Printing apparatus
A printing apparatus which is capable of printing a pattern and/or a character on a curved printed surface, such as an airframe surface of a passenger aircraft, in a very short time. A head array having therein a plurality of inkjet nozzles for ejecting ink toward a remote position by supplying pressurized air to ink tanks filled with the ink, respectively, is mounted on a linear array so as to be able to perform linear reciprocation, the linear rail being held by a robot arm of a multi-articulated robot 5, and a position at which the robot arm 5a is to be disposed is controlled on the basis of position information, while controlling of driving of predetermined nozzles in the head array is performed in association with the position information.
1. A printing apparatus for printing a pattern and/or a character by performing ejection of a predetermined ink to a predetermined targeted position of a curved printed surface, comprising:
a head array having provided therein a plurality of inkjet nozzles configured to eject an ink toward a remote position by supplying pressurized air to an ink tank filled with the ink to thereby apply thereto high-pressure air;
a linear rail configured to allow the head array to make linear reciprocation therealong;
a multi-articulated robot provided with a robot arm arranged for appropriately moving the linear rail to a predetermined position and for holding the linear rail at the predetermined position;
a robot arm controller configured to control driving of the robot arm on the basis of position information; and
a controller configured to supply the position information to the robot arm controller, and to perform driving control of the predetermined inkjet nozzle of the head array in association with the position information.
2. The printing apparatus according to claim 1 , wherein the linear rail is provided with two rails that are orthogonal to one another.
3. The printing apparatus according to claim 1 , wherein the linear rail is a support member attached to the robot arm, and is movably mounted on two vertical linear rails that are attached to right and left leading ends of a fork-shaped support member so as to be parallel to one another, the fork-shaped support member having two bifurcated parts thereof.