Control device, printer, and printing method

Abstract

A control device according to the present disclosure is used in a printer that carries out a printing process and comprises: a discharge head in which is formed a nozzle row having a plurality of nozzles that discharge a fluid onto an object; and an inspection unit that has an inspection region for receiving the fluid discharged from the discharge head. This control device comprises a control unit that uses detection result information obtained by detecting, on the basis of the fluid discharged to the inspection region, a discharge position and / or a discharge amount on the inspection region, of fluid discharged from each nozzle, corrects a printing position of the nozzle row on the basis of an average position of discharge positions of a usage nozzle group excluding an abnormal nozzle, and causes a printing process to be executed.

Description

Control device, printing device, and printing method

[0001] This specification discloses a control device, a printing device, and a printing method.

[0002] A conventional printing device has been proposed that includes, for example, a droplet observation unit that acquires a three-dimensional profile including the flight trajectory of a droplet output from a first nozzle of an inkjet head, the droplet observation unit including a camera that captures images of the flight trajectory of the droplet output from the first nozzle in the X-axis direction and the Y-axis direction that are orthogonal to the Z-axis direction and mutually orthogonal to each other (see, for example, Patent Document 1). This printing device is said to be able to provide a system that accurately controls the droplet landing position.

[0003] JP 2017-144678 A

[0004] However, variations in the printing position of each nozzle mounted on the print head of a printing device occur due to variations in the mounting angle of each nozzle, uneven temperature within the head, etc. The printing device described in Patent Document 1 also determines the ejection position based on a three-dimensional profile including the flight trajectory of the droplets, but this is still not sufficient, and there is a demand for obtaining better printing results.

[0005] The present disclosure has been made to solve such problems, and a main object of the present disclosure is to provide a control device, a printing device, and a printing method that can obtain better printing results.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] That is, the control device disclosed herein is a control device used in a printing device that performs a printing process and that is equipped with an ejection head formed with a nozzle row having a plurality of nozzles that eject fluid onto an object, and an inspection unit that has an inspection area that receives the fluid ejected from the ejection head, and that is equipped with a control unit that uses detection result information that detects the ejection position and / or ejection amount on the inspection area of ​​the fluid ejected from each nozzle based on the fluid ejected into the inspection area, and corrects the printing position of the nozzle row based on the average position of the ejection positions of a group of used nozzles excluding abnormal nozzles, and executes the printing process.

[0008] This control device corrects the print position using the average position of the ejection positions of the nozzle rows excluding the abnormal nozzles, so it can further suppress variation in ejection position deviation and obtain better print results.

[0009] 1 is a schematic explanatory diagram showing an example of a printing system 10. A schematic explanatory diagram showing an example of the structure of a printing device 11 seen from diagonally front. An explanatory diagram showing an example of the outline of each discharge unit and a moving unit 26. An explanatory diagram showing an example of the outline of an inspection unit 70. A flowchart showing an example of a molded object production processing routine. An explanatory diagram showing an example of an overview of a molding process. A flowchart showing an example of an inspection and maintenance processing routine. An explanatory diagram showing an example of the operation of the inspection unit 70. An explanatory diagram showing an example of a discharge state of a discharged material 78. A conceptual diagram showing an example of the relationship between nozzle number and positional deviation amount. An explanatory diagram showing an example of a conventional nozzle row alignment process.

[0010] This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a printing system 10 according to the present disclosure. FIG. 2 is a schematic explanatory diagram showing an example of the structure of a printing device 11 as viewed obliquely from the front. FIG. 3 is an explanatory diagram showing an example of the outline of a first ejection unit 30, a second ejection unit 35, and a moving unit 26. FIG. 4 is an explanatory diagram showing an example of the outline of an inspection unit 70. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS. 1 to 3.

[0011] The printing system 10 includes a printing device 11, a mounting device 12, and an information processing device 80. The printing system 10 is configured as a production line in which the printing device 11 forms a shaped object as a first process, forms predetermined components on the shaped object as a second process, and then the mounting device 12 mounts components. The printing device 11 may form a wiring (circuit) pattern as a conductive material as the second process, and the mounting device 12 may mount components P at predetermined positions on the conductive material. In addition to the mounting device 12, the printing system 10 may also include one or more mounting-related devices, such as a printing device that prints solder as a viscous fluid on the shaped object, a print inspection device that inspects the printing results, a mounting inspection device that inspects the mounting results, and a transport device that transports the shaped object. While the printing system 10 shown in FIG. 1 includes one mounting device 12, multiple mounting devices 12 may also be included.

[0012] The mounting device 12 is a device that mounts components P on a shaped object formed by the printing device 11. The mounting device 12 includes a control device, a transport processing unit 13, a component supply unit 14, an imaging unit 16, a mounting unit 17, an operation panel, and a communication unit. The control device is configured as a microprocessor centered around a mounting control unit such as a CPU, and controls the entire device. The control device outputs control signals to the transport processing unit 13, the component supply unit 14, the imaging unit 16, the mounting unit 17, and the operation panel, and inputs signals from the transport processing unit 13, the component supply unit 14, the imaging unit 16, the mounting unit 17, and the operation panel. The control device includes a storage unit, which is a large-capacity storage medium such as a flash memory. The storage unit stores mounting information including information on the components P to be mounted, the arrangement order and positions of the components to be mounted on the shaped object, and the installation position of a feeder 15 that picks up the components. The transport processing unit 13 carries in, transports, fixes at the mounting position, and carries out the pallet 60 on which the shaped object is placed. The component supply unit 14 is a unit that supplies components P to the mounting unit 17. The component supply unit 14 mounts feeders 15 having reels holding components in one or more mounting units. The imaging unit 16 is a camera that captures images of the upward direction and captures images of the components P held by the mounting head 19 of the mounting unit 17. The operation panel is a unit that accepts input from the worker and presents information to the worker. This operation panel includes a display unit and an operation unit with a touch panel and buttons. The mounting unit 17 is a unit that collects components P from the component supply unit 14 and places them on the shaped object fixed to the transport processing unit 13. The mounting unit 17 includes a head moving unit 18, a mounting head 19, and a collection member. The head moving unit 18 includes a slider that moves in the X and Y directions along a guide rail, and a motor that drives the slider. The mounting head 19 is removably attached to the slider, picks up one or more components, and is moved in the X and Y directions by the head moving unit 18. One or more picking members are removably attached to the underside of the mounting head 19. The picking members may be suction nozzles that use negative pressure to pick up components, or may be mechanical chucks that mechanically hold components. The communication unit is an interface that exchanges information with external devices such as the printing device 11 and the information processing device 80.

[0013] The printing device 11 is a three-dimensional modeling device that ejects a fluid onto a target to form and manufacture a shaped object having a substrate, a conductive material, etc. The shaped object includes, for example, a substrate, a conductive material formed on and / or within the substrate, and components disposed on and / or within the substrate. The target is a pallet 60 at the initial stage of modeling. The object refers to the shaped object if the substrate, wiring (circuit), conductive material, etc. are formed on the pallet 60. The material to be modeled is not particularly limited, and examples include resin and ceramics. As shown in FIGS. 1 and 2 , the printing device 11 includes a control device 20, a memory unit 22, a moving unit 26, a flattening unit 29, a first discharging unit 30, a first maintenance unit 33, a first curing unit 34, a second discharging unit 35, a second maintenance unit 38, a second curing unit 39, an application unit 40, a pressing unit 45, an inspection unit 70, an operation panel 48, and a communication unit 49. The printing device 11 also includes, as its device structure, a first gantry 51, a second gantry 52, a third gantry 53, and a housing 54. Here, the printing device 11 will be described as a device that performs a process of forming, for example, a base material of a molded object as an insulator using the first discharging unit 30, and then forming a conductive material such as a wiring pattern on the molded insulator using the second discharging unit 35. Note that the first discharging unit 30 and the second discharging unit 35 are collectively referred to simply as "discharging units," the first maintenance unit 33 and the second maintenance unit 38 are collectively referred to simply as "maintenance units," and the first curing unit 34 and the second curing unit 39 are collectively referred to simply as "curing units."

[0014] The control device 20 is configured as a microprocessor centered on a print control unit 21 such as a CPU, and controls the entire printing device 11. The control device 20 exchanges information with a memory unit 22 and each unit. The memory unit 22 is, for example, a large-capacity storage medium such as a flash memory. The memory unit 22 stores modeling job information 23, detection result information 24, reference information 25, and the like. The modeling job information 23 includes, for example, information on the shape and size of the object to be manufactured and information on conductive materials such as wiring patterns formed on the substrate. The detection result information 24 is information that associates the detection results of the nozzles 32a and 37a (see FIG. 3 ) with the nozzles 32a and 37a, which detect the ejection positions and / or ejection amounts of fluid ejected from the nozzles 32a and 37a on the inspection area 71 based on the fluid ejected into the inspection area 71. The detection result information 24 stores information such as the amount of nozzle misalignment in the X direction, the amount of nozzle misalignment in the Y direction, the discharge amount, and other information such as non-discharge (where no fluid is discharged) and satellite droplets (where minute droplets are discharged around the main droplet) (see FIG. 9 ). The detection result information 24 is stored in the storage unit 22 after a discharge inspection process for the discharge unit is performed. The reference information 25 includes reference values ​​used to determine whether the discharged fluid is in an acceptable state. The reference information 25 specifies reference values ​​for a reference range of positional misalignment and / or discharge amount, and tolerance values ​​for a tolerable range of positional misalignment and / or discharge amount. The reference values ​​are values ​​used to determine abnormal nozzles. For example, the upper and lower limit ranges of the discharge position misalignment and / or discharge amount that can produce an appropriate model based on the design values ​​may be empirically determined and set based on this range. The tolerance values ​​are values ​​that specify a correction range for the discharge position and / or discharge amount, and may be set based on a printing resolution that can produce an appropriate model based on the design values. The printing device 11 executes the formation process based on the information stored in the storage unit 22 .

[0015] As shown in FIGS. 1 to 3 , the moving unit 26 is a stage that moves a pallet 60, which is an object onto which the fluid is ejected. The moving unit 26 includes a support section 27 and a support moving section 28. The support section 27 supports and fixes the pallet 60, on which the object is placed in the printing region 61. The support moving section 28 is a drive section that moves the support section 27 along a printing path that runs along the front-to-rear direction in the center of the housing 54, and raises and lowers the support section 27 to relatively change the distance between the ejection head and the object. The support moving section 28 may have a linear drive section, which may be configured by a linear motor, a ball screw mechanism, or the like.

[0016] The pallet 60 is a plate-like member having an area where a modeled object is formed, and is removably attached to the support unit 27. The pallet 60 has a modeling area 61, a receiving area, and the like. A removable film is attached to the top surface of the pallet 60, and the next modeled object can be produced by replacing this film. The modeling area 61 is a printing area where a modeled object is formed by the first discharging unit 30, a predetermined pattern is formed on the modeled object by the second discharging unit 35, and a liquid material is applied to the target object by the application unit 40. The receiving area is an area where unwanted fluid or liquid material is discharged from the first discharging head 32, the second discharging head 37, and the application head 42.

[0017] The first discharging unit 30 is a unit that discharges a fluid serving as a base material for forming a model onto a modeling region 61 of the pallet 60. The first discharging unit 30 is movably disposed to the left of a first gantry 51, which is fixed to a front region in the Y-axis direction of a housing 54 of the printing device 11. The first discharging unit 30 includes a first moving unit 31, a first discharging head 32, and a first fluid processing unit. The first moving unit 31 includes a slider that moves along the X-axis direction while being guided by a guide rail, and a motor that drives the slider. The first discharging head 32 is attached to the slider, and the first discharging head 32 moves along the X-axis direction in accordance with the movement of the slider. The first moving unit 31 moves the first discharging head 32 between a standby position and a discharging position on the pallet 60. The first discharging head 32 is a structural fluid discharging head that discharges the fluid that forms the model from a nozzle 32a onto a target object, such as the pallet 60, to form the model. The first ejection head 32 has a nozzle 32a and an ejection drive unit. A plurality of nozzles 32a are formed on the nozzle plate, forming a nozzle row 32b. The nozzles 32a are openings that eject the fluid supplied from the first fluid processing unit toward the pallet 60. The ejection drive unit ejects the fluid toward the pallet 60, and may be, for example, a piezoelectric element. The fluid ejected by the first ejection head 32 may be, for example, a liquid curable resin (e.g., ultraviolet curable resin, thermosetting resin, two-component mixed curable resin, etc.), a thermoplastic resin, or a liquid material such as a slurry obtained by mixing a solvent with a solid material such as an inorganic substance. The first fluid processing unit is a unit that delivers the fluid and includes a first supply tank that stores the fluid and a first recovery tank that stores the recovered fluid.

[0018] The first maintenance unit 33 is a unit that seals and protects the first ejection head 32, and performs ejection maintenance based on the ejection state of the first ejection head 32. The first maintenance unit 33 has, for example, a first cap that seals the first ejection head 32, a first ejection receiving portion that receives fluid ejected from the first ejection head 32, and a first cleaning portion that cleans the first ejection head 32. The ejection maintenance includes, for example, performing a flushing process and performing a process of wiping and cleaning the nozzle plate of the first ejection head 32.

[0019] The first curing unit 34 is a unit that performs a predetermined process on the fluid discharged from the first discharging head 32 onto the pallet 60 or onto a model that has been cured on the pallet 60, thereby curing the fluid. The first curing unit 34 may be a unit that irradiates the fluid discharged onto the modeling region 61 with light of a predetermined wavelength, such as ultraviolet light, to cure the fluid. The first curing unit 34 may also be a unit that dries or bakes the fluid depending on its material. For example, every time a layer of fluid is formed on the modeling region 61 by the first discharging head 32, the pallet 60 is moved below the first curing unit 34 to cure the fluid.

[0020] The second dispensing unit 35 is a unit that dispenses a fluid onto the pallet 60 or onto the shaped object, which serves as a conductive material, such as wiring, formed inside or on the surface of the shaped object. The second dispensing unit 35 is movably disposed to the right of the first gantry 51, which is fixed to the front region of the housing 54 in the Y-axis direction. The second dispensing unit 35 includes a second moving unit 36, a second dispensing head 37, and a second fluid processing unit. The second moving unit 36 ​​includes a slider that moves along the X-axis direction while guided by a guide rail, and a motor that drives the slider. The second dispensing head 37 is attached to the slider, and the second dispensing head 37 moves along the X-axis direction in accordance with the movement of the slider. The second moving unit 36 ​​moves the second dispensing head 37 between a standby position and a dispensing position on the pallet 60. The second dispensing head 37 is a conductive fluid dispensing head that dispenses a fluid onto an object, such as the pallet 60, to form a conductive material. Like the first ejection head 32, the second ejection head 37 has a plurality of nozzles 37a constituting a nozzle row 37b and an ejection drive unit. The second ejection head 37 has the same structure and function as the first ejection head 32, and detailed description thereof will be omitted. Examples of fluids ejected by the nozzles 37a include liquids such as a mixture of a solid material and a solvent, or a solution of a resin dissolved in a solvent. Examples of such fluids include a conductive paste in which metal particles are dispersed in a resin that hardens when heated, or a metal ink conductive fluid. For example, in a conductive paste, when the resin hardens and shrinks, the metal particles dispersed in the resin come into contact with each other. This allows the conductive paste to exhibit conductivity. The resin in the conductive paste is, for example, an organic adhesive, and exhibits adhesive strength upon hardening. The first ejection head 32 and the second ejection head 37 are collectively referred to simply as "ejection heads", the nozzles 32a and 37a are collectively referred to simply as "nozzles", and the nozzle rows 32b and 37b are collectively referred to simply as "nozzle rows".

[0021] The second maintenance unit 38 is a unit that seals and protects the second ejection head 37, and also performs ejection maintenance based on the ejection state of the second ejection head 37. The second maintenance unit 38 has, for example, a second cap that seals the second ejection head 37, a second ejection receiving portion that receives fluid ejected from the second ejection head 37, and a second cleaning portion that cleans the second ejection head 37. The ejection maintenance includes the flushing process and cleaning process described above.

[0022] The second curing unit 39 is a unit that performs a predetermined process on the fluid ejected from the second discharging head 37 onto the building region 61 of the pallet 60 or onto a hardened model on the pallet 60, thereby hardening the fluid. The second curing unit 39 may be configured to harden the fluid ejected onto the building region 61 by irradiating it with light of a predetermined wavelength, such as infrared light. The second curing unit 39 may also be configured to dry or bake the fluid depending on its material. For example, every time a layer of fluid is formed on the pallet 60 by the second discharging head 37, the pallet 60 is moved underneath the second curing unit 39, and the second curing unit 39 hardens the fluid.

[0023] The flattening unit 29 flattens the surface of the fluid dispensed onto the pallet 60 and / or the model using a flattening member. The flattening member may be, for example, a flattening roller that rotates relative to the model, or a flat flattening blade.

[0024] The coating unit 40 is a unit that applies a liquid material to a model on a pallet 60. As shown in FIGS. 1 and 2 , the coating unit 40 is movably mounted on a second gantry 52 fixed to a central region in the Y-axis direction of a housing 54 of the printing device 11. The coating unit 40 is disposed on a transport path through which the pallet 60 is transported to and from the mounting device 12. The coating unit 40 is configured to perform processes such as transporting the pallet 60, detecting the amount of coating, capturing images, and measuring the height in addition to the coating process using a dispenser 43. The coating unit 40 is comprised of a moving coating unit 41, a coating head 42, and a coating amount detection unit. The coating head 42 of the coating unit 40 is equipped with a working unit 50 that includes an imaging unit 44, a height detection unit, and a mounting transport unit. The moving coating unit 41 is equipped with a slider that moves along the X-axis direction guided by a guide rail disposed on the second gantry 52, and a motor that drives the slider. A dispensing head 42 is attached to the slider, and the dispensing head 42 moves along the X-axis direction as the slider moves. As shown in FIG. 1 , the dispensing movement unit 41 moves the dispensing head 42 between a dispensing position above the pallet 60 in the central region along the X-axis of the housing 4, a carry-in / out position on the mounting device 12 side, and a retracted position on the opposite side from the mounting device 12. The dispensing head 42 is provided with a dispenser 43 for dispensing a conductive paste, a filler, or the like. The dispenser 43 has an outlet for dispensing a liquid material and is equipped with a syringe for containing the liquid material. The syringe is a columnar member containing the liquid material, and discharges the liquid material from an outlet provided at the tip below by pressure applied from above. Examples of liquid materials include multiple types of resins with different viscosities and conductivities, such as resins with dispersed conductive materials and insulating resins.

[0025] The imaging unit 44 is a camera that captures images of the downward direction, i.e., the pallet 60 side. The imaging unit 44 captures, for example, images of the model in the modeling area 61 and the inspection area 71 of the inspection unit 70. The height detection unit is configured as a sensor that moves a contact terminal at its tip downward and determines the height of the contacted object based on the position of contact with the object. The mounting transport unit is used to transport the pallet 60 to the mounting device 12 side, which is an area outside the printing path, and to transport the pallet 60 from the mounting device 12. The mounting transport unit has a rod structure that can extend downward, and moves the pallet 60 by contacting its tip with the edge of the pallet 60 and pushing it out or hooking and retracting it. The application amount detection unit detects the weight of the liquid material dispensed from the dispenser 43. The application amount detection unit applies a given pressure to the dispenser 43 and measures the amount of liquid material dispensed from the syringe per unit time. Using this measurement value, the control device 20 controls the discharge amount of the liquid material to an appropriate value.

[0026] The pressing unit 45 is a unit that presses the object on the pallet 60, or a liquid material applied to the pallet 60 or the object. The pressing unit 45 is disposed on a third gantry 53 that is fixed to a rear region in the Y-axis direction of the housing 54 of the printing device 11. The pressing unit 45 may heat and press the object. The pressing unit 45 is composed of a pressing unit that presses the object using a pressing member 46, a heating unit that heats the pressing unit, and a pressing and transporting unit 47 that transports the pallet 60 in and out. The pressing member 46 is a member that contacts and presses the object. When the pressing unit 45 includes a heating unit, the pressing member 46 is a member that contacts and presses the object and heats it. The pressing and transporting unit 47 transports the pallet 60 in and out of the pressing unit 45, which is disposed in a position outside the movement lane of the moving unit 26. The pressing and conveying section 47 may be mechanically similar to the mounting and conveying section of the working section 50 .

[0027] The inspection unit 70 is used in a printing device having an ejection head that ejects fluid and inspects the ejection state of the fluid. The inspection unit 70 is disposed on the support unit 27 that supports the pallet 60 of the moving unit 26 and moves in conjunction with the movement of the support unit 27 by the support movement unit 28. As shown in FIGS. 1 and 4 , the inspection unit 70 includes an inspection area 71 and a feed unit 74. The inspection area 71 includes a mark substrate 72 and a reference mark 73 provided on the mark substrate 72. The inspection unit 70 lands fluid on the surface of a film 77 fixed on the mark substrate 72 and then feeds out the film 77, thereby eliminating the need for processes such as cleaning the mark substrate 72 and efficiently performing multiple ejection inspections. The film 77 is preferably a transparent resin film, and its material and thickness can be appropriately determined to facilitate ejection inspection.

[0028] The mark substrate 72 is an area where ejection inspection of the first ejection head 32 and the second ejection head 37 is performed, and reference marks 73 are formed according to the nozzle pitch of the first ejection head 32 and the second ejection head 37. The mark substrate 72 is a plate-like body on which the reference marks 73 are formed. The mark substrate 72 may be formed, for example, of a transparent material such as a glass plate or a resin plate. The reference marks 73 serve as a reference for the position and amount of fluid ejected from the nozzles 32a of the first ejection head 32 and the nozzles 37a of the second ejection head 37. The shape of the reference marks 73 may be any of a circle, rectangle, polygon, star, etc., but a circle is more preferable from the perspective of determining the center position and calculating the area. The control device 20 can determine whether the fluid ejection state of a nozzle is normal based on the positional relationship between the fluid ejection position and the reference marks 73, the ejection area, etc.

[0029] The feed unit 74 feeds the film 77 along a predetermined feed direction D on the mark substrate 72. The feed unit 74 includes a feed roller 75, an intermediate roller, a take-up roller 76, and a drive unit (not shown). The feed roller 75 is a roller around which the film 77 is wound and is a driven roller that feeds out the film 77 in response to the rotation of the take-up roller 76. The intermediate roller is disposed between the feed roller 75 and the take-up roller 76 and is a driven roller that supports the film 77. The take-up roller 76 is driven to rotate by a drive unit such as a drive motor and winds up the film 77 that has been fed from the feed roller 75 and onto which the fluid has been ejected. The feed roller 75 is replaced with a new one when all of the film 77 has been wound onto the take-up roller 76.

[0030] The operation panel 48 is a unit that receives input from the operator and presents information to the operator. The operation panel 48 includes a display unit and an operation unit with a touch panel and buttons. The communication unit 49 is an interface that exchanges information with external devices such as the mounting device 12 and the information processing device 80.

[0031] The information processing device 80 is configured as a management server that manages the printing system 10. The information processing device 80 includes an information control unit 81, a storage unit 82, a communication unit 89, a display unit, and an input device. The information control unit 81 has a CPU and controls the entire device. The storage unit 82 is a large-capacity storage device such as a flash memory. The storage unit 82 stores modeling job information 83 including information similar to the modeling job information 23 and detection result information 84 including information similar to the detection result information 24. The communication unit 89 exchanges information with external devices such as the printing device 11 and the mounting device 12 via a network such as a LAN. The information control unit 81 sets the modeling job information 83 and transmits it via the communication unit 89 based on requests from the printing device 11 and the mounting device 12. The display unit is a display that displays images. The input device includes a keyboard, a mouse, and the like that accept input from a user.

[0032] Next, the 3D modeling process of the printing apparatus 11 configured as described above will be described. Fig. 5 is a flowchart showing an example of a modeled object production process routine executed by the print control unit 21 of the control device 20. This routine is stored in the storage unit 22 and is executed by the control device 20 after the operator inputs a command to execute the production process. When this routine starts, the print control unit 21 of the control device 20 first reads and acquires the modeling job information 23 from the storage unit 22 (S100). Note that the print control unit 21 may also acquire the modeling job information 83 from the information processing device 80 and use it as the modeling job information 23.

[0033] Here, the modeling process will be described. While the printing device 11 is capable of producing a multi-layered model, for ease of explanation, a single-layered model will be described here. FIG. 6 is an explanatory diagram showing an example of an outline of the modeling process, in which FIG. 6A illustrates the printing process of a substrate S, FIG. 6B illustrates the printing process of wiring E, such as a wire, FIG. 6C illustrates the printing process of a cavity C, FIG. 6D illustrates the application process of a conductive material B and an underfill U, FIG. 6E illustrates the mounting process of a component P, and FIG. 6F illustrates the application process of a filler F. In the modeling process, the print control unit 21 prints and cures the substrate S ( FIG. 6A ), prints and cures the wiring E on the substrate S ( FIG. 6B ), prints and cures the cavity C thereon ( FIG. 6C ), applies the conductive material B and the underfill U ( FIG. 6D ), mounts the component P ( FIG. 6E ), fills with the filler F ( FIG. 6F ), and, as appropriate, applies pressure and heat using the pressing unit 45 to fix the component P. Furthermore, in this modeling process, additional substrates S may be printed and cured as needed, and components P may be mounted in multiple layers. The printing device 11 produces a modeled object O through this modeling process. The substrate S and the cavity C may be made of the same material or different materials. The wiring E and the conductive material B may be made of the same material or different materials. The underfill U and the filling material F may be made of the same material or different materials.

[0034] After S100, the print control unit 21 determines whether it is time to inspect and maintain the first discharge unit 30 and the second discharge unit 35 (S110). This timing may be, for example, when new production starts, when a predetermined number of shaped objects, such as five or ten, have been produced, or when a predetermined time, such as 30 minutes or one hour, has elapsed since production started. If it is time to inspect and maintain, the print control unit 21 executes an inspection and maintenance process for the first discharge head 32 and / or the second discharge head 37 (S120). In this process, the print control unit 21 executes the maintenance process using the first maintenance unit 33 and the second maintenance unit 38, and executes the inspection process using the inspection unit 70.

[0035] The inspection and maintenance process will now be described in more detail. FIG. 7 is a flowchart showing an example of an inspection and maintenance process routine. This routine is stored in the storage unit 22 and executed by the control device 20 in S120 of the object production process routine. Here, the abnormality inspection process for detecting abnormal nozzles in the first ejection head 32 and the second ejection head 37 will be mainly described. When this routine starts, the print control unit 21 of the control device 20 first executes a maintenance process (S300). In this maintenance process, the print control unit 21 executes maintenance processes for the first ejection unit 30 and the second ejection unit 35 using the first maintenance unit 33 and the second maintenance unit 38. Examples of maintenance processes include flushing the ejection heads and cleaning the nozzle plate with a cleaning member. After executing the maintenance process, the print control unit 21 executes an inspection process (S310 to S360). 8A is an explanatory diagram showing an example of the operation of the inspection section 70, with Fig. 8A being an explanatory diagram of the mark substrate 72, Fig. 8B being a diagram showing the film 77 being draped over, Fig. 8C being a diagram showing the discharged material 78 being discharged onto the film 77, Fig. 8D being a diagram showing the discharged material 78 being imaged by the imaging section 44, and Fig. 8E being a diagram showing the film 77 being fed out after inspection. Here, for the sake of convenience, the discharge inspection process of the first discharge unit 30 will be mainly explained, and the discharge inspection process of the second discharge unit 35 will be omitted, but the inspection process can also be performed for the second discharge unit 35 in the same manner as described below.

[0036] When executing the inspection process, the print control unit 21 first moves the inspection unit 70 to the inspection position and controls the movement unit 26 and the first movement unit 31 to move the first ejection head 32 above the inspection unit 70 (S310, FIG. 8B). Next, the print control unit 21 executes an ejection process to eject fluid onto the film 77 (S320, FIG. 8C), captures an image of the ejected material 78 using the imaging unit 44, and performs image processing (S330, FIG. 8D). In the ejection process, the print control unit 21 moves the first ejection head 32 in a predetermined direction along the Y axis at a predetermined pitch to eject fluid into the area between the upper and lower reference marks 73, for example. Next, the print control unit 21 sets the nozzles for recording the measurement results (S340). The print control unit 21 may set the nozzles in order of nozzle numbers, which are assigned along the nozzle formation direction as nozzle identifiers. Next, the print control unit 21 obtains the detection results of the ejection state, including the ejection position and ejection amount of the set nozzle, and stores the detection results in the storage unit 22 in association with the nozzle identifier (S350).

[0037] FIG. 9 is an explanatory diagram showing an example of the ejection state of the ejection product 78. FIG. 9A is an explanatory diagram of various ejection states, and FIG. 9B is an explanatory diagram showing an example of the ejection state in a nozzle row. As shown in FIG. 9A , the ejection states include a "good product" that falls within the reference range indicated by the dotted circle; a "failure" where no fluid is ejected; a "misalignment" that exceeds the reference range; a "satellite" shape defect where one or more small droplets are ejected around the nozzle; an "excessive ejection rate" where the ejection rate exceeds a predetermined reference range; and an "insufficient ejection rate" where the ejection rate is below the reference range. Shape defects of the ejection product 78 also include those that deviate from a circular shape, such as an elliptical or polygonal shape with an aspect ratio exceeding 1 or 1.2. The print control unit 21 excludes non-ejection nozzles, shape-defective nozzles including satellites, abnormal ejection rate nozzles with excessive or insufficient ejection rates, and misaligned nozzles from the group of nozzles used in the printing process as abnormal nozzles with ejection defects. For example, the print control unit 21 may acquire information about the ejection position based on the positional relationship between the reference mark 73 and the ejected object 78, and may acquire information about the ejection amount based on the shape of the ejected object 78. The print control unit 21 may acquire the amount of positional deviation along the X-axis direction and the amount of positional deviation along the Y-axis direction as the detection result of the amount of positional deviation. Alternatively, the print control unit 21 may acquire the direction of positional deviation and its distance as the detection result of the amount of positional deviation. Furthermore, the print control unit 21 may acquire the ejection amount from the diameter of the droplets of the ejected object 78 as the detection result of the amount of ejection. If the droplets have a major axis and a minor axis, the print control unit 21 may use the major axis as the droplet diameter, the minor axis as the droplet diameter, or the average value of the major axis and the minor axis as the droplet diameter. Alternatively, the print control unit 21 may calculate the area of ​​the ejected object 78 as the detection result of the amount of ejection, and acquire the area ratio based on the area value of a standard ejected object 78 as the ejection amount information. The print control unit 21 may also calculate the area of ​​the ejection product 78 and obtain the ejection amount as volume and / or weight based on the area value of the standard ejection product 78 .

[0038] Next, the print control unit 21 determines whether all the detection results of the nozzles that ejected fluid into the inspection area 71 this time have been recorded (S360). If all the detection results of the nozzles imaged this time have not been recorded, the print control unit 21 executes the processes from S340 onward. That is, the print control unit 21 sets the next nozzle and repeatedly executes the process of recording the detection results. On the other hand, if all the detection results of the nozzles imaged this time have been recorded in S360, the print control unit 21 feeds the film 77 along the feed direction D and causes the take-up roller 76 to take it up (S370, FIG. 8E). Next, the print control unit 21 determines whether the process of acquiring the detection results of all the nozzles has been completed (S380). If the process of acquiring the detection results of all the nozzles has not been completed, the print control unit 21 executes the processes from S310 onward. That is, the print control unit 21 ejects fluid into the inspection area 71 from nozzles for which no detection results have been obtained, and then causes the image capture unit 44 to capture the detection results. For example, if the first ejection head 32 has a large number of nozzles and one ejection of fluid onto the inspection area 71 is insufficient, the first ejection head 32 may be moved to eject the fluid multiple times.

[0039] On the other hand, when the process of acquiring the detection results for all nozzles is completed in S380, the print control unit 21 updates the detection result information 24 based on the detection results recorded in the storage unit 22 (S390) and then terminates this routine. FIG. 10 is a conceptual diagram showing an example of the relationship between nozzle number and misalignment amount, which is an example of the detection result information 24. In FIG. 10, the misalignment amount in the Y-axis direction is plotted as an open circle at the top, and the misalignment amount in the X-axis direction is plotted as a shaded circle at the bottom. In FIG. 10, the upper and lower limits of the reference range of the reference information 25 are illustrated by dotted lines. Note that in FIG. 10, the dotted lines indicate the upper and lower limits of the reference range determined based on the shape of the object in the modeling process, the overall average value in the X-axis direction is indicated by a dashed line, and the overall average value in the Y-axis direction is indicated by a dashed line. As shown in FIG. 10, the print control unit 21 acquires the ejection status of all nozzles in the nozzle rows 32b and 37b and stores the information in the detection result information 24.

[0040] Returning to the description of the object production processing routine, after S120, the print control unit 21 determines whether to set the nozzles to be used for the first discharging unit 30 and / or the second discharging unit 35 (S130). The print control unit 21 may set the nozzles to be used, for example, at the start of production of the object, or may reset the nozzles to be used after a predetermined time, such as eight hours, has elapsed since the start of production of the object, or after a predetermined number of objects, such as a dozen or so, have been produced. When setting the nozzles to be used, the print control unit 21 excludes abnormal nozzles from the nozzles of the first discharging head 32 and / or the second discharging head 37, and calculates the average discharge position from the detection results of the nozzle group excluding the abnormal nozzles (S140). An abnormal nozzle may be, for example, a nozzle state that produces an object based on design values, which is empirically determined, and the nozzle state may be a nozzle that falls outside this reference range. These abnormal nozzles include, for example, non-ejection nozzles, misalignment beyond the allowable range, excessive ejection volume, insufficient ejection volume, and satellite nozzles with multiple droplets present near the ejected material 78 (see FIG. 9A ). The print control unit 21 determines non-ejection nozzles and satellite nozzles as abnormal nozzles. The print control unit 21 also determines nozzles where the positional relationship between the reference mark 73 and the ejected material 78 exceeds a predetermined reference range as abnormal nozzles. The print control unit 21 also determines nozzles where the ejection volume of the ejected material 78 is outside a predetermined reference range as abnormal nozzles. The print control unit 21 also calculates the average position in the X-axis direction along the nozzle row and in the Y-axis direction intersecting the X-axis direction, as shown by the dashed and two-dotted lines in FIG. 10 .

[0041] Next, the print control unit 21 determines whether the calculated average position is within a predetermined tolerance range (S150). This tolerance range may be set, for example, based on the print resolution. The print resolution may be set, for example, based on the standard size of the ejected material 78, or may be set as a predetermined percentage of the standard size of the ejected material 78, such as a range of 95% to 110% of the standard size. If the calculated average position is outside the tolerance range, the print control unit 21 determines that many nozzles with large misalignment were included in the calculation of the average position, and changes the reference range for determining abnormal nozzles to a narrower range (S160), and then executes the processing from S140 onward. Note that because the tolerance range is set based on the print resolution, it is rare for the average position to be outside the tolerance range.

[0042] On the other hand, if the average position calculated in S150 is within the allowable range, the print control unit 21 applies the calculated average position as a position correction value for the nozzles in use (S170). The print control unit 21 moves the position of the ejection head in the X-axis and Y-axis directions so that the calculated average position matches the target position for ejecting the ejection material 78. The print control unit 21 corrects the print position of the nozzle row based on the average position calculated using the detection result information 24.

[0043] After S170, or if it is not the inspection and maintenance timing in S110, the print control unit 21 checks the modeling process to be executed based on the modeling job information 23 (S180). If the process to be executed is a structural material ejection process, the print control unit 21 executes a first printing process using the first ejection head 32 (S190). The print control unit 21 executes the printing process by correcting the printing position of the nozzle row 32b based on the average position of the ejection positions of the active nozzle group excluding the abnormal nozzle. At this time, the print control unit 21 executes a process to print the structural fluid based on the print image of the model, executes a flattening process using the flattening unit 29, and hardens the structural fluid using the first curing unit 34. Through these processes, structures such as the substrate S and the cavity C are formed in the modeling region 61. Furthermore, if the process to be executed is a conductive material ejection process in S180, the print control unit 21 executes a second printing process using the second ejection head 37 (S200). In the second printing process, the print control unit 21 also executes the printing process by correcting the printing position of the nozzle row 37b based on the average position of the ejection positions of the group of active nozzles excluding the abnormal nozzle. At this time, the print control unit 21 executes a process of printing the conductive fluid onto the target object based on the print image of the object. This process forms a model having wiring E in the modeling region 61. Since the abnormal nozzle in each ejection head does not eject fluid, the print control unit 21 executes an ejection process using another alternative nozzle at the ejection position where the abnormal nozzle was scheduled to eject. The alternative nozzle may be, for example, a nozzle that requires a smaller ejection head movement, or, when there are multiple abnormal nozzles, a nozzle that can eject fluid simultaneously in accordance with the spacing between the nozzles.

[0044] Furthermore, in S180, when the process to be executed is a coating process using the dispenser 43, the print control unit 21 executes the coating process using the coating head 42 (S210). In the coating process, the print control unit 21 causes the coating head 42 to execute the coating of underfill U, the coating of conductive material B, the coating of filler material F, and the like. The print control unit 21 also causes the pressing unit 45 to execute a hardening process of the liquid material. Furthermore, in S180, when the process to be executed is a mounting process of components P, the print control unit 21 causes the mounting transport unit of the working unit 50 to execute a carry-out process and a carry-in process of the pallet 60 to the mounting device 12 (S220). After carrying the pallet 60 into the mounting device 12, the mounting device 12 executes a placement process of the components P based on the mounting job information. Here, the mounting device 12 places the components P set in the mounting order on the shaped object based on the mounting job information. When the mounting process is completed and the object on which the component P is placed is transported into the printing device 11, the printing control unit 21 causes the dispenser 43 to apply the filler F as needed, and causes the pressing unit 45 to perform the pressing process.

[0045] After S190 to S220, the print control unit 21 determines whether all production processes have been completed (S230). If all production processes have not been completed, the print control unit 21 executes the processes from S110 onwards. On the other hand, if production processes have been completed in S230, the print control unit 21 ends this routine. In this way, the print control unit 21 calculates the average value of the nozzle array based on the detection result information 24, corrects the position of the entire nozzle array, and produces a shaped object.

[0046] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The printing device 11 of this embodiment corresponds to an example of a printing device of the present disclosure, the control device 20 corresponds to an example of a control device, the print control unit 21 corresponds to an example of a control unit, the first ejection head 32 and the second ejection head 37 correspond to an example of an ejection head, the nozzles 32a and 37a correspond to an example of a nozzle, and the nozzle row 32b and the nozzle row 37b correspond to an example of a nozzle row. Furthermore, the inspection unit 70 corresponds to an example of an inspection unit, the inspection area 71 corresponds to an example of an inspection area, and the detection result information 24 corresponds to an example of detection result information. Note that in this embodiment, by explaining the operation of the printing device 11, an example of a printing method of the present disclosure will also be clarified.

[0047] The control device 20 of the present embodiment described above is used in a printing device 11 that performs printing processing and includes an ejection head formed with a nozzle array having a plurality of nozzles that eject fluid onto a target object 65, and an inspection unit 70 having an inspection area 71 that receives the fluid ejected from the ejection head. The control device 20 also includes a print control unit 21 that executes printing processing by correcting the printing position of the nozzle array based on the average position of the ejection positions of a group of active nozzles excluding abnormal nozzles, using detection result information 24 that detects the ejection position and / or ejection amount of fluid ejected from each nozzle on the inspection area 71 based on the fluid ejected into the inspection area 71. Because the control device 20 corrects the printing position using the average position of the ejection positions of the nozzle array excluding abnormal nozzles, it is possible to further suppress variation in ejection position deviation and obtain better printing results.

[0048] FIG. 11 is an explanatory diagram showing an example of a conventional nozzle array alignment process. The hundreds of nozzles mounted on an ejection head vary in printing position due to variations in their mounting angles and temperature variations within the head. As shown in FIG. 11 , conventionally, print position correction has been performed using several nozzles at the ends of the nozzle array. FIG. 11 shows an example of correcting the print position of a nozzle array based on the ejection positions of a 3x3 nozzle array. In this print position correction, the three leftmost nozzles that are subjected to position correction also vary in position. This results in print position deviation due to print position deviations of the nozzles used for correction, which can result in print position deviations in the model. This printing device 11 does not perform print position correction using only a portion of the nozzles. Instead, it performs a process similar to the abnormal nozzle inspection described above to measure the print positions of all nozzles, and then performs print position correction using the average position of the nozzle group that excludes nozzles outside the acceptable range. This minimizes print position deviations. Furthermore, in the printing device 11, since the all-nozzle inspection and the position correction process are used together, there is no need to separately perform print position correction using some of the nozzles, and therefore processing time can be reduced.

[0049] The print control unit 21 also corrects the print position of the nozzle array within a predetermined tolerance range set based on the print resolution. Because the control device 20 corrects the print position within a tolerance range based on the print resolution, better print results consistent with the print resolution can be obtained. Furthermore, the print control unit 21 performs an abnormality test on all nozzles included in the nozzle array and corrects the print position of the nozzle array using the detection result information 24 resulting from the abnormality test. Because the control device 20 simultaneously performs the nozzle abnormality test and print position correction, it can execute the process more efficiently than methods that perform the abnormality test and print position correction separately. Furthermore, the print control unit 21 calculates the average position in the X-axis direction along the nozzle array and the Y-axis direction intersecting the X-axis direction. The control device 20 uses an X-Y coordinate system to obtain better print results. The print control unit 21 then excludes abnormal nozzles, including one or more of the following: non-ejection nozzles, nozzles with defective shape, nozzles with abnormal ejection volume, and misaligned nozzles, from the group of active nozzles. The control device 20 can calculate a more optimal average ejection position by excluding each abnormal nozzle.

[0050] The printing device 11 also includes an ejection head having a nozzle row with multiple nozzles that eject fluid onto the target object 65, an inspection unit 70 having an inspection area 71 that receives the fluid ejected from the ejection head, and the above-described control device 20. Because the printing device 11 includes the above-described control device 20, better printing results can be obtained. The ejection head in the printing device 11 is an ejection head for one or more three-dimensional modeling devices that eject a structural fluid that forms a model onto the target object, or that eject a conductive fluid that forms a predetermined pattern on the target object 65. The printing device 11 can also obtain better printing results in a three-dimensional modeling device that obtains a model as a printed object.

[0051] It goes without saying that the control device 20, printing device 11, and printing system 10 of the present disclosure are not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0052] For example, in the above-described embodiment, the print control unit 21 corrects the print position of the nozzle row within a predetermined tolerance range set based on the print resolution, but this is not particularly limited, and the predetermined tolerance range may be set without being based on the print resolution. In this case, the predetermined tolerance range may be set based on the shape of the resulting object.

[0053] In the embodiment described above, the print control unit 21 corrects the print position of the nozzle array using the detection result information 24, which is the result of the abnormality inspection, but this is not particularly limited, and the detection result information 24 may be obtained by a process separate from the abnormality inspection. Note that performing the abnormality inspection process and the position correction process at the same time is preferable as it shortens the processing time.

[0054] In the above-described embodiment, the print control unit 21 determines the average position in the X-axis direction along the nozzle row and the Y-axis direction that intersects with the X-axis direction, but if the average position is used, it is not limited to the coordinate system of the X-axis and Y-axis, and for example, the vector of the nozzle row may be used as the average position.

[0055] In the above-described embodiment, the print control unit 21 excludes abnormal nozzles, including non-ejecting nozzles, nozzles with defective shapes, nozzles with abnormal ejection volumes, and misaligned nozzles, from the group of nozzles in use, but this is not limited to this, and one or more of these may be omitted, or abnormal nozzles other than these may be excluded from the group of nozzles in use.

[0056] In the above-described embodiment, the printing device 11 is a three-dimensional modeling device that produces a modeled object, but is not limited to this as long as it produces a printed object. For example, the printing device 11 may be an inkjet printer that ejects a fluid such as ink onto a printing medium such as paper.

[0057] In the above-described embodiment, the present disclosure has been described as the printing system 10, but is not particularly limited to this, and may be the printing device 11 alone, or the control device 20 alone. Furthermore, in the above-described embodiment, the printing system 10, the printing device 11, and the control device 20 are described, but the present disclosure may be a method for manufacturing a shaped object, a control method for the printing device 11, a printing method, or a program thereof.

[0058] The present disclosure may be configured as follows: For example, a printing method of the present disclosure is a printing method executed by a computer of a printing device that performs a printing process and that includes an ejection head formed with a nozzle row having a plurality of nozzles that eject a fluid onto an object, and an inspection unit that has an inspection area that receives the fluid ejected from the ejection head, and includes the step of: using detection result information that detects the ejection position and / or ejection amount on the inspection area of ​​the fluid ejected from each nozzle based on the fluid ejected into the inspection area, correcting the printing position of the nozzle row based on an average position of the ejection positions of a group of active nozzles excluding abnormal nozzles, and executing the printing process.

[0059] In this printing method, as with the control device described above, the print position is corrected using the average position of the ejection positions of the nozzle rows excluding the abnormal nozzles, so that the variation in ejection position deviation can be further suppressed and better print results can be obtained. Note that in this printing method, various aspects of the control device described above may be adopted, or steps may be added that realize each function of the control device described above.

[0060] This specification also discloses the technical idea of ​​changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 3" in claim 4 as originally filed, the technical idea of ​​changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 4" in claim 5 as originally filed, and the technical idea of ​​changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 5" in claim 6 as originally filed.

[0061] The present disclosure is applicable to the technical field of devices that eject fluids and manufacture shaped objects.

[0062] REFERENCE SIGNS LIST 10 Printing system, 11 Printing device, 12 Mounting device, 13 Conveyance processing unit, 14 Component supply unit, 15 Feeder, 16 Imaging unit, 17 Mounting unit, 18 Head moving unit, 19 Mounting head, 20 Control device, 21 Print control unit, 22 Memory unit, 23 Forming job information, 24 Detection result information, 25 Reference information, 26 Moving unit, 27 Support unit, 28 Support moving unit, 29 Flattening unit, 30 First ejection unit, 32 First ejection head, 32a Nozzle, 32b Nozzle row, 33 First maintenance unit, 34 First curing unit, 35 Second ejection unit, 37 Second ejection head, 37a Nozzle, 37b Nozzle row, 38 Second maintenance unit, 39 Second curing unit, 40 Coating unit, 41 Coating moving unit, 42 Coating head, 43 Dispenser, 44 Imaging unit, 45 Pressing unit, 46: Pressing member, 47: Pressing and conveying unit, 48: Operation panel, 49: Communication unit, 50: Working unit, 51: First gantry, 52: Second gantry, 53: Third gantry, 54: Housing, 57: Application amount detection unit, 60: Pallet, 61: Printing area, 65: Object, 70: Inspection unit, 71: Inspection area, 72: Mark substrate, 73: Reference mark, 74: Feeding unit, 75: Feeding roller, 76: Take-up roller, 77: Film, 78: Discharged material, 80: Information processing device, 81: Information control unit, 82: Memory unit, 83: Printing job information, 84: Detection result information, 89: Communication unit, B: Conductive material, C: Cavity, D: Feed direction, E: Wiring, F: Filler material, O: Printed object, P: Part, S: Base material, T: Tracking range, U: Underfill.

Claims

1. A control device used in a printing device that performs a printing process and that is equipped with an ejection head formed with a nozzle row having a plurality of nozzles that eject fluid onto an object, and an inspection unit that has an inspection area that receives the fluid ejected from the ejection head, wherein the control device uses detection result information that detects the ejection position and / or ejection amount on the inspection area of ​​the fluid ejected from each nozzle based on the fluid ejected into the inspection area, and corrects the printing position of the nozzle row based on the average position of the ejection positions of a group of working nozzles excluding abnormal nozzles, and executes the printing process.

2. The control device according to claim 1, wherein the control unit corrects the printing position of the nozzle row within a predetermined tolerance range set based on the printing resolution.

3. A control device as described in claim 1 or 2, wherein the control unit performs an abnormality test on all nozzles included in the nozzle row, and corrects the printing position of the nozzle row using the detection result information that is the result of the abnormality test.

4. The control device according to claim 1 or 2, wherein the control unit determines the average position with respect to an X-axis direction along the nozzle row and a Y-axis direction intersecting the X-axis direction.

5. The control device according to claim 1 or 2, wherein the control unit excludes the abnormal nozzles, which include one or more of a non-ejecting nozzle, a nozzle with a defective shape, a nozzle with an abnormal ejection amount, and a misaligned nozzle, from the group of nozzles in use.

6. A printing device comprising: an ejection head having a nozzle row formed thereon, each having a plurality of nozzles that eject a fluid onto an object; an inspection unit having an inspection area that receives the fluid ejected from the ejection head; and the control device according to claim 1 or 2.

7. The printing device according to claim 6, wherein the ejection head is an ejection head for one or more three-dimensional modeling devices that ejects a fluid onto an object to form a model, or ejects a fluid onto an object to form a predetermined pattern.

8. A printing method executed by a computer of a printing device that performs printing processing and that is equipped with an ejection head formed with a nozzle row having a plurality of nozzles that eject fluid onto an object, and an inspection unit that has an inspection area that receives the fluid ejected from the ejection head, the printing method including the step of using detection result information that detects the ejection position and / or ejection amount on the inspection area of ​​the fluid ejected from each nozzle based on the fluid ejected into the inspection area, and correcting the printing position of the nozzle row based on the average position of the ejection positions of a group of used nozzles excluding abnormal nozzles, and executing the printing processing.

Images