3D Object Printing With Robot Motion Feedback

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Solution Overview

Problem

Existing three-dimensional object printing apparatuses suffer from ink droplet misalignment due to motion errors of the robot arm, leading to reduced print quality.

Innovation Solution

A three-dimensional object printing apparatus equipped with a liquid discharge head, an articulated robot, and a detector that detects motion, using velocity information to control the ink discharge timing and synchronize the motion of the liquid discharge head and robot, thereby compensating for motion errors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a robot arm is used to position the liquid discharge head, then the printing apparatus can print on three-dimensional works with complex shapes, but motion errors of the robot arm cause ink droplet misalignment and reduced print quality

Engineering Contradiction:

Improveability to print on complex three-dimensional shapesVSAvoidink droplet placement accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The system uses a detector to detect the actual position of the liquid discharge head during robot arm movement, feeds this information back to the control section, and adjusts the ink discharge timing accordingly to compensate for motion errors and maintain precise droplet placement

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The control section dynamically changes the ink discharge timing parameter based on detected velocity information and position deviations, adjusting the discharge timing to account for robot arm motion errors and ensure accurate droplet placement on the work surface

Inventive Principle:

Principle #35Parameter changes

2Productivity

If the liquid discharge head moves at varying velocities during scanning, then the apparatus can adapt to different printing requirements, but this causes misalignment of ink droplets from intended positions

Engineering Contradiction:

Improveprinting speed adaptabilityVSAvoiddroplet position accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The detector continuously monitors the actual velocity of the liquid discharge head during scanning, and the control section uses this feedback information to adjust ink discharge timing in real-time, compensating for velocity variations and maintaining precise droplet placement

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system transitions from fixed timing control to dynamic timing control, where the ink discharge timing is continuously adjusted based on real-time velocity detection, allowing the system to adapt to varying scanning speeds while maintaining precision

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20250282095A1Three-Dimensional Object Printing Apparatus And Printing Method

Publication Date: 2025.09.11 SEIKO EPSON CORP

AI summary

A three-dimensional object printing apparatus includes: a liquid discharge head that discharges a liquid toward a work; an articulated robot that changes a position of the liquid discharge head relative to the work, the articulated robot having a tip end that supports the liquid discharge head; a detector that detects motion of the liquid discharge head in a scanning direction; and a control section that controls the motion of the liquid discharge head and motion of the articulated robot. The control section acquires velocity information regarding a velocity of the liquid discharge head, based on a detection result of the detector and controls an ink discharge timing of the liquid discharge head, based on the velocity information.