105.

[0177] Although detailed description is omitted, the job management unit 191 may also communicate with a controller (not shown) that controls the operation of the belt conveyor 160 and send operation commands to the belt conveyor 160. In this case, the job management unit 191 sends a command to the belt conveyor 160 to transport media M to the supply point 106 in accordance with the operation of the robot 105. Alternatively, the belt conveyor 160 may be programmed to operate automatically, without relying on operation commands from the job management unit 191. In this case, for example, a sensor may be provided at the position of the supply point 106 of the belt conveyor 160. When the sensor detects that a media M located at the supply point 106 has been moved by the robot 105, the belt conveyor 160 can transport the next media M to the supply point 106.

[0178] <Adjusting Robot Operation> As described above, the robot 105 operates based on teaching data set in advance during teaching work. However, if adjusted teaching data is received from the job management unit 191, the robot 105 operates based on the adjusted teaching data. As an example, the operation adjustment unit 193 adjusts the teaching data by adjusting the gripping position and release position of the media M in the teaching data. The "grippling position" refers to the height position of the robot 105 when gripping the media M, and the "release position" refers to the height position of the robot 105 when releasing the media M. In other words, in the processing system 101 of this embodiment, the robot 105 can adjust the gripping position and release position of the media M by operating based on the adjusted teaching data.

[0179] 15 and 16, an example of setting the release position and gripping position of media M will be described. Note that in the following description, "height" refers to, for example, the position in the Z direction (height direction) relative to the floor F (see FIG. 13) of the processing area A1 where the printer 103, robot 105, and conveyor are located. As described above, the robot 105 can grip and release media M, for example, using the suction pad 155 provided at the tip of the shaft 154. In this example, the gripping and release positions of media M are the height positions of the suction pad 155 provided at the tip of the shaft 154.

[0180] 15A, the robot 105 can suction and grip the media M at the supply point 106 by applying negative pressure with the suction pad 155 in contact with the media M on the belt conveyor 160. However, if the suction pad 155 is pressed excessively against the media M, damage to the media M or the suction pad 155 may occur. Furthermore, if the sensor 156 of the robot 105 detects that excessive pressure has been applied to the suction pad 155, the robot 105 may stop operating. To reduce this possibility, the height h1 of the gripping position can be set, for example, at a position that is spaced apart from the height H5 of the media M placement surface 161 on the belt conveyor 160 by a distance equal to the thickness T1 of the media M before printing.

[0181] As shown in FIG. 15B , when the robot 105 releases the medium M from the table 131 of the printer 103, it is desirable that the medium M not come into direct contact with the table 131 but face the table 131 with a small gap S in the Z direction. Bringing the medium M into contact with the table 131 could potentially apply excessive pressure to the medium M or the suction pad 155. This could damage the medium M or the suction pad 155 or cause the robot 105 to stop operating. To reduce this possibility, it is possible to increase the gap S between the medium M and the table 131. However, in this case, when the medium M is released and falls, the air in the gap S is compressed, reducing friction. This makes it more likely that the medium M that falls onto the table 131 will slide on the table 131 and become misaligned. Misalignment of the medium M could affect the print quality of the printer 103. To reduce this possibility, it is desirable to keep the gap S between the medium M and the table 131 small. For this reason, the height h2 of the release position can be set, for example, at a position that is a distance D1 in the Z direction from the height H6 of the mounting surface 131a of the table 131. The distance D1 in the Z direction can be set to a length that includes a margin of the gap S in addition to the thickness T1 of the medium M before the printing process.

[0182] When the medium M is released from the robot 105 and placed on the table 131 of the printer 103, the printer 103 moves the head 135 in the X direction to face the medium M on the table 131 in the Z direction. The printer 103 performs a printing process on the medium M by ejecting ink from the nozzles while moving the head 135 in the Y direction. As shown in FIG. 16A , ink ik ejected from the head 135 adheres to the medium M during the printing process. This may cause the thickness of the medium M to change before and after the printing process. Note that in FIG. 16 , the ink ik adhered to the medium M is schematically shown with cross-hatching for ease of understanding. Furthermore, the thickness of the ink adhered to the medium M is exaggerated. The thickness T1 of the medium M before the printing process and the thickness T2 of the medium M after the printing process have the following relationship: T2 = T1 + T3, where T3 is the amount of change in the thickness of the medium M due to the printing process.

[0183] The thickness change amount T3 varies depending on the type of media M used and the content of the printing process. For example, when using a medium M that easily absorbs ink, such as paper, or when a small amount of ink is ejected onto the medium M, the thickness change amount T3 tends to be small. In such cases, the thickness T1 of the medium M before the printing process and the thickness T2 of the medium M after the printing process may be almost the same. On the other hand, when using a medium M that does not easily absorb ink, such as an acrylic panel, or when a large amount of ink is ejected onto the medium M or multiple ink layers are formed, the thickness change amount T3 tends to be large. In such cases, the difference between the thickness T1 of the medium M before the printing process and the thickness T2 of the medium M after the printing process may be large.

[0184] When the robot 105 grips the media M after printing, it is desirable to reduce the possibility that the suction pad 155 will be pressed excessively against the media M, just as with the media M before printing. Therefore, height H3, which is the gripping position for the media M after printing, can be set, for example, at a position spaced apart from height H6 of the loading surface 131a of the table 131 by a distance equal to thickness T2 of the media M after printing.

[0185] 16(b), the robot 105 releases the media M after printing at the discharge point 107 and places it on the top of the stocker 170. In other words, the top of the stocker 170 is the surface on which the media M are placed at the discharge point 107. Here, when no media M are stacked on the stocker 170, the top surface 171 of the stocker 170 becomes the top of the stocker 170. When one or more media M are stacked on the stocker 170, the top surface of the uppermost media M becomes the top of the stocker 170. When the robot 105 releases the media M after printing, as with the media M before printing, it is desirable that the media M held by the suction pad 155 not come into direct contact with the top of the stocker 170, but face it with a small gap S in the Z direction.

[0186] If media M contact the top of the stocker 170, excessive pressure may be applied to the media M and the suction pad 155. This could damage the media M or the suction pad 155, or cause the robot 105 to stop operating. To reduce this possibility, it is possible to release the media M while it is far away from the top of the stocker 170. However, in this case, when the media M is released and falls, the air between the media M and the top of the stocker 170 is compressed, reducing friction. This makes it easier for the media M that falls to the top of the stocker 170 to slip and become misaligned. This could cause the media M to not be stacked in an aligned position on the stocker 170, causing some of the media M to protrude or fall off the stocker 170.

[0187] To reduce this possibility, height H4, which is the release position for media M after printing, can be set according to thickness T2 of media M after printing and the number of stacked media M SN on the stocker 170. Height H4 can be set, for example, as follows: Height H4 = height H7 of the top surface 171 of the stocker 170 + distance D2 (predetermined distance) Distance D2 = thickness T2 of media M after printing × number of stacked media M SN on the stocker 170 + gap S

[0188] The parameters for setting the gripping and release positions as exemplified above can be determined, for example, through advance measurements or simulations, and input as teaching data to the robot 105. For the parameters (T1, T2, T3) related to the thickness of the media M, set values ​​for the media M that are expected to be used can also be input. However, in actual printing processes, media M with thicknesses that differ from the set values ​​may be used. Furthermore, for media M such as food, leather, ceramics, and woodworking products, individual differences in thickness are likely to occur for each media M.

[0189] Furthermore, depending on the type of media M used and the content of the printing process, the thickness of the media M may differ significantly before and after the printing process, or the amount of change in thickness due to the printing process may vary for each media M. In such cases, an error may occur between the setting value used in the teaching data and the actual value. In particular, at the discharge location 107, media M after printing are stacked in the Z direction. Therefore, even if the error for one media M is small, the error increases as the number of media M stacked increases. In this case, when the robot 105 releases the media M after printing, the robot 105 is particularly susceptible to effects such as stopping its operation or misalignment of the media M.

[0190] In this embodiment, the operation adjustment unit 193 uses data related to the thickness of the medium M used in the printing process to adjust at least one of the heights h1 to H4, which are the gripping and release positions of the medium M, in the teaching data. The operation adjustment unit 193 can perform processing to adjust at least one of the heights h1 to H4 before starting the printing process for each medium M. The operation adjustment unit 193 (estimation unit) estimates, for example, the following data to adjust the gripping and release positions of the medium M: - Thickness T1 of the medium M before the printing process - Amount of change in thickness T3 of the medium M due to the printing process As described above, thickness T2 of the medium M after the printing process = T1 + T3. Therefore, thickness T1 of the medium M before the printing process and amount of change in thickness T3 of the medium M due to the printing process can be used as data related to thickness T2 of the medium M after the printing process.

[0191] The operation adjustment unit 193 can perform the estimation process in various ways. For example, the thickness T1 of the media M before printing can be estimated from the detection results of the sensor 156 of the robot 105. FIG. 18 is a diagram illustrating the detection process using the sensor 156 of the robot 105. As described above, the sensor 156 (first sensor) of the robot 105 detects the height position of the media M, for example, by contacting the suction pad 155 with the media M. As shown in FIG. 18 , the detection process by the sensor 156 of the robot 105 can be performed, for example, before printing on each media M begins, while the pre-printing media M is placed on the belt conveyor 160 of the supply location 106. The operation of the robot 105 related to the detection process can be set by prior teaching, similar to the operation related to transporting the media M. When performing the detection process, the robot 105 first positions the suction pad 155 at an initial position (height H8) above the belt conveyor 160 at the supply location 106.

[0192] The robot 105, for example, gradually lowers the shaft 154 a predetermined distance at a time, bringing the suction pad 155 attached to the bottom end of the shaft 154 closer to the media M placed on the belt conveyor 160. The sensor 156, for example, detects a change in pressure applied to the suction pad 155 when the suction pad 155 comes into contact with the media M. The controller 150 of the robot 105 calculates the height h1 of the media M before the printing process by subtracting the distance D3 the shaft 154 has descended from the initial position (height H8) to the position where the sensor 156 detected the change in pressure. The electronic device 109 acquires coordinate data of the height h1 of the media M before the printing process from the controller 150 of the robot 105. The memory unit 195 of the electronic device 109 stores coordinate data of the height H5 of the placement surface 161 of the belt conveyor 160 on which the media M is placed. The operation adjustment unit 193 can calculate an estimated value of the thickness T1 of the medium M before the printing process by subtracting the height H5 from the height h1.

[0193] Note that the above-described processing flow is merely an example. Since it is sufficient to ultimately calculate an estimated value for thickness T1, the above-described calculation processes may be performed by either the controller 150 of the robot 105 or the operation adjustment unit 193. For example, the controller 150 of the robot 105 may subtract height H5 from height h1 to calculate an estimated value for thickness T1 of the media M before printing. In this case, the electronic device 109 obtains the estimated value for thickness T1 from the controller 150 of the robot 105. Alternatively, the electronic device 109 may obtain the descent distance D3 from the controller 150 of the robot 105. In this case, the operation adjustment unit 193 subtracts descent distance D3 from height H8 to calculate height h1, and then calculates an estimated value for thickness T1.

[0194] The operation adjustment unit 193 can estimate the thickness change amount T3 of the medium M due to the printing process, for example, based on the print data created by the print data creation unit 192. As described above, the print data is data for controlling the operation of the printer 103. The print data can include, for example, the following data related to the thickness change amount T3: number of ink layers to be ejected onto the medium M; ink type; ink ejection position and ejection mode; ink drying conditions; pass number resolution; type of medium M (which may include information such as material, thickness, and size); color settings; print direction (bidirectional / unidirectional); and print time. The operation adjustment unit 193 can make the estimation using at least one of the above data, or can make the estimation from a combination of multiple data. The operation adjustment unit 193 can be configured with an algorithm that, for example, performs machine learning on statistical data indicating the correlation between the print data and the thickness change amount T3 and calculates an estimated value of the thickness change amount T3 from parameters included in the print data. Alternatively, a table showing the correspondence between print data and thickness change amount T3 may be created from statistical data and stored in storage unit 195 of electronic device 109. In this case, operation adjustment unit 193 simply acquires the parameters of the print data and references the table to acquire an estimated value of change amount T3 corresponding to the parameters. In this case, the calculation processing load on operation adjustment unit 193 can be reduced.

[0195] 16 shows the ink thickness as being uniform, but depending on the content of the printing process, the ink thickness may not be uniform across the entire surface of the medium M. The operation adjustment unit 193 may create a profile of the amount of change in thickness T3 from, for example, data on the ink ejection position and ejection mode included in the print data, and use the maximum value, average value, median value, etc. as an estimate of the amount of change T3.

[0196] The operation adjustment unit 193 can calculate an estimated value for the thickness T2 of the medium M after the printing process by adding an estimated value for the amount of change in thickness T3 due to the printing process to an estimated value for the thickness T1 of the medium M before the printing process. An algorithm for setting the gripping position and release position of the medium M based on the teaching data is stored in the memory unit 195 (see FIG. 14 ) of the electronic device 109. The operation adjustment unit 193 can create teaching data in which the gripping position and release position have been adjusted by obtaining the algorithm from the memory unit 195 and performing calculations by replacing the set values ​​for the thicknesses T1 and T2 with the estimated values.

[0197] The operation adjustment unit 193 can, for example, use an estimated value of the thickness T1 of the medium M before the printing process to create teaching data that adjusts the height h1, which is the grip position of the medium M before the printing process, and the height h2, which is the release position. The operation adjustment unit 193 can calculate the heights h1 and h2, for example, using the following formulas: Height h1 = height H5 of the placement surface 161 of the belt conveyor 160 + thickness T1 of the medium M before the printing process Height h2 = height H6 of the placement surface 131a of the table 131 + distance D1 Distance D1 = thickness T1 of the medium M before the printing process + gap S

[0198] For example, the operation adjustment unit 193 can use an estimated value for the thickness T2 of the media M after the printing process to create teaching data that adjusts the height H3, which is the grip position of the media M after the printing process, and the height H4, which is the release position. The operation adjustment unit 193 can calculate the heights H3 and H4 using the following formulas, for example: Height H3 = height H6 of the loading surface 131a of the table 131 + thickness T2 of the media M after the printing process Height H4 = height H7 of the top surface 171 of the stocker 170 + distance D2 Distance D2 = T2 １ +T2 ２ +T2 ３ ...T2 SN+ gap S Here, as mentioned above, distance D2 can also be calculated using the following formula: distance D2 = thickness T2 of media M after printing process × number of media M stacked on stocker 170 SN + gap S However, the operation adjustment unit 193 estimates the thickness T2 of each media M stacked on stocker 170 after printing process. １ ~T2 SN The thickness T2 of each medium M can be estimated. １ ~T2 SN By calculating the distance D2 by adding these values ​​together, a more appropriate release position can be set.

[0199] The job management unit 191 sends the teaching data adjusted by the operation adjustment unit 193 to the robot 105, and the robot 105 supplies and collects media M based on the adjusted teaching data. In other words, the robot 105 operates by adjusting the gripping position or release position of the media M according to the thickness of the media M actually used in the printing process. As described above, this reduces the possibility of damage caused by strong pressure being applied to the media M or suction pad 155, or of the robot 105 stopping its operation. It also reduces the possibility of the media M slipping and becoming misaligned when the robot 105 releases the media M.

[0200] The operation adjustment unit 193 may compare the calculated estimated values ​​of thickness T1 and thickness T2 with the set values ​​used when creating the teaching data in advance. For example, the operation adjustment unit 193 may adjust the teaching data based on the calculated estimated values ​​only when the difference between the estimated values ​​and the set values ​​is equal to or greater than a predetermined value. Here, the predetermined value may be different for thickness T1 and thickness T2. As described above, the difference between the estimated value and the set value for thickness T2 of the media M after the printing process tends to have a significant impact on the error in the release position. The predetermined value for thickness T2 may be greater than the predetermined value for thickness T1. The operation adjustment unit 193 need only adjust at least one of the heights h1 to H4 depending on the type of media M used and the content of the printing process, but need not necessarily adjust all of them. For example, when using media M with little individual variation in thickness, the gripping position (height h1) and release position (height h2) before the printing process may not be adjusted, and only the gripping position (height H3) and release position (height H4) after the printing process may be adjusted. Also, when there is little individual variation in the thickness of the media M and the amount of change T3 in the thickness of each media M after the printing process is expected to be small, only the release position (height H4) at the discharge point 107, which is prone to large errors when media M are stacked, may be adjusted.

[0201] Fig. 19 is a flowchart illustrating the flow of printing processing. Fig. 19 shows the processing of the electronic device 109 after the user specifies a print job registered in the job list and performs an operation input to start printing. Note that, although the following description will be given of an example in which the processing system 101 includes one printer 103 and one robot 105, similar processing is possible when multiple printers 103 or multiple robots 105 are included.

[0202] 19, the job management unit 191 of the electronic device 109 acquires the image data and printing conditions of the print job designated by the user (step S01). The printing conditions include the number of copies PN to be printed on the medium M. ｍis specified. The job management unit 191 resets to 0 a counter that counts the number PN of media M for which printing has been completed (step S02). The job management unit 191 outputs the image data and printing conditions to the print data creation unit 192, causing the print data creation unit 192 to create print data (step S03). The job management unit 191 communicates with the robot 105, causing the robot 105 to supply N media M from the supply point 106 to the printer 103 (step S04). N is the number of media M that can be placed on the table 131 of the printer 103, and means the number of media M that the printer 103 can process in one printing operation.

[0203] The job management unit 191 sends a command to start printing along with the print data to the printer 103 (step S05). The printer 103 performs printing processing on the N media M placed on the table 131 based on the print data. The printer 103 moves the guide bar 136 (see FIG. 13 ) in the X direction and positions the head 135 mounted on the carriage 134 to face the media M placed on the table 131. The printer 103 performs printing by ejecting ink from the head 135 onto the media M while moving the carriage 134 in the Y direction. The printer 103 moves the head 135 to the position of each of the N media M placed on the table 131 and performs printing. When the printer 103 completes printing, it sends a print completion notification to the job management unit 191.

[0204] When the job management unit 191 receives a print completion notification from the printer 103 (step S06), it communicates with the robot 105 and causes the robot 105 to collect the N media M after printing from the printer 103 to the discharge location 107 (step S07). The job management unit 191 updates the counter by setting PN=PN+N (step S08). The job management unit 191 calculates the number of media M for which printing has been completed, PN, as the specified number of copies to be printed. ｍ If the number of copies has not reached the specified number PN (step S09: No), the process proceeds to the next printing process. ｍ and the difference between the number PN of media M that have been printed (PN ｍThe job management unit 191 compares the difference (PN -PN) with the number N of media M that can be processed in one printing process (step S10). ｍ If the difference (PN) is equal to or greater than N (step S10: No), the process returns to step S04 and the printing process for N media M continues. ｍ -PN)<N (step S10: Yes), the next printing process is ｍ The job management unit 191 performs printing only on the number of media M (N=PN). ｍ -PN (step S11), the process returns to step S04 and the next printing process is performed. The job management unit 191 repeats steps S04 to S11 to sequentially perform the printing process, and the number PN of media M that has already been printed is updated to the specified number of copies PN. ｍ If N has been reached (step S09: Yes), the job list is updated and the process ends. Note that, if the process of step S11 is being performed, the job management unit 191 resets N to the initial value and then ends the process.

[0205] Figure 20 shows details of the media M supply process in step S04 of Figure 19. As described above, in the media M supply process, the robot 105 transports N pieces of media M from the supply point 106 and supplies them to the table 131 of the printer 103. The job management unit 191 resets to 0 a counter that counts the number m of media M supplied to the printer 103 (step S41). The operation adjustment unit 193 performs processing to adjust the grip position (height h1) and release position (height h2) of the media M before the printing process in the teaching data for the robot 105 (step S42).

[0206] The job management unit 191 outputs a supply start command to the robot 105 along with the adjusted teaching data (step S43). When the supply start command is input, the robot 105 moves onto the belt conveyor 160 at the supply location 106 (see FIG. 15A) and grips the unprinted medium M at the gripping position (height h1). The robot 105 then moves onto the table 131 of the printer 103 (see FIG. 15B) and releases the medium M at the release position (height h2). The robot 105 operates based on the adjusted teaching data received from the job management unit 191. Therefore, the robot 105 adjusts the gripping position (height h1) and release position (height h2) to match the thickness T1 of each medium M. When the robot 105 has finished supplying the medium M, it sends a supply completion notification to the job management unit 191.

[0207] When the job management unit 191 receives a supply completion notification from the robot 105 (step S44: Yes), it updates the counter m to m+1 (step S45). If the supply number m has not reached the number N of media M that can be placed on the table 131 (step S46: No), the job management unit 191 returns to step S42 and performs the supply process for the next media M. If the supply number m has reached the number N of media M that can be placed on the table 131 (step S46: Yes), the job management unit 191 completes the supply process.

[0208] FIG. 21 is a flowchart illustrating the details of the adjustment process of step S42 in FIG. 20 . As shown in FIG. 21 , the job management unit 191 outputs a command to the robot 105 to start detecting the height position of the media M (step S421). When the command to start detection is input, the robot 105 positions the suction pad 155 (see FIG. 18 ) attached to the tip of the shaft 154 at an initial position at height H8, and then gradually lowers the shaft 154 until the suction pad 155 contacts the media M. When the sensor 156 detects a change in pressure applied to the suction pad 155, the controller 150 of the robot 105 subtracts the descending distance D3 of the shaft 154 to the position where the sensor 156 detected the change in pressure from the initial position (height H8) to calculate the height position of the media M before printing (height h1). When the detection process is completed, the robot 105 outputs a detection completion notification to the job management unit 191.

[0209] When the job management unit 191 receives a detection completion notification from the robot 105 (step S422: Yes), it acquires coordinate data for the height h1 of the media M before printing from the robot 105 (step S423). The operation adjustment unit 193 subtracts the height H5 of the placement surface 161 of the belt conveyor 160 from the height h1 to calculate an estimate of the thickness T1 of the media M before printing (step S424). The operation adjustment unit 193 uses the estimated thickness T1 to adjust the grip position (height h1) at the supply point 106 of the media M before printing and the release position (height h2) in the printer 103, as specified in the teaching data (step S425). Note that the operation adjustment unit 193 may also calculate the difference between the estimated value of thickness T1 and the set value, and perform adjustment only if the difference is equal to or greater than a predetermined value. In addition, the operation adjustment unit 193 stores the calculated estimated value of thickness T1 in the memory unit 195, and can use it in the process of estimating thickness T2 of the media M after the printing process described below (see Figure 23, step S722).

[0210] Figure 22 shows details of the collection process in step S07 in Figure 19. In the collection process for media M, the robot 105 transports N pieces of media M from the table 131 of the printer 103 and releases them to the discharge location. The job management unit 191 resets a counter that counts the number L of collected media M (step S71). The operation adjustment unit 193 performs processing to adjust the grip position (height H3) and release position (height H4) of the media M after printing, based on the teaching data for the robot 105 (step S72).

[0211] The job management unit 191 outputs a command to start collection to the robot 105, along with the teaching data adjusted by the operation adjustment unit 193 (step S73). When the command to start collection is input, the robot 105 moves to above the table 131 of the printer 103 (see FIG. 16A) and grips the printed medium M at the gripping position (height H3). The robot 105 moves to the discharge location 107 (see FIG. 16B) and releases the medium M at the release position (height H4). The robot 105 operates based on the adjusted teaching data received from the job management unit 191. Therefore, the gripping position (height H3) and release position (height H4) are adjusted to match the thickness T2 of each medium M. When the robot 105 has completed collection of the medium M, it sends a collection completion notification to the job management unit 191.

[0212] When the job management unit 191 receives a collection completion notification from the robot 105 (step S74: Yes), it updates the counter to L=L+1 (step S75). If the collection count L has not reached the number N of media M that can be placed on the table 131 (step S76: No), the job management unit 191 returns to step S72 and performs collection processing for the next media M. If the collection count L has reached the number N of media M that can be placed on the table 131 (step S76: Yes), the job management unit 191 completes the collection processing.

[0213] FIG. 23 is a flowchart illustrating the details of the adjustment process of step S72 in FIG. 22. As shown in FIG. 23, the operation adjustment unit 193 estimates the change in thickness T3 of the medium M due to the printing process based on the print data created by the print data creation unit 192 (step S721). The operation adjustment unit 193 obtains the estimated value of the thickness T1 of the medium M before the printing process stored in the memory unit 195 and adds the estimated value of the change T3 to estimate the thickness T2 of the medium M after the printing process (step S722). The operation adjustment unit 193 uses the estimated value of thickness T2 to adjust the grip position (height H3) of the medium M in the printer 103 and the release position (height H4) at the discharge location 107 after the printing process, as specified in the teaching data (step S723). Alternatively, the operation adjustment unit 193 may calculate the difference between the estimated value of thickness T2 and the set value, and perform adjustment only if the difference is equal to or greater than a predetermined value. Furthermore, when printing the same content on all media M, the operation adjustment unit 193 may estimate the thickness change amount T3 in step S721 only during the estimation process for the first media M, and thereafter use the estimated value calculated initially.

[0214] Note that the process flow shown in Figures 19 to 23 is merely an example, and the order of processes and the entities performing the processes can be changed as appropriate. Furthermore, some of the illustrated processes may be omitted, or other processes may be added. For example, in the illustrated example, an example is described in which the gripping position and release position (heights h1 to H4) are adjusted both before and after the printing process, but any of the position adjustments may be omitted. Furthermore, while an example is described in which the processes in Figures 19 to 23 are performed by the electronic device 109, at least some of the processes may be performed by the controller 150 of the robot 105 or the controller 130 of the printer 103.

[0215] As described above, the processing system 101 according to this embodiment has, for example, the following configuration: (1) The processing system 101 has a printer 103 (droplet ejection device) that performs a printing process of ejecting droplets onto the medium M, and a robot 105 that grips the medium M after printing in the printer 103 and releases it at a discharge point 107. Based on information regarding the thickness T2 of the medium M after printing, the robot 105 adjusts at least one of the height position (height H3) when gripping the medium M after printing and the height position (height H4) when releasing the processed medium M at the discharge point 107.

[0216] This configuration allows the robot 105 to grip or release the media M after printing at an appropriate height. If the suction pad 155 is pressed against the media M when the robot 105 grips the media M, or if the media M is pressed against the table 131 when the robot 105 releases the media M, this could damage the media M or the suction pad 155, or cause the robot 105 to stop operating. On the other hand, if the media M is released too far from the top of the stocker 170, which is the media M loading surface, the media M could slip and become misaligned if it falls. To reduce these possibilities, it is desirable to appropriately set the gripping and release positions according to the thickness of the media M. However, depending on the type of media M used for printing, individual differences in thickness may occur. Furthermore, the thickness of the media M may change significantly before and after printing depending on the type of media M used and the content of the printing process. In such cases, even if the gripping and release positions are set using the set value for the thickness of the media M, it may not be possible to appropriately grip or release the media M that has actually been printed. In particular, when media M are stacked in the Z direction on the stocker 170 at the discharge location 107, the error increases as the media M pile up, making misalignment more likely to occur.

[0217] In this embodiment, the robot 105 can adjust at least one of the height position (height H3) when gripping the printed media M and the height position (height H4) when releasing the processed media M at the discharge location 107, based on information regarding the thickness of the printed media M. This allows the robot 105 to appropriately grip or release the media M in accordance with the thickness of the printed media M. This reduces the possibility of excessive pressure being applied to the media M or the suction pad 155, causing damage, or the robot 105 ceasing operation. This improves the efficiency of the printing process for the media M and maintains the quality of the printed media M. Furthermore, by reducing misalignment when releasing the media M, the media M can be stacked in an aligned manner in the stocker 170, thereby saving space at the discharge location 107. Furthermore, it makes it easier to transport the media M from the stocker 170 to the next process line, a storage facility, or the like.

[0218] (2) In the processing system 101, the information regarding the thickness T2 of the medium M after the printing process can include the thickness T1 of the medium M before the printing process in the printer 103 and the amount of change T3 in the thickness of the medium M due to the printing process in the printer 103. The processing system 101 includes a sensor 156 (first sensor) that detects the height position (height h1) of the medium M before the printing process when the robot 105 comes into contact with the medium M before the printing process, and an operation adjustment unit 193 (estimation unit) that estimates the thickness T1 of the medium M before the printing process based on the detection result of the sensor 156.

[0219] By obtaining information regarding the thickness T2 after the printing process from the thickness T1 of the medium M before the printing process and the change in thickness T3 of the medium M due to the printing process, the gripping position or release position of the robot 105 can be adjusted before starting the printing process in the processing system 101. This allows the printing process to proceed smoothly. Furthermore, by having the sensor 156 contact the medium M to be printed and obtain coordinate data of the height position, the accuracy of estimating the thickness T1 before the printing process can be improved even for media M with individual differences in thickness.

[0220] (3) The operation adjustment unit 193 (estimation unit) can estimate the amount of change T3 in the thickness of the medium M based on the print data for controlling the operation of the printer 103.

[0221] The print data contains a large amount of data related to the amount of change T3 in thickness of the medium M. In other words, by using the print data, the operation adjustment unit 193 can improve the accuracy of estimating the amount of change T3. Furthermore, by estimating the amount of change T3 in thickness of the medium M, the gripping position or release position of the robot 105 can be adjusted before the start of the printing process. Since there is no need to measure the thickness of the medium M after the printing process, the printing process can proceed smoothly.

[0222] (4) The robot 105 grips the pre-printed medium M at the supply point 106 and releases the pre-printed medium M at the printer 103. Based on the thickness T1 of the pre-printed medium M estimated by the operation adjustment unit 193, the robot 105 can adjust at least one of the height position (height h1) when gripping the pre-printed medium M and the height position (height h2) when releasing the pre-printed medium M.

[0223] The robot 105 can appropriately grip or release the medium M before printing processing in accordance with the thickness T1 of the medium M before printing processing. This reduces the possibility of excessive pressure being applied to the medium M or the suction pad 155, which could cause damage, or the possibility of the robot 105 ceasing operation. This improves the efficiency of the printing processing of the medium M. It also maintains the quality of the medium M that has been printed by the processing system 101. Furthermore, reducing misalignment when releasing the medium M to the printer 103 allows the printer 103 to eject ink in the appropriate position on the medium M, thereby improving print quality.

[0224] (10) The robot 105 releases the media M from a height position (height H4) that is a distance D2 (predetermined distance) in the Z direction from the top of the stocker 170 (the surface on which the media M is placed) at the discharge location 107.

[0225] If the media M is pressed against the top of the stocker 170 when the robot 105 releases the media M, the operation of the robot 105 may stop or the media M may be damaged. Releasing the media M at a position away from the top of the stocker 170 reduces this possibility.

[0226] (13) The processing system 101 includes a support member 172 that supports the media M released from the robot 105 and stacked at the discharge location 107 .

[0227] By providing a support member 172 at the discharge point 107, it becomes easier to reduce misalignment when the media M is released at the discharge point 107, and the media M can be stored while being aligned in the Z direction.

[0228] The above-described effects can also be obtained in the method and program for adjusting the operation of the robot 105 in the processing system 101. The program for adjusting the operation of the robot 105 can be executed by the electronic device 109, the controller 130 of the printer 103, the controller 150 of the robot 105, etc. The scope of the present invention also extends to the media M processed by the processing method of the processing system 101.

[0229] (Variation 1) In the following variations, the same components as in the embodiment are assigned the same reference numerals, and detailed description thereof will be omitted. In the above-described embodiment, an example was described in which the operation adjustment unit 193 estimates the thickness T1 of the medium M before the printing process and the amount of change T3 in the thickness of the medium M due to the printing process, and then estimates the thickness T2 of the medium M after the printing process. Variation 1 describes an example in which the thickness T2 of the medium M after the printing process is directly estimated without going through the estimation process for T1 and T3.

[0230] The thickness T2 of the medium M after the printing process can be estimated, for example, in the following manner. (a) Estimation Using Print Data In the embodiment, an example has been described in which the change in thickness T3 of the medium M due to the printing process is estimated using print data. However, the thickness T2 of the medium M after the printing process may also be estimated using print data. FIG. 24 is a block diagram showing an example configuration of an electronic device 109 according to a first modification. As shown in FIG. 24 , in the first modification, the electronic device 109 can store, for example, a table 951 indicating the correspondence between print data and the thickness T2 of the medium M after the printing process in the storage unit 195. The table 951 can be created, for example, by machine learning statistical data indicating the correlation between the print data and the thickness T2 of the medium M after the printing process. The print data can include, for example, the following data as data related to the thickness T2 of the medium M after the printing process: - Number of layers of ink to be ejected onto the medium M - Type of ink - Ink ejection position and ejection mode - Ink drying conditions - Pass number resolution - Type of medium M (may include information such as material, thickness, size, etc.) - Color settings - Printing direction (bidirectional / unidirectional) - Printing time Table 951 can be created based on at least one of the above data.

[0231] The operation adjustment unit 193 can acquire the print data created by the print data creation unit 192 and acquire the thickness T2 corresponding to the acquired print data as an estimated value by referring to the table 951. Alternatively, instead of using the table 951, the operation adjustment unit 193 may calculate the estimated value of the thickness T2 from the print data based on an algorithm created in advance by machine learning or the like.

[0232] Depending on the content of the printing process, the thickness T2 of the medium M after the printing process may not be uniform across the entire surface of the medium M. The operation adjustment unit 193 may create a profile of the thickness T2 of the medium M after the printing process, for example, from data on the ink ejection position and ejection mode included in the print data, and use the maximum value, average value, median value, etc. as the final estimated value.

[0233] (b) Estimation Using Sensor Detection Results The thickness T2 of the media M after printing can be estimated, for example, using the height position of the media M after printing detected by a sensor. FIG. 25 is a diagram illustrating an example of a process for detecting the height position H3 of the media M after printing. As shown in FIG. 25 , the processing system 101A according to Variation 1 can be equipped with, for example, a sensor 157 (second sensor) that detects the height position H3 of the media M after printing. The sensor 157 can be, for example, a distance sensor that measures the distance to an object. Examples of distance sensors that can be used include an optical sensor, a millimeter-wave sensor, an ultrasonic sensor, and a stereo camera. In the example of FIG. 25 , the sensor 157 is provided at the tip of the shaft 154 of the robot 105.

[0234] The detection process using the sensor 157 can be performed, for example, after the printing process for each medium M. When performing the detection process, the robot 105 positions the distance sensor attached to the tip of the shaft 154 at a measurement position (height H9) above the table 131. The robot 105 uses the sensor 157 to measure a distance D4 to the medium M located below the shaft 154. The controller 150 of the robot 105 calculates the height direction position (height H3) of the medium M after the printing process by subtracting the distance D4 measured by the sensor 157 from the height H9 of the measurement position. Note that the sensor 157 may be installed in any position that allows it to measure the medium M after the printing process, and its installation location is not limited to the robot 105. The sensor 157 may be installed, for example, on the carriage 134 of the printer 103 (see FIG. 13 ). The printer 103 moves the carriage 134 to the X1 side, ejects ink onto the medium M, completes the printing process, and then returns the carriage 134 to the X2 side. The printer 103 can use the sensor 157 to detect the distance to the media M when the carriage 134 passes over the media M after printing. Alternatively, the sensor 157, which is a displacement sensor, can be provided on the table 131 of the printer 103. The sensor 157 detects the displacement of the surface position of the media M placed on the table 131. If the sensor 157 is provided on the printer 103, the controller 130 of the printer 103 can calculate the height position H3 of the media M after printing from the detection result of the sensor 157.

[0235] 26 is a diagram illustrating another example of a process for detecting the height position H3 of the media M after printing. As shown in FIG. 26 , the sensor 156 built into the shaft 154 described in the embodiment may be used as a sensor (second sensor) that detects the height position of the media M after printing. As described above, the sensor 156 may be, for example, a pressure sensor or a force sensor. The sensor 156 detects the height position of the media M when the suction pad 155 of the robot 105 comes into contact with the media M after printing.

[0236] The detection process using the sensor 156 can be performed, for example, after the printing process on each medium M. When performing the detection process, the robot 105 first positions the suction pad 155 at an initial position (height H9) above the table 131. The robot 105, for example, gradually lowers the shaft 154 a predetermined distance at a time, bringing the suction pad 155, which is provided at the bottom end of the shaft 154, closer to the post-printing medium M placed on the belt conveyor 160. The sensor 156 detects, for example, a change in pressure applied to the suction pad 155 when the suction pad 155 comes into contact with the medium M. The controller 150 of the robot 105 calculates the height H3 of the post-printing medium M, for example, by subtracting the distance D4 by which the shaft 154 is lowered from the initial position (height H9) to the position where the sensor 156 detects the change in pressure.

[0237] The operation adjustment unit 193 of the electronic device 109 (see FIG. 24 ) can acquire coordinate data for the height H3 of the media M after printing from the controller 150 of the robot 105. The operation adjustment unit 193 can calculate an estimated value for the thickness T2 of the media M after printing by subtracting the height H6 of the placement surface 131a of the table 131 of the printer 103 from the height H3. As in the embodiment (see FIGS. 16 and 23 ), the operation adjustment unit 193 can use the estimated value for the thickness T2 of the media M after printing to adjust the grip position (height H3) and release position (height H4) of the media M after printing in the teaching data.

[0238] The above-described process flow is merely an example. Since it is sufficient to be able to ultimately calculate an estimated value of the thickness T2, the above-described calculation processes may be performed by either the controller 150 of the robot 105 or the operation adjustment unit 193.

[0239] 27 is a diagram illustrating an example of a process for detecting multiple height-direction positions of the medium M. As described above, depending on the content of the printing process, the thickness T2 of the medium M after the printing process may not be uniform across the entire surface of the medium M. For this reason, the sensor 156 may detect multiple height-direction positions of the medium M after the printing process. The operation adjustment unit 193 may estimate the thickness of the medium M after the printing process based on the multiple height-direction positions.

[0240] For example, as shown in FIG. 27A , the robot 105 can displace the suction pad 155 in the X or Y direction while it is in contact with the medium M after printing. If there are irregularities or steps on the surface of the medium M after printing, the sensor 156 detects fluctuations in the pressure applied to the suction pad 155. The controller 150 of the robot 105 calculates the change in position in the height direction based on the pressure fluctuations detected by the sensor 156. This allows for a profile of the medium M after printing. There are no limitations on the range or amount of displacement of the suction pad 155. For example, the suction pad 155 can be set to cover the area surrounding the area where it grips the medium M.

[0241] Alternatively, as shown in FIG. 27B , the robot 105 may contact the suction pad 155 with multiple, spaced-apart locations on the media M. In this case, the robot 105 contacts the suction pad 155 with a first location on the media M, then raises the suction pad 155 to an initial position (not shown), displaces it in the X or Y direction, and then lowers it to contact a second location on the media M. This allows the sensor 156 to detect multiple heightwise positions of the media M. Note that while the drawing shows an example in which the heightwise position is detected twice, detection may be performed three or more times. If there are irregularities or steps on the surface of the media M after printing, the multiple heightwise positions detected by the sensor 156 will be different. Note that the multiple heightwise positions of the media M may also be detected using the sensor 157 (distance sensor, displacement sensor, etc.) shown in FIG. 25 as an example.

[0242] The operation adjustment unit 193 may estimate the thickness T2 of the medium M after the printing process based on, for example, the highest position among multiple height positions. Alternatively, the operation adjustment unit 193 may calculate the average or median of multiple height positions and use the calculated value as the estimated value of the thickness T2.

[0243] FIG. 28 is a flowchart illustrating the flow of adjustment processing according to Modification Example 1. The adjustment processing in FIG. 28 can be executed by replacing it with the adjustment processing shown in FIG. 23 , for example. FIG. 28 illustrates processing for detecting the height position (height H3) of the media M after printing using sensors 157 and 156. As shown in FIG. 28 , the job management unit 191 outputs a command to the robot 105 to start detecting the height position (height H3) of the media M after printing (step S721). When the command to start detection is input, the robot 105 moves above the table 131 of the printer 103 and detects the height position (height H3) of the media M after printing using sensors 157 and 156. When the detection processing is completed, the robot 105 outputs a detection completion notification to the job management unit 191.

[0244] When the job management unit 191 receives a detection completion notification from the robot 105 (step S722: Yes), it acquires coordinate data for the height H3 of the media M after printing from the robot 105 (step S723). The operation adjustment unit 193 subtracts the height H6 of the placement surface 131a of the table 131 of the printer 103 from the height H3 to calculate an estimate of the thickness T2 of the media M after printing (step S724). The operation adjustment unit 193 uses the estimated value of thickness T2 to adjust the grip position (height H3) and release position (height H4) of the media M after printing in the teaching data (step S725). Note that the operation adjustment unit 193 may also calculate the difference between the estimated value of thickness T2 and the set value, and perform adjustment only if the difference is equal to or greater than a predetermined value.

[0245] As described above, the processing system 101A according to Modification 1 has, for example, the following configuration: (5) The processing system 101A includes: a sensor 157 and a sensor 156 (second sensor) that detect the height position (height H3) of the medium M after the printing process; and an operation adjustment unit 193 (estimation unit) that estimates the thickness T2 of the medium M after the printing process based on the detection results of the sensors 157 and 156.

[0246] For example, depending on the type of medium M and the content of the printing process, it may be difficult to accurately estimate the change in thickness T3 of the medium M due to the printing process from the print data. In such cases, the estimation accuracy can be improved by directly estimating the thickness T2 of the medium M after the printing process using the actual measurements from sensors 157 and 156. Note that the adjustment process ( FIG. 20 , step S42) of the grip position (height h1) and release position (height h2) of the medium M before the printing process, which was described in the embodiment, may be performed in combination with the process of variant example 1, or may be omitted.

[0247] (6) The operation adjustment unit 193 can estimate the thickness T2 of the medium M after printing processing, for example, based on print data for controlling the operation of the printer 103.

[0248] By performing estimation processing based on print data, the time required for detection processing by a sensor is eliminated, improving the efficiency of the estimation processing. In addition, by accumulating past statistical data and conducting machine learning, the estimation accuracy can be further improved.

[0249] (7) The operation adjustment unit 193 can estimate the thickness T2 of the medium M after the printing process, for example, based on the printing data and a table 951 showing the correspondence between the printing data and the thickness T2 of the medium M after the printing process.

[0250] The operation adjustment unit 193 only needs to refer to the table 951 to obtain an estimated value corresponding to the print data, eliminating the need for a complex algorithm for estimation processing and reducing the processing load on the electronic device 109.

[0251] (8) The robot 105 includes a sensor 156 (second sensor). The sensor 156 can detect the height position (height H3) of the media M after printing processing by the robot 105 coming into contact with the media M after printing processing.

[0252] The robot 105 is equipped with sensors 156 such as pressure sensors and force sensors for controlling its operation. By performing detection processing using the sensors 156 equipped in the robot 105, it is not necessary to provide a sensor dedicated to detection processing. This makes it possible to reduce the installation cost of the processing system 101A.

[0253] (9) The sensor 156 can detect the height positions of multiple parts of the printed medium M by the robot 105 displacing the medium M while contacting the printed medium M, or by contacting multiple parts of the printed medium M. The operation adjustment unit 193 can estimate the thickness T2 of the printed medium M based on the height positions of the multiple parts detected by the sensor 156.

[0254] Depending on the type of media M and the content of the printing process, the media M may have unevenness or steps after printing, which may cause the thickness T2 to be inconsistent. Therefore, the sensor 156 detects the height positions of multiple parts of the media M. From the detection results, the operation adjustment unit 193 can, for example, identify the thickest part of the media M and appropriately adjust the gripping position and release position to match the thickest part.

[0255] (Variation 2) Fig. 29 is a schematic diagram illustrating an example configuration of a processing system 101B according to Variation 2. As shown in Fig. 29, in Variation 2, the electronic device 109 includes an update unit 194 in addition to the functional configuration described in the embodiment. The update unit 194 updates the distance D2 (predetermined distance), which is a parameter for setting the release position (height H4) of the medium M after printing processing.

[0256] In the embodiment (see FIG. 16), an example was described in which the operation adjustment unit 193 adjusts the release position (height H4) of the media M after printing using the following formula: Height H4 = Height H7 of the top surface 171 of the stocker 170 + Distance D2 (predetermined distance) Distance D2 = T2 １ +T2 ２ +T2 ３ ...T2 SN + Gap S

[0257] As shown in the above formula, the distance D2 is the sum of the estimated thicknesses of the media M after the printing process (T2 １ +T2 ２ +T2 ３ ...T2 SN ) and adding a gap S as a margin. １ +T2 ２ +T2 ３ ...T2 SN ) corresponds to the stack height of the media M on the stocker 170 at the discharge point 107. The margin, or gap S, can be a preset constant value. However, as the number of media M stacked on the stocker 170 increases, the total estimated value (T2 １ +T2 ２ +T2 ３ ...T2 SN ) and the actual stack height. For example, as the printer 103 operates for a long time, the ink ejection volume may decrease due to factors such as ink depletion or nozzle clogging, and the thickness T2 of the media M after printing may gradually decrease. Alternatively, as the robot 105 operates for a long time, small positional deviations may occur in the operation of the robot 105. A small positional deviation that occurs when the robot 105 releases media M on the stocker 170 may become larger each time media M is stacked. In such cases, the sum of the estimated values ​​(T2 １ +T2 ２ +T2 ３ ...T2 SN) and the actual stack height LH of the media M, there is a possibility that the error will be large. In such a case, as described above, even if the distance D2 is calculated from the sum of estimated values ​​that have a large error from the actual stack height, it may not be possible to set the release position appropriately.

[0258] In the second modification, the operation adjustment unit 193 can adjust the release position (height H4) of the media M after printing processing using the following formula: Height H4 = Height H7 of the top surface 171 of the stocker 170 + Distance D2 (predetermined distance) Distance D2 = Stack height LH of SN media M SN +(SN+1) and subsequent media M thickness estimates (T2 SN＋１ , T2 SN＋２ , T2 SN＋３ ...) + gap S Stack height LH of media M SN means the height in the Z direction of the SN media M stacked on the stocker 170 at the discharge location 107. The update unit 194 updates the stack height LH of the media M. SN is periodically acquired and incorporated into the above formula to update the distance D2. That is, in the second modification, the accumulation of the estimated values ​​(T2 １ +T2 ２ +T2 ３ ...T2 SN ) is calculated by dividing the error by the stack height LH of the media M. SN Reset it by replacing it with

[0259] The update unit 194 updates the stack height LH of the media M in the following manner, for example: SN (a) The stack height LH of the media M based on various information. SN The update unit 194 estimates the stack height LH of the media M at the discharge location 107 based on, for example, at least one of the characteristic information of the media M, the operation information of the printer 103, and the operation information of the robot 105. SNThe update unit 194 can estimate the distance D2 and update the distance D2 based on the estimated value. The characteristic information of the media M can include, for example, the frictional force of the front (back) surface of the media M, the material of the media M, the type of media M, the surface area of ​​the media M, the hardness of the media M, the weight after printing, the ink characteristics, drying conditions, and whether or not a release paper is used. The operation information of the printer 103 includes, for example, information such as the operating time of the printer 103 and the status of the printer 103 (ink consumption status, nozzle cleaning status). The operating time can be, for example, the operating time from the time of installation to the present, or the operating time from the last maintenance to the present. The operation information of the robot 105 includes, for example, the operating time of the robot 105 and the status of the robot 105 (ink consumption status, nozzle cleaning status). The update unit 194 can acquire the characteristic information of the media M from, for example, print data or setting information input by the user. The update unit 194 can acquire the operation information of the printer 103, for example, by communicating with the printer 103. The update unit 194 can acquire the operation information of the robot 105, for example, by communicating with the robot 105. The update unit 194 uses machine learning to learn statistical data that indicates the correlation between the information and the stack height of the media M at the discharge location 107, and calculates the stack height LH of the media M. SN Alternatively, an algorithm can be set to estimate the stack height LH of the media M based on the above information and statistical data. SN The table 951 showing the correspondence between the stack height LH of the media M and the stack height LH of the media M corresponding to the information may be created and stored in the storage unit 195 of the electronic device 109. In this case, the update unit 194 refers to the table 951 and updates the stack height LH of the media M corresponding to the information. SN It is sufficient to obtain an estimate of

[0260] (b) Stack height LH of media M measured by the sensor SN 30 is a schematic diagram illustrating detection by the sensor 73 provided on the support member 172. As shown in FIG. 30, the stack height LH of the media M is detected by the support member 172 of the stocker 170. SN The sensor 73 detects the stack height LH of the media M.SN Therefore, it is sufficient if it can detect the element that can detect the stack height LH of the SN The sensor for detecting the stack height LH of the media M is directly SN The sensor 73 may be, for example, a distance sensor, a displacement sensor, a stereo camera, or the like. The sensor 73 detects, for example, the height position (height h10) of the top of the stocker 170. As described above, when no media M are stacked on the stocker 170, the top surface 171 of the stocker 170 is the top of the stocker 170. When one or more media M are stacked on the stocker 170, the top surface of the media M located at the top of the stack in the stocker 170 is the top of the stocker 170.

[0261] 29 , the sensor 73 is communicably connected to the electronic device 109. By communicating with the sensor 73, the electronic device 109 can acquire the detection results of the sensor 73. The update unit 194 of the electronic device 109 calculates the stack height LH of the media M by subtracting the height H7 of the upper surface 171 of the stocker 170 from the height h10 of the top of the stocker 170 detected by the sensor 73. SN The stack height LH of the media M can be calculated. SN The calculation process may be performed on the sensor 73 side.

[0262] Stack height LH of media M SNThe detection of the media M is not limited to the sensor 73 mounted on the support member 172; for example, the stack height of the media M may be detected by a sensor 156 mounted on the robot 105 (see FIG. 18 ). In this case, the robot 105 moves the suction pad 155, which is not holding any media M, to the discharge location 107 and gradually lowers the suction pad 155 from its initial position. The sensor 156 detects a change in pressure when the suction pad 155 contacts the top of the stocker 170. The controller 150 of the robot 105 subtracts the distance the suction pad 155 descends from its initial position in the height direction until the sensor 156 detects the change in pressure from the height H7 of the top surface 171 of the stocker 170. This allows the height position (height h10) of the top of the stocker 170 to be calculated.

[0263] 31 is a flowchart showing the flow of the update process according to Modification 2. The update unit 194 updates, for example, the stack height LH of the media M. SN The distance D2 can be updated by periodically obtaining the distance LH. Here, "periodically" does not mean only a fixed time period. For example, the update unit 194 updates the stack height LH every time the number of media M stacked at the discharge location 107 increases by a fixed number (q pieces). SN The update unit 194 may acquire the acquired stack height LH SN 31 , when the job management unit 191 starts the printing process, it resets to 0 a counter that counts the number of stacked media M SN at the discharge location 107 (step S101). When the counter reaches SN=q×n (n is a positive integer) (step S102), the job management unit 191 causes the update unit 194 to perform an update process. The update unit 194 estimates the stack height LH of the SN (q×n) media M stacked at the discharge location 107 by the estimation process based on the various information described above and the detection process by the sensor 73. SN is acquired (step S103).

[0264] The update unit 194 updates the acquired stack height LH SN and the previously acquired stack height LH SN－ｑ Difference with (LH SN -LHSN－ｑ ) (step S104). This difference is the actual measured value of the stack height of the q pieces of media newly stacked at the discharge location since the previous detection process. The update unit 194 further calculates the sum Sum(T2 SN－ｑ＋１ : T2 SN ) (step S105). The update unit 194 calculates the actual measurement value (LH SN -LH SN－ｑ ) and the sum Sum(T2 SN－ｑ＋１ : T2 SN If the error between the release position (height H4) and the target position is equal to or greater than the predetermined value PV (step S106: Yes), the distance D2 used to adjust the release position (height H4) is updated (step S107).

[0265] Specifically, the update unit 194 updates the stack height LH obtained in step S103. SN Substitute the above into the following equation: Distance D2 = stack height LH of SN media M SN +(SN+1) and subsequent media M thickness estimates (T2 SN＋１ , T2 SN＋２ , T2 SN＋３ ...) + gap S where stack height LH of media M SN The initial value of is 0. That is, when the number of stacked media M at the discharge location 107 is small after the start of the printing process, the operation adjustment unit 193 calculates the distance D2 by adding up the estimated values ​​of the thickness T2 after the printing process, as in the embodiment. When the number of stacked media M increases and errors are more likely to occur in the estimated value, the update unit 194 updates the stack height LH of the media M. SN The operation adjustment unit 193 updates the distance D2 by obtaining the stack height LH from the time the update process is performed until q media M are stacked. SN The estimated value (T2 SN＋１ , T2 SN＋２ , T2 SN＋３ . . ) are sequentially added together to calculate the distance D2.

[0266] In this way, in Modification 2, the update unit 194 periodically resets the error caused by the estimated value included in the distance D2, which allows the operation adjustment unit 193 to more appropriately adjust the release position (height H4) at the discharge location 107. Here, the sensor 73 performs a detection process each time a media M is stacked, and the stack height LH SN However, in this case, the number of detection processes by the sensor 73 increases, which may affect the processing efficiency. In the second modification, the update unit 194 performs the update process when the number of stacked layers increases and the error becomes large, thereby making it possible to appropriately adjust the release position while reducing the effect on the processing efficiency.

[0267] As shown in FIG. 31, the update unit 194 updates the actual measurement value (LH SN -LH SN－ｑ ) and the sum of the estimated values ​​Sum(T2 SN－ｑ＋１ : T2 SN ) is less than the predetermined value PV (step S106: Yes), it can be determined that the error in distance D2 is small even if the number of stacked media has increased. In this case, the update unit 194 can skip the update process of step S107. The job management unit 191 repeats the processes of steps S102 to S107 while the printing process continues (step S108: No). Although not shown in the figure, if the media M is ejected from the ejection location 107 while the printing process is continuing, the job management unit 191 returns to step S101 and resets the counter to 0.

[0268] As described above, the processing system 101B according to the second modification has the following configuration: (11) The processing system 101B may include an updating unit 194. The updating unit 194 updates the stack height LH of the media M released from the robot 105 and stacked at the discharge location 107. SN is periodically acquired, and the acquired stack height LH SN The previously acquired stack height LH SN－ｑ Difference with (LH SN -LH SN－ｑ ) and updates the distance D2 (predetermined distance).

[0269] In order for the robot 105 to properly release the media M at the discharge point 107, it is desirable to release the media M from a height position (height H4) that is a distance D2 in the Z direction from the top of the stocker 170 (the surface on which the media M is placed). The distance D2 is, for example, the sum of the estimated thicknesses of the media M after the printing process (T2 １ +T2 ２ +T2 ３ ...T2 SN ), but as the number of media M stacked on the stocker 170 increases, the error between the total estimated value and the actual stack height may become larger.

[0270] In the second modification, the update unit 194 periodically updates the stack height LH SN By performing an update process of acquiring the stack height LH and resetting the error occurring in the distance D2, the operation adjustment unit 193 can more appropriately adjust the release position (height H4) at the discharge point 107. SN The previously acquired stack height LH SN－ｑ Difference with (LH SN -LH SN－ｑ ) is calculated as the actual measured value of the stack height, and the sum of the estimated values ​​Sum(T2 SN－ｑ＋１ : T2 SN ) the magnitude of the error in the estimated value can be determined. This allows the update unit 194 to update the distance D2 only when necessary, thereby making it possible to appropriately adjust the release position while reducing the impact on processing efficiency.

[0271] (12) The update unit 194 updates the stack height LH based on, for example, at least one of the characteristic information of the media M, the operation information of the droplet discharge device, and the operation information of the robot 105. SN can be estimated.

[0272] The update unit 194 updates the stack height LH SN By estimating the above, the detection process by the sensor 73 becomes unnecessary, and the equipment cost can be reduced.

[0273] (14) The processing system 101B includes a support member 172 that supports the stacked media M released from the robot 105 at the discharge location 107, and a stacking height LH of the media M that is attached to the support member 172. SN The update unit 194 acquires the detection result of the sensor 73.

[0274] By providing a sensor 73 on the support member 172 that supports the media M on the stocker 170, the stack height LH SN can be easily detected.

[0275] The above-described modifications can be applied not only to the embodiment but also to other modifications, and the present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the technical concept of the present invention.

[0276] 1, 1A to 1G Processing system 3 Printer (droplet ejection device) 5 Belt conveyor 5a, 5b End 5c Intermediate section 7 Robot 31 Table 31b, 32d End 31a Placement surface (placement section) 34 Carriage 35 Head (ejection section) 36 Guide bar 37 Movement mechanism 38 Movement mechanism 50A Belt conveyor (first belt conveyor) 50B Belt conveyor (second belt conveyor) 59 Carrying-out robot 71 Base 73, 75 Arm 8 Sorting section 81 Inspection device 82 Discharge mechanism 101, 101A, 101B Processing system 103 Printer 131 Table 131a Placement surface 105 Robot 155 Suction pad 156 Sensor (first sensor, second sensor) 157 Sensor (second sensor) 106 Supply point 107 Discharge point 170 Stocker 171 Top surface 172 Support member 173 Sensor (third sensor) 109 Electronic device 193 Operation adjustment unit (estimation unit) 194 Update unit 195 Storage unit 1951 Table h1 Gripping position h2 Release position H3 Gripping position H4 Release position D2 Distance (predetermined distance)

Claims

1. A processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the conveyor belt and places it on the table, and retrieves the media after processing from the table and places it on the conveyor belt, wherein the robot is positioned between the droplet ejection device and the conveyor belt.

2. A processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media placed on a table; a belt conveyor that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the belt conveyor and places it on the table, and retrieves the media after processing from the table and places it on the belt conveyor, wherein the belt conveyor has a portion that is positioned between the droplet ejection device and the robot.

3. The processing system according to claim 1, wherein the robot is a SCARA robot.

4. A processing system according to claim 1 or 2, characterized in that the droplet ejection device comprises: an ejection section which ejects the droplets onto the media; a guide bar which supports the ejection section at a position opposite the table and extends along a first direction in which the table extends; and a moving mechanism which moves the guide bar along a second direction in which the table extends and which is perpendicular to the first direction; and the belt conveyor has a portion which is arranged along the first direction, to the side of the end of the table in the second direction.

5. A processing system according to claim 1 or 2, characterized in that the droplet ejection device comprises: an ejection section which ejects the droplets onto the media; a guide bar which supports the ejection section at a position opposite the table and which extends along a first direction in which the table extends; and a movement mechanism which moves the media placement section of the table along a second direction in which the table extends and which is perpendicular to the first direction; and the belt conveyor has a portion which is arranged along the second direction, which is the movement direction of the placement section, on the side of the end of the table in the first direction.

6. A processing system comprising: a droplet ejection device which performs a process of ejecting droplets onto media placed on a table; a belt conveyor which carries in the media before processing and carries out the media after processing; and a robot which retrieves the media before processing from the belt conveyor and places it on the table, and recovers the media after processing from the table and places it on the belt conveyor, wherein the robot has an arm which retrieves the media, and a base which supports the arm, and the base is attached to a wall above or to the side of the droplet ejection device.

7. A processing system according to claim 6, characterized in that the table of the droplet ejection device extends along a first direction and a second direction perpendicular to the first direction, and the base of the robot is positioned so as to overlap with the table when viewed from a third direction perpendicular to the first direction and the second direction.

8. A processing system as claimed in claim 7, characterized in that the belt conveyor has a portion that is positioned to the side of the end of the table in the first direction or the second direction, and when viewed from the third direction, the base of the robot is located on the belt conveyor side of the center of the table in the second direction or the first direction.

9. A processing system according to any one of claims 1, 2 and 6, characterized in that the belt conveyor comprises a first belt conveyor for carrying in the media before processing, and a second belt conveyor for carrying out the media after processing, and the robot is positioned between the downstream end of the first belt conveyor in the transport direction and the upstream end of the second belt conveyor in the transport direction.

10. A processing system according to any one of claims 1, 2 and 6, characterized in that the table of the droplet ejection device extends along a first direction and a second direction perpendicular to the first direction, and when the belt conveyor is viewed from the second direction or the first direction, the height of the portion of the belt conveyor that overlaps with the table is lower than the height of the table.

11. A processing system according to any one of claims 1, 2 and 6, characterized in that it further comprises an unloading robot that is positioned downstream in the transport direction of the media on the belt conveyor and that unloads the media from the belt conveyor after processing.

12. A processing system according to any one of claims 1, 2 and 6, characterized in that the droplet ejection device comprises a plurality of droplet ejection devices, each capable of processing a medium, and the belt conveyor transports the medium to be processed by each of the plurality of droplet ejection devices.

13. A processing system according to any one of claims 1, 2 and 6, further comprising a sorting section on the downstream side of the conveyor belt in the media transport direction, which sorts the processed media and distributes them to a number of output positions.

14. A processing system comprising: a cutting device that performs a process to cut media placed on a table; a conveyor belt that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the conveyor belt and places it on the table, and retrieves the media after processing from the table and places it on the conveyor belt, wherein the robot is positioned between the cutting device and the conveyor belt.

15. A processing system comprising: a cutting device that performs a process to cut media placed on a table; a conveyor belt that carries in the media before processing and carries out the media after processing; and a robot that retrieves the media before processing from the conveyor belt and places it on the table, and retrieves the media after processing from the table and places it on the conveyor belt, wherein the conveyor belt has a portion that is positioned between the cutting device and the robot.

16. A processing system comprising: a cutting device which performs processing to cut media placed on a table; a conveyor belt which carries in the media before processing and carries out the media after processing; and a robot which retrieves the media before processing from the conveyor belt and places it on the table, and retrieves the media after processing from the table and places it on the conveyor belt, wherein the robot has an arm which retrieves the media, and a base which supports the arm, and the base is attached to a wall above or to the side of the cutting device.

17. A processing system having a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that grasps the media after processing by the droplet ejection device and releases it at a discharge location, wherein the robot adjusts at least one of the height position when grasping the processed media and the height position when releasing the processed media at the discharge location based on information regarding the thickness of the processed media.

18. A processing system as claimed in claim 17, characterized in that the information relating to the thickness of the media after processing includes the thickness of the media before processing by the droplet ejection device and the amount of change in the thickness of the media due to processing by the droplet ejection device, and further comprising: a first sensor that detects the height position of the media by the robot coming into contact with the media before processing; and an estimation unit that estimates the thickness of the media before processing based on the detection result of the first sensor.

19. A processing system according to claim 18, wherein the estimation unit estimates the amount of change in thickness of the medium based on print data for controlling the operation of a droplet ejection device.

20. A processing system as claimed in claim 18, characterized in that the robot grips the unprocessed media at a supply point and releases the unprocessed media at the droplet ejection device, and the robot adjusts at least one of the height position when gripping the unprocessed media and the height position when releasing the unprocessed media based on the thickness of the unprocessed media estimated by the estimation unit.

21. A processing system as claimed in claim 17, further comprising: a second sensor for detecting the height position of the processed media; and an estimation unit for estimating the thickness of the processed media based on the detection result of the second sensor.

22. A processing system according to claim 17, further comprising an estimation unit that estimates the thickness of the processed medium based on print data for controlling the operation of the droplet ejection device.

23. A processing system according to claim 22, characterized in that the estimation unit estimates the thickness of the processed media based on the printing data and a table showing the correspondence between the printing data and the thickness of the processed media.

24. A processing system according to claim 21, wherein the robot is provided with the second sensor, and the second sensor detects the vertical position of the processed media by the robot coming into contact with the processed media.

25. A processing system as described in claim 24, characterized in that the second sensor detects the height positions of multiple parts of the processed media by the robot displacing the processed media while in contact with the processed media or by contacting multiple parts of the processed media, and the estimation unit estimates the thickness of the processed media based on the height positions of the multiple parts detected by the second sensor.

26. A processing system according to claim 17, wherein the robot releases the media from a position in the height direction spaced a predetermined distance from the media placement surface at the ejection location.

27. The processing system according to claim 26, further comprising an update unit that periodically acquires a stack height of the media released from the robot and stacked at the discharge location.

28. A processing system according to claim 27, characterized in that the update unit estimates the stack height based on at least one of characteristic information of the media, operation information of the droplet ejection device, and operation information of the robot.

29. The processing system according to claim 17, further comprising a support member at said discharge location for supporting stacked media released from said robot.

30. A processing system according to claim 27, further comprising: a support member that supports the media released from the robot and stacked at the discharge location; and a third sensor that is provided on the support member and is capable of detecting the stack height of the media, and the update unit obtains the detection result of the third sensor.

31. A method for adjusting the operation of a robot that grasps media processed by a droplet ejection device that ejects droplets onto the media and releases it at a discharge point, comprising adjusting at least one of the height position of the robot when grasping the processed media and the height position of the robot when releasing the processed media, based on information regarding the thickness of the media after processing by the droplet ejection device.

32. An adjustment program for the operation of a robot that grasps media processed by a droplet ejection device that ejects droplets onto the media and releases it at a discharge point, the adjustment program being characterized in that it causes an electronic device to adjust at least one of the height position of the robot when grasping the processed media and the height position of the robot when releasing the processed media, based on information regarding the thickness of the media after processing by the droplet ejection device.

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