JP2017019059A - Printer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a printer which improves printing quality in printing an image on a printing material by using a multi-joint robot.SOLUTION: A printer 10 performs printing, while changing the relative position between a base material 20 and a print head 102 by using a multi-joint robot 104. A plurality of encoders measuring a moving amount along each moving shaft are provided for each moving shaft of a multi-joint robot 104. The moving distance on a three-dimensional space of a work point of the multi-joint robot 104 is calculated on the basis of the moving amount measured by the encoder, to output a pulse signal in accordance with the moving distance in a distance calculation chip. A print head driver controls printing operation by a print head 102 by using the pulse signal together with shape information and printing position information of a printing figure.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a printing apparatus that performs printing while changing a relative position between a printing medium and a print head using an articulated robot.

2. Description of the Related Art Conventionally, when printing on a substrate, particularly a substrate having a curved surface, there is a technique for performing printing by changing the relative position between a substrate and a print head three-dimensionally using an articulated robot. Are known.
For example, Patent Document 1 below discloses a technique in which a multi-joint robot has a print head as a tool and performs printing on a curved surface of an object.

Special table 2011-514234 gazette

In a printing apparatus that performs printing on a plane such as printing paper, since the movement direction of the printing medium and the print head is generally one direction, it is easy to grasp the printing positioning and the paper feeding state.
On the other hand, in a printing apparatus using an articulated robot, the amount of movement along each movement axis of the articulated robot is detected by an encoder and coordinates are calculated. It is not possible to determine whether it is. In this case, the operator confirms that the printing medium or the print head has moved to the initial printing position and outputs a print start signal. Thereafter, it is held by the articulated robot and this at a constant (as set) moving speed. The printing operation of the print head is executed on the assumption that the printing medium is moved.
Therefore, errors may occur in the actual movement (position and movement speed) of the printing medium and the calculated movement (position and movement speed) according to the movement settings of the articulated robot, improving the printing accuracy and reproducibility. There is room for.
In particular, when printing a pattern having a long movement distance (feeding direction) of the articulated robot, the error may increase.

  SUMMARY An advantage of some aspects of the invention is that it improves print quality when an image is printed on a printing medium using an articulated robot.

In order to solve the above-described problems and achieve the object, a printing apparatus according to a first aspect of the present invention is a printing apparatus that performs printing while changing the relative position between a printing medium and a print head using an articulated robot. A plurality of movement amounts that are provided for each movement axis of the multi-joint robot and that measure the movement amount along each movement axis. A moving distance calculating means for calculating a moving distance in a three-dimensional space of the work point of the articulated robot based on the plurality of moving amounts measured by the plurality of moving amount measuring means; and the moving Print instruction including pulse output means for outputting a pulse signal corresponding to the movement distance of the work point calculated by the distance calculation means, shape information of the printed figure, and print position information on the printing medium And broadcast, on the basis of the pulse signal, characterized in that it comprises a print control means for controlling the printing operation by the printhead.
According to a second aspect of the present invention, the pulse output means outputs the pulse signal every time the position of the working point changes by a predetermined unit distance, and the print control means is based on the pulse signal. The position of the substrate to be printed with respect to the print head is detected.
The printing apparatus according to a third aspect of the invention is characterized in that the movement distance calculation means and the pulse output means are constituted by a single dedicated integrated circuit.
According to a fourth aspect of the present invention, there is provided the printing apparatus, wherein the print head includes an ink discharge port that discharges the ink that forms the printed figure to the printing medium, and the print control unit is configured to perform the printing by the print head. The ink ejection timing and the ejection amount are controlled.
In the printing apparatus according to a fifth aspect of the invention, the print head is disposed so as not to move, and the articulated robot moves the work point while fixing and holding the printing medium at the work point. Accordingly, the relative position between the printing medium and the print head is changed.

According to the first aspect of the present invention, since the printing operation by the print head is controlled based on the actual movement amount of the work point after the start of printing, it has conventionally been simple (assuming that the articulated robot moves as set). ) It is possible to determine the timing of the determined printing operation more accurately. As a result, the print quality can be improved and the reproducibility of printing under the same conditions can be improved.
According to the invention of claim 2, since the pulse signal is output every time the position of the work point changes by a predetermined unit distance, the work point moving in the three-dimensional space can be caused to function as a pseudo encoder. it can.
According to the invention of claim 3, since the movement distance calculating means and the pulse output means are constituted by a single dedicated integrated circuit, it is advantageous in preventing delay due to an increase in processing load and improving printing accuracy.
According to the invention of claim 4, since the printing apparatus is an ink jet printer, it is possible to use a special material as the ink. For example, it can be used for purposes other than drawing printing such as forming a circuit on a substrate. It becomes possible.
According to the fifth aspect of the present invention, since the print head is fixed and printing is performed while the printing medium is moved, the ink ejection direction can be stabilized and the print quality can be improved.

It is explanatory drawing which shows the structure of the printing apparatus 10 concerning embodiment. 2 is a block diagram showing a control system of the printing apparatus 10. FIG. 3 is an explanatory diagram illustrating a configuration example of an articulated robot 104. FIG. 3 is an explanatory diagram illustrating a configuration example of an encoder 50. FIG. 5 is an explanatory diagram for explaining a method of calculating a movement path of the multi-joint robot 104. FIG. FIG. 4 is an explanatory diagram schematically showing control by a print head driver. 3 is a flowchart showing a flow of printing processing in the printing apparatus 10. FIG.

Exemplary embodiments of a printing apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.
In the present embodiment, as an example of a printing apparatus that performs printing while changing the relative position between a print medium and a print head using an articulated robot, the print head is fixedly installed, and the print medium is connected to an articulated robot. A case will be described in which printing is performed while moving the image.
In this embodiment, it is assumed that the printing apparatus is an ink jet printer.

FIG. 1 is an explanatory diagram illustrating a configuration of a printing apparatus 10 according to the embodiment.
The printing apparatus 10 prints a wiring pattern on the surface of the base material 20 having a curved surface shape.
Generally, a wiring pattern is formed by etching a flat flexible substrate. However, with such a method, it is difficult to form a wiring pattern on the substrate 20 having a curved shape.
On the other hand, since the printing apparatus 10 according to the embodiment performs printing while changing the relative position between the printing medium and the print head using an articulated robot, the wiring pattern can be freely formed on the substrate 20 having a curved shape. Can be arranged.

  The printing apparatus 10 includes a print head 102, an articulated robot 104 serving as a printing medium moving unit, an ink curing unit 108, and various control units illustrated in FIG. 2, and prints an image on the surface of the printing medium having a curved shape. To do. In the present embodiment, a hemispherical base material 20 is used as an example of a printing medium (work).

  The print head 102 is supported by the first support member 22 and is disposed so as not to move. The print head 102 includes an ink discharge port 102 </ b> A that discharges ink forming an image to the substrate 20. The print head 102 is supported downward, for example, so that the direction of ink ejection from the ink ejection port 102A coincides with the direction of gravity. A plurality of ink discharge ports 102 </ b> A may be provided in the print head 102.

  In addition, the print head 102 may include a position adjustment mechanism that adjusts the position of the ink discharge port 102 </ b> A with respect to the substrate 20. As the position adjustment mechanism, for example, an articulated robot (an articulated robot as a print head moving means provided separately from the articulated robot 104 as a printing body moving means) can be used. By providing such a position adjustment mechanism, the degree of freedom of relative position change between the printing medium and the print head 102 can be increased, and the printing efficiency can be improved.

  The ink ejected from the print head 102 is, for example, a curable ink that is cured by energy irradiation. For example, a frequency selective element (FSS) pattern is drawn with a curable ink using a conductive material, and the ink is cured using an ink curing unit 108 described later, whereby the frequency is applied to the surface of the substrate 20 having a curved surface shape. A selection element can be formed.

  The ink curing unit 108 is supported by the second support member 23 and irradiates the base material 20 on which the ink has been ejected with energy. The ink curing unit 108 cures the curable ink discharged on the surface of the substrate 20 by irradiating, for example, a laser, a heat source, flash light, UV light, or the like according to the type of the curable ink. The ink curing means 108 can be improved in safety by being installed on the second support member 23 as shown in FIG. 1 without having the articulated robot as a tool.

The articulated robot 104 changes the relative position between the substrate 20 and the print head 102 by moving the work point while fixing and holding the substrate 20 at the work point.
In FIG. 1, a state in which the base material 20 is held by the articulated robot 104 is illustrated. The articulated robot 104 is specifically a robot that can move in the axial direction, and is preferably a multi-axis robot having a moving direction of four or more axes.
In this embodiment, a 6-axis articulated robot is used as the articulated robot 104.

FIG. 3 is an explanatory diagram illustrating a configuration example of the articulated robot 104.
The multi-joint robot 104 shown in FIG. 3 is a six-axis multi-joint robot, and mainly includes a body part 104A, an arm part 104B, and a wrist part 104C.
In the present embodiment, the base material 20 is supported on the wrist 104 </ b> C via a jig and moved following the movement of the articulated robot 104.
In the present embodiment, the work point of the articulated robot 104 is the tip of the jig supported by the wrist 104C (the contact point between the articulated robot 104 and the base material 20).

The body part 104A of the articulated robot 104 can rotate about the S axis and can swing in the front-rear direction about the L axis.
The arm 104B of the articulated robot 104 can rotate about the R axis and can swing up and down about the U axis.
The wrist 104C of the articulated robot 104 can rotate around the T-axis, and can swing up and down around the B-axis.
More specifically, each part of the multi-joint robot 104 (body part 104A, arm part 104B, wrist part 104C) has respective movement axes (S axis, L axis, R axis, U axis, T axis, B axis). And a motor 105 (see FIG. 2) that rotates each of the support shafts. The rotation amount of each motor 105 is controlled by a robot controller 106 described later.

As a coordinate system for defining the position and posture of the articulated robot 104, a base coordinate system (X, Y, Z) having the ground center of the body part 104A as an origin and a work point (a jig supported by the wrist part 104C). There is a mechanical interface coordinate system (Xm, Ym, Zm) whose origin is the tip. Although the base coordinate system is a reference for other coordinate systems and does not change, the mechanical interface coordinate system changes due to a change in the angle of each axis.
In order to change the position and posture of the articulated robot 104, a movement amount (position deviation or rotation deviation) and a displacement speed are input to each coordinate system.

The movement axes (S-axis, L-axis, R-axis, U-axis, T-axis, B-axis) of the articulated robot 104 are the parts (body part 104A, arm part 104B, wrist part) along the movement axes. 104C) is provided for moving amount measuring means for measuring the moving amount.
The movement amount measuring means is specifically an encoder 50 as shown in FIG. The encoder 50 detects a moving direction, a moving amount, and an angle when the object rotates and moves linearly.
FIG. 4A shows a schematic diagram of a general optical transmission encoder 50.
The encoder 50 includes an LED light emitting element 502, a lens 504, a code wheel 506, and a light receiving IC 508.
The LED light emitting element 502 and the lens 504 are installed so as to face one surface of the disc-shaped code wheel 506. The light receiving IC 508 is installed so as to face the other surface of the code wheel 506.

The code wheel 506 is attached to the output shaft of the motor 105 that rotates the moving shaft, and rotates in conjunction with the rotation of the motor 105. The code wheel 506 is provided with a slit portion 506A having a rectangular hole and a flat plate portion 506B having no hole. The slit portions 506A are opened at equal intervals along the outer periphery of the disk-shaped code wheel 506.
One surface of the code wheel 506 is irradiated with detection light from the LED light emitting element 502. Since the irradiation light from the LED light emitting element 502 is confusion light, it is condensed by the lens 504 and brought close to parallel light.
As described above, since the code wheel 506 is provided with the slit portion 506A and the flat plate portion 506B, the code wheel 506 reaches the light receiving IC 508 on the other surface side of the code wheel 506 only at the timing when the slit portion 506A passes. .
A photodiode is disposed on the light receiving IC 508 and processed by the signal conversion circuit unit to convert a two-phase pulse train having a phase difference of ¼ cycle as shown in FIG. 4B into an angular displacement of the output shaft of the motor 105. According to the output. The phase relationship of the two-phase pulse train (A phase and B phase) is inverted corresponding to the rotation direction.
By using such a pulse train, the rotation direction, rotation position, and rotation speed of the motor 105 can be detected.

More specifically, the direction of rotation of the rotary shaft to which the code wheel 506 is attached can be determined by detecting which of the A phase and the B phase rises first.
For example, when the code wheel 506 is rotating forward (clockwise), the B phase rises later than the A phase. When the code wheel 506 rotates in the reverse direction (counterclockwise), the rotation direction of the physical rotating disk is reversed, so that the B phase rises before the A phase. Further, such a configuration can be used not only for determining the direction of rotation but also for determining the direction of movement during horizontal (linear) driving.

Further, the code wheel 506 is provided with slit portions 506A at equal intervals over one circumference. For example, if 360 slit portions 506A are provided on one circumference of the code wheel 506, one pulse is output per one slit portion 506A, so that a rotational position of 1 degree per pulse is detected. Can do. Similarly, if 3600 slits are provided in one circumference, the rotation angle can be detected in units of 0.1 degree.
Furthermore, by counting the rising / falling positions of the waveforms of the A phase and the B phase, it is possible to detect an angular position that is finer than the number of the physically provided slit portions 506A.

Further, the rotational speed of the output shaft of the motor 105 can be calculated by measuring the pulse time of one cycle output from the encoder 50 and the number of output pulses per cycle and applying the following equation (1). .
Rotational speed (r / min) = (1 / (time of one cycle (second) × number of pulses)) × 60 (1)

Next, a control system of the printing apparatus 10 will be described.
FIG. 2 is a block diagram illustrating a control system of the printing apparatus 10.
The printing apparatus 10 includes a robot controller 106, a computer 120, a distance calculation chip 122, and a print head driver 124.
The computer 120 includes a CPU, a ROM, a RAM, a hard disk device, a keyboard, a mouse, a display, and the like, and functions as an interface for an operator to set a printed figure, give instructions to the articulated robot 104 and the print head 102, and the like.

The robot controller 106 controls the movement direction and movement amount of the articulated robot 104 to move the substrate 20 to a desired position with respect to the print head 102. The moving direction and moving amount of the articulated robot 104 are determined based on control information (such as the printing order of the areas on the base material 20) output from the computer 120.
More specifically, the robot controller 106 outputs a control signal to the motor 105 provided on each moving axis of the articulated robot 104 based on control information from the computer 120. The articulated robot 104 executes the instructed movement by driving the motor 105 of each axis based on the control signal.
At this time, a pulse signal is output from the encoder 50 attached to the output shaft of each motor 105. The robot controller 106 processes this pulse signal with an encoder counter, performs a differential comparison with the control signal, and confirms whether each movement axis is instructed to move.
Further, the robot controller 106 calculates the coordinates (X, Y, Z and Xm, Ym, Zm) of the articulated robot 104 using the pulse signal output from the encoder 50 of each moving axis. Then, the calculated coordinates are output to the distance calculating chip 122 via the computer 120.
The coordinates of the articulated robot 104 may be calculated by the distance calculation chip 122. In this case, the pulse signal output from the encoder 50 of each moving axis is output from the robot controller 106 to the distance calculation chip 122 as it is.
In addition, since the shape of the base material 20 and the installation state of the base material 20 with respect to the work point are known, if the position (coordinates) of the work point can be specified, the position (coordinates) of an arbitrary point of the base material 20 is also calculated. Can do.

The distance calculation chip 122 is a dedicated chip for calculating the movement locus of the work point of the articulated robot 104, and in this embodiment, a field programmable gate array (FPGA) is used.
The FPGA is a circuit in which a circuit generated using dedicated software is mounted on a chip, and the circuit can be redefined. Unlike the CPU of a computer, the FPGA does not go through an operation system (OS), so that processing can be speeded up.
More specifically, since the articulated robot 104 moves while calculating the movement locus of the work point by the distance calculation chip 122, it is important to calculate the movement locus by speeding up the calculation. Become. Here, since the robot controller 106 moves the angle of each motor (each axis) of the articulated robot 104 in accordance with the movement instructed in advance, the calculation of the coordinates of the articulated robot 104 has a relatively small load. On the other hand, the process of calculating the movement trajectory from each coordinate requires a large amount of load because real-time processing is required.
Thus, providing the distance calculation chip 122 separately from the CPU of the computer is advantageous in preventing delay due to an increase in processing load and improving the printing accuracy of the printing apparatus 10.

The distance calculation chip 122 includes a distance calculation circuit 122A and a pulse generation circuit 122B.
The distance calculation circuit 122A functions as a movement distance calculation unit, and calculates a movement locus and a movement distance of the work point from the coordinates of the articulated robot 104. That is, the distance calculation circuit 122A calculates the movement distance in the three-dimensional space of the work point of the articulated robot 104 based on the plurality of movement amounts measured by the plurality of encoders 50 (movement amount measuring means).
FIG. 5 is an explanatory diagram for explaining a method for calculating the movement path of the articulated robot 104.
In FIG. 5, for convenience of explanation, it is assumed that the X axis and the Z axis are taken on the paper surface, and the work point moves on the XZ plane.
As shown in FIG. 5A, the coordinate information of the articulated robot 104 is input to the distance calculation circuit 122A at a predetermined sampling interval. For example, the coordinates of the articulated robot 104 at time T1 are (X1, Z1), and this position is P1. The coordinate of the articulated robot 104 at time T2 (after the unit sampling time from time T1) is (X2, Z2), and this position is P2. Similarly, FIG. 5A shows coordinates at times T3 to T5.
As shown in FIG. 5B, the movement amount L1 of the articulated robot 104 between time T1 and time T2 can be calculated using the Pythagorean theorem.
Also, the movement amount L1 in a more generalized form adapted to the three-dimensional space is given by the following equation (2).

  Further, the movement distance of the articulated robot 104 can be calculated by accumulating the movement amount for each time. The movement route is a line connecting positions (P1 to P5 in FIG. 5A) specified from the coordinates of each time.

Returning to the description of FIG. 2, the pulse generation circuit 122B functions as a pulse output unit, and outputs a pulse signal corresponding to the position of the work point calculated by the distance calculation circuit 122A.
The pulse generation circuit 122B is configured to output a pulse signal every time the position of the work point changes by a predetermined unit distance.
The pulse generation circuit 122B functions as a pseudo encoder that detects the amount of movement of the work point.

The print head driver 124 functions as a print control unit, and prints based on the shape information of the printed figure, the print instruction information including the print position information on the base material 20, and the pulse signal generated by the pulse generation circuit 122B. The printing operation by the head 102 is controlled.
In the present embodiment, since the printing apparatus 10 is an ink jet printer, the print head driver 124 detects the position of the substrate 20 relative to the print head 102 based on the pulse signal, and the ink ejection timing by the print head 102. And control the discharge amount.

FIG. 6 is an explanatory diagram schematically showing control by the print head driver 124.
The design F1 shown in FIG. 6A is an example of a printed figure in the printing apparatus 10, and is a two-color striped pattern drawn on the substrate 20 at equal intervals (distance Xi).
The pulse signal shown in the lower part of FIG. 6A indicates the moving speed of the base material 20 by the articulated robot 104. The pulse signal in the lower part of FIG. 6A indicates that the substrate 20 is moved by a distance Xi × 2 at time T = 4t (t is a unit time). That is, the moving distance per unit time (t) is 2Xi / 4, and this speed is the standard moving speed.
In this case, the print head driver 124 performs printing for the distance Xi × 2 within time 4t.

Here, it is assumed that the moving speed of the base material 20 increases for some reason, and the base material 20 moves by a distance Xi × 2 in time 3t. In this case, the moving distance per unit time (t), that is, the moving speed is 2Xi / 3 (> standard speed).
When printing is performed assuming that the movement speed of the base material 20 is constant (standard speed) as in the prior art, printing is performed for a distance Xi × 2 within a time period 4t, and the base material 20 with respect to the printing speed. Is too fast, and the interval between the stripes becomes wider as in the design F2 in FIG. 6B. Note that the design F2 is shown as if the interval between the stripe patterns is widened, but in actuality, for example, printing unevenness may occur.

On the other hand, since the print head driver 124 of the printing apparatus 10 controls the printing operation based on the pulse signal corresponding to the movement distance of the work point, the printing range or the like is changed in accordance with the actual movement speed of the substrate 20. Can do.
That is, as shown in the lower part of FIG. 6C, when the moving speed of the base material 20 is increased for some reason (moving speed 2Xi / 3), the print head driver 124 performs printing for the distance Xi × 2 within time 3t. . As a result, the printed figure can be printed without error as in the design F3 in the upper part of FIG. 6C.

FIG. 7 is a flowchart showing the flow of printing processing in the printing apparatus 10.
The flowchart of FIG. 7 is an example, and for example, the computer 120 may be configured to perform the processing performed by the robot controller 106 or the print head driver 124 in FIG.
When the print instruction information is input from the operator (step S700), the computer 120 provides control information regarding the movement of the articulated robot 104 to the robot controller 106, and the shape of the printed figure to the print head driver 124. Control information (print instruction information) including information and print position information on the substrate 20 is output (step S702).
When the control information is input (step S704), the robot controller 106 operates the articulated robot 104 to move the substrate 20 to the print start position (step S706). When the movement to the print start position is completed, the robot controller 106 outputs a movement completion signal to the print head driver 124 (step S708).

When the control information (step S709) and the movement completion signal from the computer 120 are input (step S710), the print head driver 124 outputs a print start signal to the robot controller 106 (step S712).
When the print start signal is input (step S714), the robot controller 106 moves the articulated robot 104 along the control information input in step S704 (step S716). Then, base coordinates and mechanical interface coordinates are calculated based on movement amount information output from the encoder 50 attached to the motor 105 of each movement axis, and the calculated coordinate information is output to the distance calculation chip 122 (step S718). ).

When the coordinate information is input (step S720), the distance calculation chip 122 calculates the movement distance of the work point (step S722), generates a pulse signal according to the movement amount of the work point, and print head driver 124. (Step S724).
The print head driver 124 controls the ejection of ink from the print head 102 based on the control information and the pulse signal input in step S709 (step S726). Since a pulse signal is not input for a very short time from the start of printing, the print head 102 is controlled using only control information.

As described above, the printing apparatus 10 according to the embodiment controls the printing operation by the print head 102 based on the actual movement amount of the work point after starting printing. The timing of the printing operation that has been determined (assuming that the joint robot 104 moves) can be determined more accurately. As a result, the print quality can be improved and the reproducibility of printing under the same conditions can be improved.
Further, since the printing apparatus 10 outputs a pulse signal every time the position of the work point changes by a predetermined unit distance, the printing apparatus 10 can function as a pseudo encoder for the work point moving in the three-dimensional space.
Further, since the distance calculation circuit 122A and the pulse generation circuit 122B are configured by a single dedicated integrated circuit, the printing apparatus 10 is advantageous in preventing delay due to an increase in processing load and improving printing accuracy.
Moreover, since the printing apparatus 10 is an ink jet printer, a special material can be used as ink, and for example, it can be used for purposes other than drawing printing, such as forming a circuit on a substrate.
In addition, since the printing apparatus 10 performs printing while fixing the print head 102 and moving the substrate 20, the ink ejection direction can be stabilized and the print quality can be improved.

The application of the present invention is not limited to a printing apparatus. In other words, the present invention can be applied to any apparatus that performs work while changing the relative position between the work target and the work tool using an articulated robot.
In the present embodiment, the print head 102 is disposed so as not to move, and printing is performed while the base 20 is moved by the articulated robot 104. However, the present invention is not limited thereto, and the base 20 is disposed so as not to be movable. Alternatively, printing may be performed while the print head 102 is moved by the articulated robot 104, or printing may be performed while both the base material 20 and the print head 102 are moved by the articulated robot 104.

  DESCRIPTION OF SYMBOLS 10 ... Printing apparatus, 20 ... Base material, 22, 23 ... Support member, 50 ... Encoder, 502 ... Light emitting element, 504 ... Lens, 506 ... Code wheel, 506A ... Slit part, 506B ... ... Flat plate part, 508 ... Light receiving IC, 102 ... Print head, 102A ... Ink ejection port, 104 ... Articulated robot, 104A ... Body part, 104B ... Arm part, 104C ... Wrist part, 105 ... ... Motor, 106 ... Robot controller, 108 ... Ink curing means, 120 ... Computer, 122 ... Distance calculation chip, 122A ... Distance calculation circuit, 122B ... Pulse generation circuit, 124 ... Print head driver.

Claims (5)

A printing apparatus that performs printing while changing a relative position between a printing medium and a print head using an articulated robot,
Robot control means for controlling the direction and amount of movement of the articulated robot;
A plurality of movement amount measuring means provided for each movement axis of the articulated robot, for measuring the movement amount along each of the movement axes;
A movement distance calculating means for calculating a movement distance in a three-dimensional space of the work point of the articulated robot based on the plurality of movement amounts measured by the plurality of movement amount measuring means;
Pulse output means for outputting a pulse signal corresponding to the movement distance of the work point calculated by the movement distance calculation means;
Print control means for controlling the printing operation by the print head based on the shape information of the printed figure, the print instruction information including the print position information on the substrate, and the pulse signal;
A printing apparatus comprising: The pulse output means outputs the pulse signal every time the position of the working point changes by a predetermined unit distance,
The print control means detects a position of the printing medium with respect to the print head based on the pulse signal;
The printing apparatus according to claim 1. The movement distance calculation means and the pulse output means are configured by a single dedicated integrated circuit.
The printing apparatus according to claim 1, wherein: The print head includes an ink discharge port that discharges the ink for forming the printed figure to the printing body;
The print control means controls the ejection timing and ejection amount of the ink by the print head;
The printing apparatus according to claim 1, wherein the printing apparatus is a printer. The print head is arranged immovably,
The articulated robot changes the relative position between the print body and the print head by moving the work point while fixing and holding the print body at the work point.
The printing apparatus according to claim 1, wherein the printing apparatus is a printer.

Images