Three-dimensional object printing method and data generation method
Disclosed is a three-dimensional object printing method using a head and a robot that changes relative position and relative orientation of a workpiece and the head. The method includes a first data processing step of acquiring first initial route data that represents, in a workpiece coordinate system, a route along which the head is to move; a second data processing step of acquiring first head reference point data that represents, in a robot coordinate system, position and orientation of the head; a third data processing step of generating, based on the first initial route data and the first head reference point data, first print route data that represents, in the robot coordinate system, the route along which the head is to move; and a first printing step of ejecting the liquid from the head onto the workpiece while the robot is operated based on the first print route data.
1. A three-dimensional object printing method using a head, a first robot, and a second robot, the head being configured to eject a liquid onto a workpiece, the head being mounted as an end effector of the first robot, the first robot being configured to change a position and an orientation of the head, and the second robot being configured to change a position and an orientation of the workpiece, comprising:
a first data processing step of acquiring first initial route data that represents a first initial route in a workpiece coordinate system, the first initial route being generated based on workpiece shape data that represents a shape of the workpiece in the workpiece coordinate system;
a second data processing step of acquiring first head reference point data that represents a position and an orientation of the head in a robot coordinate system;
a third data processing step of generating, based on the first initial route data and the first head reference point data, first print route data that represents, in the robot coordinate system, a first print route along which the head moves; and
a first printing step of ejecting the liquid from the head onto the workpiece while the first robot is configured to cause the head to move along the first print route.
2. The three-dimensional object printing method according to claim 1 , further comprising a fourth data processing step between the first data processing step and the third data processing step, wherein
the first initial route data includes pieces of route point data that represent, in the workpiece coordinate system, the position and the orientation of the head,
in the fourth data processing step, a particular piece of the route point data is selectively acquired as first reference route point data from among the pieces of the route point data included in the first initial route data, and
in the third data processing step, the first print route data is generated based on the first reference route point data and the first head reference point data.
3. The three-dimensional object printing method according to claim 2 , wherein
in the third data processing step, a conversion parameter that represents correspondence between the first reference route point data and the first head reference point data is calculated by comparing a coordinate value indicated by the first reference route point data and a coordinate value indicated by the first head reference point data, and
in the third data processing step, the first print route data is generated by applying the conversion parameter to the pieces of the route point data included in the first initial route data.
4. The three-dimensional object printing method according to claim 1 , further comprising a fifth data processing step between the second data processing step and the first printing step, wherein
the first initial route data further includes workpiece center point data that represents, in the workpiece coordinate system, the position and the orientation of the workpiece, and
in the fifth data processing step, first workpiece positioning point data is generated based on the first initial route data, the workpiece center point data, and the first head reference point data, the first workpiece positioning point data representing, in the robot coordinate system, the position at which the workpiece is to be positioned and the orientation in which the workpiece is to be positioned.
5. The three-dimensional object printing method according to claim 4 , wherein
in the first printing step, based on the first workpiece positioning point data, the second robot is configured to position the workpiece.
6. The three-dimensional object printing method according to claim 2 , further comprising:
a sixth data processing step of acquiring second initial route data that represents, in the workpiece coordinate system, a second initial route that is generated based on the workpiece shape data;
a seventh data processing step of acquiring second head reference point data that represents, in the robot coordinate system, a second position and a second orientation of the head;
an eighth data processing step of generating, based on the second initial route data and the second head reference point data, second print route data that represents, in the robot coordinate system, a second print route along which the head moves; and
a second printing step of ejecting the liquid from the head onto the workpiece while the second robot is configured to cause the head to move along the second print route.
7. The three-dimensional object printing method according to claim 6 , further comprising a ninth data processing step between the sixth data processing step and the eighth data processing step, wherein
the second initial route data includes pieces of route point data that represent, in the workpiece coordinate system, the position and the orientation of the head,
in the ninth data processing step, a particular piece of the route point data is selectively acquired as second reference route point data from among the pieces of the route point data included in the second initial route data, and
in the eighth data processing step, the second print route data is generated based on the second reference route point data and the second head reference point data.
8. The three-dimensional object printing method according to claim 7 , wherein
a difference between the orientation represented by the first head reference point data and the orientation represented by the second head reference point data is less than a difference between the orientation represented by the first reference route point data and the orientation represented by the second reference route point data.
9. The three-dimensional object printing method according to claim 8 , wherein
the orientation represented by the first reference route point data and the orientation represented by the second reference route point data are equal to each other.
10. The three-dimensional object printing method according to claim 7 , wherein
a difference between the position represented by the first head reference point data and the position represented by the second head reference point data is less than a difference between the position represented by the first reference route point data and the position represented by the second reference route point data.
11. The three-dimensional object printing method according to claim 10 , wherein
the position represented by the first reference route point data and the position represented by the second reference route point data are equal to each other.
12. The three-dimensional object printing method according to claim 1 , further comprising a tenth data processing step between the third data processing step and the first printing step, wherein
in the tenth data processing step, based on a result of detecting the position where the workpiece is actually positioned and the first print route data, corrected first print route data is generated.
13. The three-dimensional object printing method according to claim 1 , further comprising an eleventh data processing step prior to the first data processing step, wherein
in the eleventh data processing step, pieces of route point data and a workpiece center point data are generated based on the workpiece shape, data representing a shape of the workpiece in the workpiece coordinate system,
the pieces of the route point data represent the position and orientation of the head in the workpiece coordinate system, and
the workpiece center point data represents the position and the orientation of the workpiece in the workpiece coordinate system.