Three-dimensional object printing apparatus and method
There is provided a three-dimensional object printing apparatus including: a first head that ejects a first liquid from a first nozzle onto a workpiece; a second head that ejects a second liquid from a second nozzle onto the workpiece; a first Z movement mechanism that moves the first head along a Z-axis; a second Z movement mechanism that moves the second head along the Z-axis; an X movement mechanism that moves the first head and the second head along an X-axis intersecting with the Z-axis by collectively moving the first Z movement mechanism and the second z movement mechanism along the X-axis; and an articulated robot that supports the workpiece.
1 . A three-dimensional object printing apparatus comprising:
a first head that ejects a first liquid from a first nozzle onto a workpiece;
a second head that ejects a second liquid from a second nozzle onto the workpiece;
a first Z movement mechanism that moves the first head along a Z-axis;
a second Z movement mechanism that moves the second head along the Z-axis;
an X movement mechanism that moves the first head and the second head along an X-axis intersecting with the Z-axis by collectively moving the first Z movement mechanism and the second Z movement mechanism along the X-axis;
an articulated robot that supports the workpiece;
a Y movement mechanism that moves the articulated robot along a Y-axis intersecting with the Z-axis and the X-axis; and
a control portion configured to:
execute a first printing operation in which the first head and the second head eject the first liquid and the second liquid toward a first printing region on the workpiece while driving the first Z movement mechanism, the second Z movement mechanism, and the X movement mechanism,
execute a second printing operation in which the first head and the second head eject the first liquid and the second liquid toward a second printing region adjacent to the first printing region on the workpiece while driving the first Z movement mechanism, the second Z movement mechanism, and the X movement mechanism, and
between the first printing operation and the second printing operation, drive the Y movement mechanism to move the articulated robot along the Y-axis while the articulated robot does not change a position or a posture of the workpiece.
2 . The three-dimensional object printing apparatus according to claim 1 , wherein
the control portion is configured to control the articulated robot such that the position or the posture of the workpiece is not changed during the execution of the first printing operation.
3 . The three-dimensional object printing apparatus according to claim 1 , wherein
the control portion is configured to control the articulated robot such that the position or the posture of the workpiece is not changed during the execution of the second printing operation.
4 . The three-dimensional object printing apparatus according to claim 3 , wherein
a part of the first printing region overlaps with the second printing region, and another part of the first printing region does not overlap with the second printing region.
5 . The three-dimensional object printing apparatus according to claim 1 , wherein
a third printing operation of causing the first head and the second head to eject the first liquid and the second liquid toward a third printing region on the workpiece while operating the first Z movement mechanism, the second Z movement mechanism, and the X movement mechanism is executed,
the articulated robot does not change the position or the posture of the workpiece during the execution of the third printing operation, and
in a period between the first printing operation and the third printing operation, a workpiece rotation operation of changing the posture of the workpiece by operating the articulated robot is executed.
6 . The three-dimensional object printing apparatus according to claim 5 , wherein
the articulated robot has N number of joints configured to rotate around different rotation axes, N being a natural number of two or more, and
the number of joints rotating during the execution of the workpiece rotation operation among the N joints is M, M being a natural number smaller than N.
7 . The three-dimensional object printing apparatus according to claim 6 , wherein
when a joint closest to a tip is set as a first joint and a joint closest to the tip next to the first joint is set as a second joint among the N joints,
a joint rotating during the execution of the workpiece rotation operation is any one of the first joint and the second joint.
8 . The three-dimensional object printing apparatus according to claim 7 , wherein
a rotation axis of the second joint and the X-axis are parallel to each other.
9 . The three-dimensional object printing apparatus according to claim 7 , wherein
a rotation axis of the first joint and a Y-axis intersecting with the X-axis are parallel to each other.
10 . The three-dimensional object printing apparatus according to claim 7 , wherein
a transport operation of causing the articulated robot to transport the workpiece is executed before the first printing operation, and
regarding a rotational acceleration of the joint rotating during the execution of the workpiece rotation operation, the rotational acceleration in the workpiece rotation operation is less than the rotational acceleration in the transport operation.
11 . The three-dimensional object printing apparatus according to claim 5 , wherein
in a period between the first printing operation and the workpiece rotation operation, a head retracting operation of moving the first head and the second head in a direction away from the workpiece by the operation of the first Z movement mechanism and the second Z movement mechanism is executed.
12 . The three-dimensional object printing apparatus according to claim 5 , wherein
in a period between the first printing operation and the workpiece rotation operation, a head retracting operation of moving the articulated robot in a direction away from the first head and the second head by an operation of the Y movement mechanism is executed.