JP7047790B2 - Printing system, printing device, printing method and program - Google Patents

Description

The present invention relates to a printing system, a printing device, a printing method and a program.

Devices for printing characters, symbols, codes, etc. on the surface of an object are known. For example, Japanese Patent Application Laid-Open No. 2016-36840 (Patent Document 1) discloses a laser printing device that prints a desired character at a predetermined printing scheduled position on the surface of a work by scanning a laser beam on the surface of the work. ..

Japanese Unexamined Patent Publication No. 2016-36840

When the type or material of the object is changed, it may be necessary to change the printing conditions such as the printing position or the height of the printing surface. In order to realize such a change, the printing device may be modified or changed. Even if the device does not need to be modified, it may be necessary to change the software settings. Therefore, there is a problem that cost and man-hours are required to change the setting of printing conditions.

An object of the present invention is to provide an apparatus and a method capable of more flexibly changing printing conditions according to an object.

In one example of the present disclosure, the printing system moves the marker for printing on the object and the marker so that the relative position between the object and the marker can be changed with three or more degrees of freedom. , A marker moving device, a controller that controls the marker and the marker moving device by executing a control program, and a first set of print parameters for printing on an object by the marker, which are provided inside or outside the controller. A second setting unit, which is provided inside or outside the controller and sets a control program for the controller based on print parameters and information on the three-dimensional shape and position of the object.

According to this disclosure, the marker can change its relative position with the object by the marker moving device with three or more degrees of freedom. Therefore, printing can be performed at various positions of the object. Further, printing can be performed in a range wider than the printable range of the marker itself. Alternatively, printing can be performed not only on a stationary object but also on a moving object. By setting the control program of the controller, the conditions for such printing can be set. The control program can be set by the print parameter and the information about the three-dimensional shape and position of the object. Therefore, the printing conditions can be changed without modifying the device.

In addition, "printing" means attaching characters, symbols, figures, codes, etc. to an object.
In the above disclosure, the print parameter includes individual identification information of the object. The first setting unit sets the individual identification information by receiving an instruction from the outside.

According to this disclosure, individual identification information can be attached to a desired position of an object.
In the above disclosure, the print parameter includes a print position with respect to a reference position of the object and a print direction from the reference position.

According to this disclosure, printing can be performed in any direction at a desired position of an object.

In the above disclosure, the second setting unit further describes the moving speed of the object, the movable range of the marker moving device, the three-dimensional shape of the marker moving device, the three-dimensional shape of the marker, and the printable distance of the marker. The control program is set based on the range and at least one piece of information.

According to this disclosure, when an object moves, printing can be performed on the object while avoiding collision or interference between the marker or the marker moving device and the object.

In the above disclosure, the printing system includes a sensor that measures the position of the object. The second setting unit determines the target position of the marker based on the position of the object measured by the sensor.

According to this disclosure, since the target position of the marker can be determined based on the measurement result of the sensor, the marker can be moved to the target position and printing can be performed on the object. Therefore, it is possible to print at a predetermined printing position of the object.

In the above disclosure, the controller controls the marker and the marker moving device to perform printing step by step while changing the relative position between the object and the marker.

According to this disclosure, printing can be performed step by step while changing the printing position. For example, when the surface of the object has undulations, or when the surface of the object is a curved surface, the distance between the printed surface and the marker is not constant. In such a case, if printing is performed on the work on the premise that the distance between the printing surface and the marker is constant, the printing quality may deteriorate. However, by performing printing step by step, printing can always be performed under desirable printing conditions. Therefore, deterioration of print quality can be suppressed.

In the above disclosure, the second setting unit is configured to determine whether or not printing is possible on the object based on the information on the three-dimensional shape and position of the object. The printing system further includes a notification unit that notifies the user of the result of the determination by the second setting unit.

According to this disclosure, the user can know whether or not printing is possible on the object prior to the actual printing.

In the above disclosure, the print parameter includes print position information having redundancy. The controller controls the marker and the marker moving device so as to adjust the print position based on the measurement result of the sensor and the print position information.

According to this disclosure, even if it is determined that printing is not possible at the printing position, it can be expected that printing is possible at another printing position. Therefore, it is possible to increase the probability that printing on an object is possible. The marker and the marker moving device can be controlled based on the measurement result of the sensor and the printing position information so that printing is performed at the printable position of the object. Therefore, for example, it is possible to print on an object having a complicated shape.

In the above disclosure, the marker is a laser marker.
According to this disclosure, in printing using a laser marker, it is possible to flexibly change the printing conditions according to the object. This makes it possible to provide a highly convenient laser marker.

In one example of the present disclosure, the printing apparatus has a marker unit so that the relative position between the marker unit for printing on the object and the marker unit can be changed with three or more degrees of freedom. It is provided with a marker moving unit for moving a marker unit and a control unit for controlling the marker unit and the marker moving unit by executing a control program. The control unit includes print parameters and an object acquired by an object information acquisition unit. The marker unit and the marker moving unit are controlled so that printing is performed at a predetermined position of the object based on the three-dimensional shape and position of the above.

According to this disclosure, the marker unit can change the relative position with the object by the marker moving unit with three or more degrees of freedom. By setting the control program of the control unit, it is possible to set the conditions for such printing. The control program can be set by the print parameter and the information about the three-dimensional shape and position of the object. Therefore, the printing conditions can be changed without modifying the device.

In one example of the present disclosure, the printing method comprises a marker, a marker moving device that moves the marker so that the relative position between the marker and the object can be changed with three or more degrees of freedom, and a controller. It is a printing method by the provided printing system. The printing method is based on a step of acquiring information about the three-dimensional shape and position of the object, a step of setting print parameters, a print parameter, and a control program of the controller based on the three-dimensional shape and position of the object. It includes a step of setting and a step of controlling a marker and a marker moving device to print on an object by executing a control program by the controller.

According to this disclosure, the printing conditions can be changed by setting the control program without modifying the apparatus. Therefore, it is possible to print according to the object without complicated modification or change of the system or the device.

In the above disclosure, the printing step includes a step of repeating printing while changing the relative position between the object and the marker.

According to this disclosure, printing can always be performed under desirable printing conditions by repeatedly printing while changing the printing position. Therefore, deterioration of print quality can be suppressed.

In the above disclosure, the print parameter includes print position information having redundancy. The printing method includes a step of controlling the marker and the marker moving device to adjust the printing position based on the three-dimensional shape of the object, the position of the object, and the printing position information.

According to this disclosure, even if printing is not possible at a certain printing position, it can be expected that printing is possible at another printing position. Therefore, it is possible to increase the probability that printing on an object is possible. The marker and the marker moving device can be controlled based on the measurement result of the sensor and the printing position information so that printing is performed at the printable position of the object. Therefore, for example, it is possible to print on an object having a complicated shape.

In one example of the present disclosure, the program tells the controller a step of acquiring information about the three-dimensional shape and position of the object, a marker, and a marker based on the print parameters and the three-dimensional shape and position of the object. It is a program that controls a marker moving device that moves a marker so that the relative position with the object can be changed with three or more degrees of freedom, and executes a step of printing on the object. ..

According to this disclosure, the printing conditions can be changed by setting the control program without modifying the apparatus. Therefore, it is possible to print according to the object without complicated modification or change of the system or the device.

In the above disclosure, the printing step includes a step of repeating printing while changing the relative position between the object and the marker.

According to this disclosure, printing can always be performed under desirable printing conditions by repeatedly printing while changing the printing position. Therefore, deterioration of print quality can be suppressed.

In the above disclosure, the print parameters include print position information with redundancy, and the printing step controls the marker and the marker moving device based on the three-dimensional shape of the object, the position of the object, and the print position information. Includes a step to adjust the print position.

According to this disclosure, even if printing is not possible at a certain printing position, it can be expected that printing is possible at another printing position. Therefore, it is possible to increase the probability that printing on an object is possible. The marker and the marker moving device can be controlled based on the measurement result of the sensor and the printing position information so that printing is performed at the printable position of the object. Therefore, for example, it is possible to print on an object having a complicated shape.

According to the present invention, the printing conditions of the printing apparatus can be flexibly changed according to the object.

It is a block diagram which shows one configuration example of the printing system which concerns on this embodiment. It is a figure which shows the hardware configuration of the controller shown in FIG. It is a figure which showed the 1st structural example of the laser marker shown in FIG. It is a figure which showed the 2nd structural example of the laser marker shown in FIG. It is a schematic diagram for demonstrating the operation of a printing system at the time of operation of a printing system. It is a flowchart which shows the process flow of the printing system which concerns on this embodiment. It is a schematic diagram explaining the shape of the conveyor used for printing on the back surface of a work. It is a schematic diagram explaining the structure of the tray used for printing on the back surface of a work. It is a schematic diagram for demonstrating printing when the surface of a work W is a curved surface. It is a figure explaining the printing on the side surface of a work. It is a figure for demonstrating the coordinate conversion from the observation coordinate system to the marker coordinate system. It is a figure which showed the example of the setting screen for setting a print parameter. It is a figure which showed the example of designation of the print position in a work. It is a flowchart which showed the example of the flow of the judgment of printability. It is a figure which shows another example of the judgment of whether or not printing is possible. It is a top view of an exemplary tray in which a plurality of workpieces are arranged. It is a side view of each work shown in FIG. It is a block diagram of the system which combined the printing system and the reader which concerns on this embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

<Application example>
First, an example of a situation in which the present invention is applied will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration example of one of the printing systems according to the present embodiment. As shown in FIG. 1, the printing system 100 includes a laser marker 10, a robot 20, a sensor 30, a controller 40, a setting device 50, a host system 60, and a network 70. For example, the work W moves on a production line by a conveyor (not shown). The manufacturing process to which the printing system 100 is applied is not particularly limited.

The laser marker 10 is a marker for printing on the work W which is an object. In this embodiment, a laser marker is applied as a marker. However, the marker may be an inkjet marker. The print pattern is not particularly limited. For example, the print pattern may be a pattern consisting of human readable symbols (for example, symbols such as alphanumericals), an information symbol such as a QR code (registered trademark), or any graphic, straight line, curve or point. ..

The robot 20 is a marker moving device for moving the laser marker 10. The laser marker 10 is attached to the robot 20. In this embodiment, the robot 20 moves the laser marker 10 so that the relative position between the object (work W) and the laser marker 10 can be changed with three or more degrees of freedom. The degree of freedom of the robot may be 3 or more, and is not particularly limited. Therefore, the types of robots are not limited. Any of the vertical articulated robot, the SCARA robot, and the Cartesian robot can be applied to this embodiment. For example, the robot 20 is an articulated robot arm.

Further, the method of fixing the robot 20 is not particularly limited. The robot 20 may be a type of robot suspended from above or a type of robot placed on the floor.

In this embodiment, a plurality of robot axes may be combined in order to change the relative position between the object and the laser marker 10 with three or more degrees of freedom. For example, the robot 20 may be a vertical articulated robot that moves on a straight rail.

The sensor 30 may be a sensor that acquires information regarding the three-dimensional shape and position of the work W. The sensor 30 may sense one or both of the work W and the environment (eg, conveyor or tray, etc.). Therefore, various known sensors can be applied to this embodiment. As the sensor 30, an image sensor, a displacement sensor, a 3D sensor, an optical symbol reader, a photoelectric sensor, a rotary encoder, or the like can be applied, but the type of the sensor 30 is not limited thereto. The sensor 30 may be mounted on the robot 20 or may be installed separately from the robot 20.

The number of sensors 30 is not limited. The sensor 30 may be realized by a combination of a plurality of types of sensors.

The controller 40 controls the laser marker 10 and the robot 20 by executing a control program. Specifically, the controller 40 acquires information on the work W or the environment (detection of arrival of the work, image information, 3D information, etc.) from the sensor 30. The controller 40 controls the robot 20 based on the information to change the position and posture of the laser marker 10 according to the work W. Further, the controller 40 controls the laser marker 10 so as to print on the work W.

FIG. 1 shows one controller. However, the controller 40 is not limited to the one realized by one device. For example, the controller 40 may include a controller for the laser marker 10 and a controller for the robot 20.

The setting device 50 sets the laser marker 10, the sensor 30, and the controller 40. The setting device 50 can be realized by, for example, a personal computer (PC) and a monitor.

The setting device 50 includes a first setting unit 51 and a second setting unit 52. The first setting unit 51 sets print parameters for printing by the laser marker 10. The second setting unit 52 sets the control program executed by the controller 40 based on the print parameters, the information on the three-dimensional shape of the work W, and the information on the position of the work W. This makes it possible to change the printing conditions. The configuration of the setting device 50 is not limited as described above. The second setting unit 52 sets the print parameters, and the first setting unit 52 uses the controller 40 based on the print parameters, the information on the three-dimensional shape of the work W, and the information on the position of the work W. You may set the control program to be executed.

The method for the second setting unit 52 to acquire the information on the position of the work W and the information on the three-dimensional shape of the work W is not particularly limited. The second setting unit 52 may acquire information on the three-dimensional shape of the work W and information on the position of the work W from the sensor 30. Alternatively, the second setting unit 52 may acquire information on the three-dimensional shape of the work W from the host system 60. For example, the information on the three-dimensional shape of the work W acquired from the host system 60 may be the information on the three-dimensional CAD of the work W.

At least one of the first setting unit 51 and the second setting unit 52 may be included in a device other than the setting device 50. For example, the host system 60 may include at least one of a first setting unit 51 and a second setting unit 52. The controller 40 may include at least one of the first setting unit 51 and the second setting unit 52.

The host system 60 transmits production instruction information (for example, product type, serial number, etc.) to the controller 40. The controller 40, the setting device 50, and the host system 60 can communicate with each other through the network 70.

According to this embodiment, the robot 20 can move the laser marker 10 according to the shape or position of the work W. Therefore, even if the shape of the work W is complicated, printing can be performed at a predetermined printing scheduled position of the work W. Alternatively, it is possible to print on the front surface (for example, the back surface) of the work, which has been difficult to print in the past. Alternatively, even when the print target area on the work surface is larger than the printable area of the laser marker, printing can be performed at a predetermined print scheduled position on the work W.

Further, even when the work W moves on the conveyor, the movement of the laser marker 10 by the robot 20 and the movement of the work W can be synchronized. For example, by making the moving speed of the laser marker 10 the same as the moving speed of the work W, the printing system 100 can print on the surface of the moving work W.

As described above, according to the present embodiment, the printing conditions of the printing system 100 can be flexibly changed according to the object. Therefore, it is possible to print according to the object without complicated modification or change of the system or the device.

The embodiment of the present invention can also be realized as a printing device. In this case, the laser marker 10, the robot 20, and the controller 40 realize the "marker unit", "marker moving unit", and "control unit" of the printing device according to the embodiment, respectively.

<Hardware configuration of controller>
FIG. 2 is a diagram showing a hardware configuration of the controller 40 shown in FIG. The controller 40 includes a processor 2, a ROM (Read Only Memory) 3 for storing BIOS and various data, a RAM 4, and a storage device 5.

The processor 2 reads out the control program 9 stored in the storage device 5 and expands the control program 9 in the RAM (Random Access Memory) 4. Hereinafter, a configuration example in which the necessary processing is realized by the processor 2 executing the program will be described, but some or all of the provided processing may be performed by a dedicated hardware circuit (for example, ASIC or FPGA). ) May be used.

The storage device 5 non-volatileally stores a program or the like executed by the processor 2. The storage device 5 is a non-volatile device such as an SSD (Solid State Drive), and holds a control program 9 for realizing various functions executed by the processor 2.

The controller 40 can further include a communication interface 6, an I / O (Input / output) interface 7, and an R / W (reader / writer) device 8. The communication interface 6 is an interface for the controller 40 to communicate with an external device (setting device 50, higher system 60, etc.) through the network 70. The I / O interface 7 is an interface for input to the controller 40 or output from the controller 40. The I / O interface 7 is connected to the input device 44 and the display 45, and receives information input by the user by operating the input device 44. The display 45 displays information regarding the operation of the controller 40.

The R / W (reader / writer) device 8 can be detachably attached to an external storage medium 43. The storage medium 43 stores the information of the program or the like by electrical, magnetic, optical, mechanical or chemical action so that the information of the program or the like recorded by the computer or other device, the machine or the like can be read. It may be a medium to be used. The controller 40 may acquire the control program 9 from the storage medium 43.

As described above, the controller 40 may include at least one of the first setting unit 51 and the second setting unit 52. By executing the necessary program by the processor 2 of the controller 40, the controller 40 can be realized as a device including the first setting unit 51 and the second setting unit 52.

<Hardware configuration example of setting device>
The setting device 50 can be realized by a computer. Therefore, the basic hardware configuration of the setting device 50 is the same as the configuration shown in FIG. By executing a program required by the processor of the computer, the computer can be realized as a setting device 50 including a first setting unit 51 and a second setting unit 52.

<Structure example of laser marker>
A laser marker is a device that prints on a work by irradiating the surface of the work with a laser beam. FIG. 3 is a diagram showing a first configuration example of the laser marker shown in FIG. As shown in FIG. 3, the laser marker 10 includes a laser light source 11 and an optical system 12. The laser light source 11 and the optical system 12 are housed in the housing 13.

The laser light source 11 generates a laser beam having a desired wavelength and a desired power. The type of the laser light source 11 is not limited. For example, the laser light source 11 may be a solid-state laser, a gas laser, a fiber laser, or the like. The fiber laser may be a MOPA (Master Oscillator Power Amplifier) type laser.

The optical system 12 can include, for example, a lens that converges the laser beam. The optical system 12 can include an optical element in addition to the above optical element. For example, the optical system 12 may include a galvano mirror for scanning the laser beam.

FIG. 4 is a diagram showing a second configuration example of the laser marker shown in FIG. As shown in FIG. 4, the laser marker 10 is separated into a main body 15 and a head 16. The main body 15 houses the laser light source 11, and the head 16 houses the optical system 12. The laser light source 11 and the optical system 12 are connected by a cable 14. The cable 14 can include an optical fiber for propagating the laser light generated by the laser light source 11 to the optical system 12.

The main body 15 is placed on the floor, for example, and the head 16 is attached to the robot 20. By separating the main body 15 and the head 16, the size and weight of the head 16 can be reduced, which is advantageous in terms of the movement of the laser marker by the robot 20. Therefore, it is possible to reduce the restrictions when changing the printing conditions of the printing device.

<Basic control of printing system>
Prior to printing on the work W, the controller 40 is set. With reference to FIG. 1 again, the controller 40 acquires print parameters. In this embodiment, the print parameters are set for each type of work W. The controller 40 acquires print parameters from the first setting unit 51 of the setting device 50. The host system 60 may have a first setting unit 51. In this case, the controller 40 acquires the print parameter from the host system 60.

The print parameter can include a print position with respect to a reference position of the work and a print direction from the reference position. However, the information included in the print parameters is not limited to the above information. For example, the print parameter may include a print format.

FIG. 5 is a schematic diagram for explaining the operation of the printing system during the operation of the printing system. The controller 40 acquires the type and serial number of the work W to be put into the line. The work W type and serial number are sent from, for example, the host system 60 to the controller 40.

The work W is moved by the conveyor 80 (see reference numerals (1) to (3) in FIG. 5). A sensor 31 for detecting the speed of the conveyor 80 (that is, the moving speed of the work W) is installed on the conveyor 80. The sensor 31 is, for example, a rotary encoder.

The sensor 32 is a trigger sensor. When the sensor 32 detects the work W, the sensor 32 sends a signal to the controller 40. Using this signal as a trigger, the controller 40 controls the robot 20 and the laser marker 10. In the example shown in FIG. 5, the sensor 32 is installed above the conveyor 80, but the installation direction of the sensor 32 is appropriately adjusted for each system. Therefore, the installation direction of the sensor 32 is not limited to the upward direction.

The controller 40 controls the robot 20 by using the information on the 3D shape of the work W and the information on the print position. Specifically, the controller 40 controls the robot 20 so as to move the robot arm on which the laser marker 10 is attached to a predetermined position. Then, the controller 40 controls the laser marker 10 to print on the work W.

Information on the 3D shape of the work W may be acquired in advance by teaching or the like. Alternatively, the information on the three-dimensional CAD of the work W may be acquired in advance from the host system 60 as the information on the 3D shape of the work W. Alternatively, the information on the 3D shape of the work W may be acquired each time the printing process is executed by the sensor 33 mounted on the robot 20. For this purpose, the sensor 33 can be an image sensor or a 3D sensor. The controller 40 may correct the information of the work W acquired in advance by using the information of the shape of the work W acquired by the sensor 33.

FIG. 6 is a flowchart showing a processing flow of the printing system according to the present embodiment. The printing system 100 executes the printing method by executing the process according to this flowchart.

First, the print system settings (pre-settings) are executed. In step S1, print parameters are set. As described above, the first setting unit 51 sets the print parameters for printing on the work W. Next, in step S2, the second setting unit 52 acquires the 3D shape information of the work W and the position information of the work W. The control program of the controller 40 is set based on the acquired information. In step S2, the 3D shape information of the work W and the position information of the work W can be acquired in advance by the sensor 33 shown in FIG. However, the 3D shape information of the work W and the position information of the work W may be acquired in advance by teaching. Alternatively, the information on the three-dimensional CAD of the work W may be acquired in advance from the host system 60 as the information on the 3D shape of the work W.

The processes of steps S1 and S2 are not limited to being executed in the order shown in FIG. For example, the process of step S2 may be executed first, and the process of step S1 may be executed later.

Subsequently, the printing process is executed (operation of the printing system). As an example, in step S11, the controller 40 acquires the work type and serial number of the work W. In step S11, the controller 40 may acquire only the product type of the work W. In step S12, the work W is detected by the sensor 32. In step S13, the controller 40 controls the robot 20 by using the information on the 3D shape of the work W and the information on the print position. As a result, the laser marker 10 moves to a predetermined position. The controller 40 controls the laser marker 10 according to the print parameters. As a result, the laser marker 10 is printed on the work W. When the process of step S13 is completed, the process is returned to step S11 for printing on the next work.

<Control option>
With reference to FIG. 5 again, the controller 40 can obtain the moving speed of the work W from the detected value of the sensor 31. The controller 40 further acquires information on the time when the work W is detected by the sensor 32, the position where the work W is detected, and the time required for the robot 20 to move the laser marker 10 to a predetermined position. Based on the information, the controller 40 can determine the target position (target value) of the movement destination of the sensor 33 and the laser marker 10. By moving the laser marker 10 to the target position, printing can be performed at a predetermined printing position of the work W.

In the case of a laser beam scanning type laser marker, printing is performed on the work W by scanning the laser beam. When the laser marker 10 is a laser beam scanning type laser marker, if the relative speed between the work W and the laser marker 10 is large, good printing results may not be obtained. For example, there may be a problem that the characters attached to the work W are distorted. In the present embodiment, the robot arm may be made to follow the robot arm so that the relative speed of the laser marker 10 with respect to the work W becomes as small as possible (the relative speed approaches 0). This makes it possible to prevent deterioration of print quality.

In order to move the laser marker 10, the controller 40 may control the robot 20 based on a preset path. Various methods can be used to set the movement path of the robot 20. In one embodiment, the optimum route can be preset based on the information on the three-dimensional shape of the work W and the print position on the work W. For the information on the three-dimensional shape of the work W, for example, the information on the three-dimensional CAD of the work W may be used.

Three-dimensional information may be acquired by measuring the work W and its surrounding environment with a 3D sensor, and the route may be dynamically calculated from the obtained three-dimensional information. The device that executes the calculation of the route is not particularly limited. The controller 40 may dynamically calculate the route from the three-dimensional information. It is also possible for the setting device 50 to calculate the route. The controller 40 may control the robot 20 based on the calculated route.

Further, in the present embodiment, since the robot 20 can move the laser marker 10 with three or more degrees of freedom, it is possible to irradiate the work W with laser light from various directions. By devising the shape of the conveyor or tray (pedestal), printing can be performed on the back surface or the side surface of the work W.

FIG. 7 is a schematic diagram illustrating the shape of the conveyor used for printing on the back surface of the work W. FIG. 8 is a schematic diagram illustrating the structure of the tray used for printing on the back surface of the work W. As shown in FIGS. 7 and 8, the tray 81 on which the work W is placed is moved by the rail-shaped conveyor 80. The tray 81 has a frame structure.

The controller 40 controls the robot 20 so that the laser marker 10 (not shown) is arranged below the conveyor 80. This makes it possible to print on the back surface of the work W. The controller 40 may further control the robot 20 so that the laser marker 10 moves in synchronization with the moving speed of the conveyor 80.

The controller 40 can receive an instruction to switch the product type. In this case, the controller 40 may make the robot 20 stand by at a predetermined position until the next work arrives. Regarding the standby position, the controller 40 may calculate the optimum standby position for each product type. The standby position can be determined based on, for example, information on the three-dimensional shape of the work, the printing position, the moving speed of the work W (the speed of the conveyor 80), and the like. By calculating the optimum position and making the robot 20 stand by at that position, the movement path of the robot 20 can be shortened. For example, it is possible to facilitate printing of the work on a line in which the work W flows at high speed.

The product type switching instruction may be sent from the host system 60 to the controller 40. Alternatively, an RFID tag that issues a product type switching instruction may be attached to the tray 81. The controller 40 may determine the standby position of the robot 20 according to the instruction from the RFID tag.

<Printing on undulating surfaces or curved surfaces>
When the surface of the work W is uneven, or when the surface of the work W is a curved surface, the distance between the printed surface and the laser marker is not constant. A general laser marker has a shallow depth of focus. Therefore, if printing is performed on an uneven surface or a curved surface on the premise that the distance between the printing surface and the laser marker is constant, the printing quality may deteriorate. In this embodiment, printing is executed step by step while changing the relative position between the work W and the laser marker 10.

FIG. 9 is a schematic diagram for explaining printing when the surface of the work W is a curved surface. In FIG. 9, a part of the curved surface of the work W is the print range. In this embodiment, printing is possible on a curved surface by the robot 20 moving following the shape of the curved surface. For example, as shown in FIG. 9, the controller 40 controls the robot 20 so that the laser marker 10 moves along the direction of the axis A perpendicular to the printing surfaces M1, M2, M3, and M4, and the printing range of the work W. The laser marker 10 is controlled so that only the portion of the laser beam that is in focus is printed. The axis A may coincide with the optical axis of the laser beam emitted from the laser marker 10. In the example shown in FIG. 9, the printed surfaces M1, M2, M3, and M4 are virtual planes, and are determined based on the printable range of the laser marker 10.

While changing the position of the printing surface in the direction of the axis A, printing is performed a plurality of times only on the portion where the laser beam is in focus. In one example, in the first printing, the area between the printing surface M1 and the printing surface M2 is set as the printing range. In the second printing, the area between the printing surface M2 and the printing surface M3 is set as the printing range. In the third division, the area between the print surface M3 and the print surface M4 is set as the print range. However, the printing order is not limited as described above.

By repeating printing as described above, printing is performed within the printing range in a state where the laser beam is always in focus. This makes it possible to avoid deterioration of print quality.

The laser marker 10 shown in FIG. 9 can scan the laser beam two-dimensionally while adjusting the focus of the laser beam. However, the present embodiment is not limited to the need for a laser marker having such specifications in order to print on a surface or a curved surface having undulations. In the present embodiment, it is not essential that the laser marker has a function of adjusting the focus of the laser beam. Further, the laser marker is not limited to being able to scan the laser beam in two dimensions. The laser marker may be one that scans the laser beam in one-dimensional direction. For example, when the shape of the surface of the work W is a cylindrical side surface and printing is performed in an arc shape along the surface, printing can be performed on the surface of the work W by moving the robot 20 along the arc. be.

<Perspective conversion>
FIG. 10 is a diagram illustrating printing on the side surface of the work W1. In the example shown in FIG. 10, the print range W11 is a part of the side surface of the work W1. As indicated by reference numeral (1) in FIG. 10, in the present embodiment, the posture of the laser marker 10 is controlled so that the optical axis of the laser beam L is parallel to the direction of the normal on the surface of the work W1. You may. This enables printing in the print range W11. Since the distance from the laser marker 10 is constant, good print quality can be obtained. Further, since the optical axis of the laser beam L and the printing surface are perpendicular to each other, fluoroscopic transformation distortion (trapezoidal distortion) can be reduced.

In the example of FIG. 10, the printed surface is a flat surface. However, even if the printed surface is a curved surface, the posture of the laser marker 10 may be controlled so that the optical axis of the laser beam L is parallel to the direction of the normal of the curved surface.

On the other hand, depending on the print position of the work W1 and the environment, good print quality may not be obtained even if the posture of the laser marker 10 is controlled. In the example indicated by reference numeral (2) in FIG. 10, the laser marker 10 is arranged in the direction of the normal of the printing surface in order to print in the printing range W12. However, there is an obstacle W2 in the direction of the normal of the printed surface. Therefore, the laser beam L is blocked by the obstacle W2. The obstacle W2 is, for example, another work flowing along the line together with the work W1.

In the example indicated by reference numeral (3) in FIG. 10, the laser marker 10 irradiates the print range W12 with the laser beam L from a direction not blocked by the obstacle W2. Therefore, printing is possible in the print range W12. However, when viewed from the normal direction of the surface including the print range W12, the image looks distorted. This leads to deterioration of print quality. In addition, although the work W made up of a combination of planes is illustrated in FIG. 10 for the sake of clarity, the above-mentioned problems are not limited to those that occur when the surface of the work W is made up of only planes. .. Even if the surface of the work W is a curved surface, the same problem can occur.

In order to avoid such a problem, in the present embodiment, coordinate conversion is performed from the observed coordinate system to the marker coordinate system, and printing is executed according to the marker coordinate system. The observed coordinate system is a coordinate system consisting of a printed surface (if the printed surface is a curved surface, its tangent plane) and its normal. The marker coordinate system is a coordinate system including the optical axis direction of the laser beam L with the position of the laser marker 10 as the origin. In this embodiment, a fluoroscopic transformation can be applied to the coordinate transformation.

FIG. 11 is a diagram for explaining coordinate conversion from the observed coordinate system to the marker coordinate system. As shown in FIG. 11, the point P1 is an observation point. An arbitrary point P2 on the observation coordinate system C1 is projected onto the target surface of the work W. The point P3 is a point obtained by projecting the point P2 onto the target surface of the work W, and is an intersection of the projection line and the target surface of the work W. By fluoroscopically transforming this intersection (point P3) into the marker coordinate system, the coordinates of the point P4 on the marker coordinate system C2 can be obtained. The point P5 is a point (reference point) indicating the position of the laser marker 10.

In this way, even when the optical axis of the laser beam L is not perpendicular to the printed surface, the printed characters and symbols are printed by performing coordinate conversion between the points P2 and the points P4 by fluoroscopic conversion. It is possible to prevent distortion such as. Therefore, the print quality can be improved. When the depth of focus of the laser marker is shallow, printing on the target surface may be repeated multiple times to scan the laser beam in two dimensions while adjusting the focus of the laser beam as shown in FIG. good.

<Print parameter settings>
In the present embodiment, the printing system 100 prints the work W according to the printing parameters. The print parameter includes the print position with respect to the reference position of the workpiece and the print direction from the reference position. Further, the print parameter can include a print pattern. As described above, the print pattern is not particularly limited, and may be a pattern consisting of human readable symbols (for example, symbols such as alphanumericals), information symbols such as QR code (registered trademark), arbitrary figures, and straight lines. , Curve or point.

In the present embodiment, the setting device 50 can set the print parameter by accepting the input of the user. The user can input print parameters to the setting device 50 while referring to the setting screen.

FIG. 12 is a diagram showing an example of a setting screen for setting print parameters. The setting device 50 causes the display to display the setting screen 55. The setting screen 55 displays the laser marker 10 and the work W. For example, by inputting the three-dimensional CAD data of the work W into the setting device 50, the three-dimensional fluoroscopic image of the work W is displayed on the setting screen 55.

The print position W21 is displayed on the surface of the work W. Further, an editing area 57 for editing the print pattern and a tool icon 58 are displayed on the setting screen 55. The user operates a pointing device such as a mouse to select a tool icon. This allows the user to set or change the print position, print direction, and print pattern.

<Judgment of printability>
Even if the print position is set by the setting device 50, there is a possibility that printing cannot actually be performed at the designated position. In the work W illustrated in FIG. 13, the print position W31 is designated. However, the surrounding environment of the work W, such as the structure of the tray 81, may interfere with the robot or the sensor. In such a case, printing cannot be performed at the printing position W31.

Printing at the specified position may reduce the print quality. Even in such a case, printing cannot be performed at the specified position. Such cases include, for example, the case where the surface of the work W is a rough surface (casting surface or the like), or the case where the surface of the work W is dirty. In this embodiment, it is possible to determine whether or not printing is possible at a designated printing position prior to actual printing.

FIG. 14 is a flowchart showing an example of a flow for determining whether or not printing is possible. The process shown in this flowchart is executed by the second setting unit 52. With reference to FIGS. 13 and 14, in step S21, the surrounding environment of the work W is sensed to acquire information about the surrounding environment. For example, the surrounding environment of the work W can be sensed by an image sensor or a 3D sensor (corresponding to the sensor 33 shown in FIG. 5). In this case, for example, information on the three-dimensional shape and position of the work W is acquired.

In step S22, the setting device 50 determines whether or not the work W interferes with the robot 20 or the sensor in the virtual space displayed on the setting screen 55 (see FIG. 12). In step S23, the setting device 50 notifies the user of the determination result. For example, the setting device 50 may display a message indicating a determination result on the setting screen 55. The notification unit can be realized by the setting screen 55.

In step S21, an image sensor (corresponding to the sensor 33 shown in FIG. 5) may be used to acquire an image of the surface of the work W. In step S22, the setting device 50 may determine that printing cannot be performed at the designated position by analyzing the image. For example, if the surface of the work W is rough or the surface of the work W is dirty, it is determined that printing cannot be performed at the designated position.

The setting device 50 may specify a plurality of printing positions in advance. Therefore, in this case, the print position information has redundancy. In the example shown in FIG. 13, not only the print position W31 but also the print position W32 is specified. Even if it is determined that printing is not possible at the printing position W31, printing is possible at the printing position W32. In this case, the controller 40 controls the laser marker 10 and the robot 20 according to the measurement result of the sensor and the print position information, and prints at the print position W32. By providing redundancy in the print position information in this way, it is possible to increase the possibility of printing on a work having a complicated shape.

Further, the setting device 50 may make the print range including the print position W31 wider than the original print range in advance. In this case as well, the possibility of printing on the work W can be increased.

The determination of printability is not limited to that performed only by the setting device 50. From the image of the surface of the work W, the controller 40 may search for a place where printing can be reliably performed in real time and determine the printing position. The controller 40 can control the robot 20 and the laser marker 10 so that printing is performed at the determined position.

Further, in the present embodiment, the laser marker 10 and the robot 20 can be controlled so as to print on the work W while avoiding interference between the laser marker 10 and the work W. Such embodiments will be described below.

FIG. 15 is a diagram showing another example of determining whether or not printing is possible. In the example shown in FIG. 15, the print position W31 is in a recessed area on the back side of the work W. The work W is placed on the tray 81, and the tray 81 is moved by the conveyor 80. The tray 81 and the conveyor 80 may be configured as shown in FIGS. 7 and 8.

When printing is performed at the print position W31, the laser marker 10 may collide with the work W. In the present embodiment, the robot 20 uses the controller 40 (not shown in FIG. 15) so that the distance between the laser marker 10 and the work W changes while the tip of the robot 20 (robot arm) follows the speed of the conveyor 80. ). For example, at time T, it is assumed that the relative distance between the laser marker 10 and the print position W31 is the smallest. However, at a time slightly before the time T (T−ΔT) and a time slightly after the time T (T + ΔT), the laser marker 10 is moved from the work W in order to prevent the laser marker 10 from colliding with the work W. The robot 20 moves the laser marker 10 so as to move away from it. Therefore, it is possible to prevent the laser marker 10 from colliding with the work W (or the tray 81).

The path of the robot 20 (robot arm) for realizing the movement of the laser marker 10 as described above includes the speed of the conveyor 80, the movable range of the robot 20, the three-dimensional shape information of the robot 20 (robot arm), and the tertiary of the laser marker 10. Interference (collision) using the original shape information, the three-dimensional shape information of the tray 81, the three-dimensional shape information of the conveyor 80, the three-dimensional shape information of the work W, and the printable distance range (for example, focal depth) of the laser marker 10. Is determined and obtained. Such a route determination process may be executed by the second setting unit 52 at the stage of presetting. Alternatively, the controller 40 may execute the route determination process at the stage of operation.

Depending on the print position of the work W, it may not be possible to determine the route, in other words, there may be no solution for the route. In the pre-setting stage, if the calculation of the setting device 50 reveals that the solution of the route does not exist, the setting device 50 can notify the user of the error. If the route calculation during operation reveals that a solution does not exist, the controller 40 may notify the host system 60 of the error at that time, or the controller 40 may record the error content as a log.

There may be stages (levels) for the risk of collision or interference. The risk level may be set by the user for the setting device 50 or the controller 40. For example, level 1 can be set as "there is a risk of work damage" and level 2 can be set as "there is a risk of tray damage". The setting device 50 or the controller 40 may obtain a route solution by setting a constraint according to the set level. Even in such an embodiment, the setting device 50 or the controller 40 may notify an error when there is no route solution.

<Printing on multiple workpieces>
In the above embodiment, one work is placed on one tray. However, at the manufacturing site, individual identification numbers and the like may be printed on each of a plurality of products arranged in one tray. The printing on a plurality of workpieces will be described below.

FIG. 16 is a top view of an exemplary tray in which a plurality of workpieces are arranged. FIG. 17 is a side view of each work shown in FIG. Four workpieces WA, WB, WC, and WD are arranged on the tray 81. FIG. 17 typically shows the work WA, the shape of the work WA, and the print position W41.

Information about the three-dimensional shape of each work is acquired by an image sensor or a 3D sensor (corresponding to the sensor 33 in FIG. 5). The controller 40 recognizes the position and posture of each work based on the information regarding the three-dimensional shape and position of each work, and obtains the print position of each work. The controller 40 controls the robot 20 to move the laser marker 10 and controls the laser marker 10 to print at the printing position of each workpiece.

In this embodiment, the print information can be determined according to the position of the detected work and the designated numbering rule. As shown in FIG. 16, the RFID tag 82 is attached to the tray 81. The controller 40 prints on the work WA to WD according to the information read from the RFID tag 82 and a predetermined numbering rule.

In the example shown in FIG. 16, the variety is "X" and the reference value of the individual identification number is "21". Further, when viewed from above the tray 81, the work located in the upper left of the tray 81, the work located in the upper right of the tray 81, the work located in the lower right of the tray 81, and the work located in the lower left of the tray 81. The numbering rule is set so that the numbers are incremented in order. Therefore, the work WA, WB, WC, and WD are assigned individual identification numbers of "X021", "X022", "X023", and "X024", respectively.

In the example of FIG. 16, the tray 81 has a partition wall, but there may be no partition for arranging a plurality of workpieces. Since the tray 81 has a partition wall, the plurality of works are not in contact with each other. However, if the tray 81 does not have a partition wall, the movement of the tray 81 may cause two or more workpieces to contact each other, at least one workpiece to contact the wall of the tray 81, or two. It is possible that more than one piece of work is stacked on top of each other. Even in such a case, the image sensor or the 3D sensor (corresponding to the sensor 33 in FIG. 5) acquires information on the three-dimensional shape and position of each work, and the path of the robot 20 is based on the acquired information. The solution is calculated by the controller 40 or the setting device 50. Therefore, the printing system 100 can print on each workpiece. If the route solution is not found as a result of the calculation, the printing system 100 may perform error processing (for example, notification to the user).

Also, for example, if some of the workpieces are turned inside out or turned sideways, no route solution can be found. However, by setting the candidate positions on each surface of the work in advance, it is possible to provide redundancy in the print positions, so that printing on the work becomes possible.

Depending on the type, it is assumed that the work will flow directly on the conveyor. In such a case, the controller 40 may receive the product type information from, for example, the host system 60. The controller 40 can number individual identification numbers in the order of time when the work is detected. As a result, the printing system 100 can print the individual identification number on the work even if there is no tray having the RFID tag.

<Combination of printing system and reader>
FIG. 18 is a configuration diagram of a system in which a printing system and a reader according to the present embodiment are combined. In the example shown in FIG. 18, the manufacturing system 200 is a system for executing four steps (step A, step B, step C, and step D). In the manufacturing system 200, the manufacturing process is executed in the order of step A, step B, step C, and step D. The specific content of each process is not particularly limited.

In step A, the controller 40A controls the laser marker 10A and the robot 20A to print on the work W.

In step B, the controller 40B controls the reader 10B and the robot 20B. As a result, the reader 10B is moved, and the reader 10B reads the information attached to the work W by laser marking.

In the process C and the process D, the reader 10C and the reader 10D read the information attached to the work W as in the process B. The controller 40C controls the reader 10C and the robot 20C, and the controller 40D controls the reader 10D and the robot 20D.

When the laser marker 10A prints at a predetermined position on the work W, each of the readers 10B, 10C, and 10D reads the information attached to that position. Therefore, the operations of the four robots 20A, 20B, 20C, and 20D have a commonality. The operation (route) of the robot 20A that executes the step A may be set by the setting device, and the setting information may be copied to the controller 40A. Further, the setting information may be copied to the controllers 40B, 40C, 40D using a network or the like.

Alternatively, the host system 60 may collectively manage the setting data, and the controllers 40A, 40B, 40C, and 40D may download the setting data. This facilitates system setup or modification.

In step A, a reader may be mounted on the robot 20A in addition to the laser marker 10A. This reader can be used for verification of print quality. For example, the print is read by the reader immediately after the print is performed on the work W. The controller 40A may verify, for example, whether or not printing is performed correctly or whether or not the printing quality is sufficient, based on the reading result of the reader.

The control of the controller 40A when there is a problem in print quality is not particularly limited. For example, the work W may be discharged from the line. Alternatively, the laser marker 10A may be controlled so as to print at different locations on the work W. Alternatively, printing may be performed again on an unclear portion of the printed area.

[Additional Notes]
As described above, the present embodiment includes the following disclosures.

(Structure 1)
A marker (10) for printing on the object (W), and
A marker moving device (20) that moves the marker (10) so that the relative position between the object (W) and the marker (10) can be changed with three or more degrees of freedom.
A controller (40) that controls the marker (10) and the marker moving device (20) by executing a control program, and a controller (40).
A first setting unit (51) provided inside or outside the controller (40) and setting print parameters for printing on the object (W) by the marker (10).
A second set of the control program of the controller (40) provided inside or outside the controller (40) based on the print parameters and information about the three-dimensional shape and position of the object (W). A printing system including a setting unit (52) of 2.

(Structure 2)
The print parameter includes individual identification information of the object (W).
The printing system according to configuration 1, wherein the first setting unit (51) sets the individual identification information by receiving an instruction from the outside.

(Structure 3)
The print parameters are
The printing system according to configuration 1 or 2, comprising a printing position of the object (W) with respect to a reference position and a printing direction from the reference position.

(Structure 4)
The second setting unit (52) further
The moving speed of the object (W) and
The movable range of the marker moving device (20) and
The three-dimensional shape of the marker moving device (20) and the three-dimensional shape of the marker (10)
The range of printable distance of the marker (10) and
The printing system according to any one of configurations 1 to 3, wherein the control program is set based on at least one piece of information.

(Structure 5)
A sensor (33) for measuring the position of the object (W) is included.
The second setting unit (52) determines the target position of the marker (10) based on the position of the object (W) measured by the sensor (33). The printing system described in one.

(Structure 6)
The controller (40) has the marker (10) and the marker moving device so as to perform printing step by step while changing the relative position between the object (W) and the marker (10). The printing system according to any one of configurations 1 to 5, which controls (20).

(Structure 7)
The second setting unit (52) is to determine whether or not printing is possible on the object (W) based on the information on the three-dimensional shape and the position of the object (W). Configured,
The printing system is
The printing system according to configuration 4 or 5, further comprising a notification unit (55) for notifying the user of the result of determination by the second setting unit (52).

(Structure 8)
The print parameter includes print position information having redundancy.
The controller (40) controls the marker (10) and the marker moving device (20) so as to adjust the print position based on the measurement result of the sensor (33) and the print position information. The printing system according to 5.

(Structure 9)
The printing system according to any one of configurations 1 to 8, wherein the marker (10) is a laser marker.

(Structure 10)
A marker unit (10) for printing on the object (W), and
With the marker moving portion (20) that moves the marker portion (10) so that the relative position between the object (W) and the marker portion (10) can be changed with three or more degrees of freedom. ,
A control unit (40) for controlling the marker unit (10) and the marker moving unit (20) by executing a control program is provided.
The control unit (40) is based on the print parameter and the three-dimensional shape and position of the object (W) acquired by the object (W) information acquisition unit. A printing device that controls the marker unit (10) and the marker moving unit (20) so that printing is performed at a predetermined position.

(Structure 11)
A marker moving device that moves the marker (10) so that the relative position between the marker (10) and the marker (10) and the object (W) can be changed with three or more degrees of freedom. A printing method using a printing system including a 20) and a controller (40).
In the step (S2) of acquiring information on the three-dimensional shape and position of the object (W),
Step (S1) to set print parameters and
A step (S2) of setting a control program of the controller (40) based on the print parameter, the three-dimensional shape of the object (W), and the position.
Printing is provided with a step (S13) of controlling the marker (10) and the marker moving device (20) to print on the object (W) by executing the control program by the controller (40). Method.

(Structure 12)
The printing step is
The printing method according to configuration 11, further comprising a step of repeating printing while changing the relative position between the object (W) and the marker (10).

(Structure 13)
The print parameter includes print position information having redundancy.
A step of controlling the marker (10) and the marker moving device (20) to adjust the printing position based on the three-dimensional shape of the object (W), the position of the object (W), and the printing position information. 11. The printing method according to configuration 11.

(Structure 14)
To the controller (40),
The step (S2) of acquiring information on the three-dimensional shape and position of the object (W), and
Based on the print parameter, the three-dimensional shape of the object (W), and the position, the marker (10) has a relative position between the marker (10) and the object (W) of 3 or more. The marker moving device (20) that moves the marker (10) is controlled so that the marker (10) can be changed with the degree of freedom of the above, and the step (S13) of printing on the object (W) is executed. program.

(Structure 15)
The printing step is
The program according to configuration 14, comprising a step of repeating printing while changing the relative position between the object (W) and the marker (10).

(Structure 16)
The print parameter includes print position information having redundancy.
The printing step is
A step of controlling the marker (10) and the marker moving device (20) to adjust the printing position based on the three-dimensional shape of the object (W), the position of the object (W), and the printing position information. 14. The program according to configuration 14.

It should be considered that each embodiment disclosed this time is exemplary in all respects and is not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims. Further, the inventions described in the embodiments and the modifications thereof are intended to be carried out alone or in combination as much as possible.

2 processor, 3 ROM, 4 RAM, 5 storage device, 6 communication interface, 7 I / O interface, 8 R / W device, 9 control program, 10,10A laser marker, 10B, 10C, 10D reader, 11 laser light source, 12 Optical system, 13 housings, 14 cables, 15 main units, 16 heads, 20, 20A, 20B, 20C, 20D robots, 30, 31, 32, 33 sensors, 40, 40A, 40B, 40C, 40D controllers, 43 storage media. , 44 input device, 45 display, 50 setting device, 51 first setting unit, 52 second setting unit, 55 setting screen, 57 editing area, 58 tool icon, 60 higher system, 70 network, 80 conveyor, 81 tray. , 82 RFID tag, 100 printing system, 200 manufacturing system, A axis, C1 observation coordinate system, C2 marker coordinate system, L laser beam, M1, M2, M3, M4 printed surface, P1, P2, P3, P4, P5 Point, S1, S2, S11, S12, S13, S21, S22, S23 Step, W, W1, WA, WB, WC, WD Work, W2 Obstacle, W11, W12 Print Range, W21, W31, W32, W41 Printing position.

Claims (15)

Markers for printing on objects and
A marker moving device that moves the marker so that the relative position between the object and the marker can be changed with three or more degrees of freedom.
A controller that controls the marker and the marker moving device by executing a control program,
A first setting unit provided inside or outside the controller and setting print parameters for printing on the object by the marker, and a first setting unit.
A second setting unit provided inside or outside the controller to set the control program of the controller based on the print parameters and information about the three-dimensional shape and position of the object.
The second setting unit is configured to determine whether or not printing is possible on the object based on the information on the three-dimensional shape and the position of the object.
A printing system further comprising a notification unit for notifying the user of the result of determination by the second setting unit . The print parameter includes individual identification information of the object.
The printing system according to claim 1, wherein the first setting unit sets the individual identification information by receiving an instruction from the outside. The print parameters are
The printing system according to claim 1 or 2, wherein the printing position with respect to the reference position of the object and the printing direction from the reference position are included. The second setting unit further
The moving speed of the object and
The movable range of the marker moving device and
The three-dimensional shape of the marker moving device and the three-dimensional shape of the marker,
The range of printable distance of the marker and
The printing system according to any one of claims 1 to 3, wherein the control program is set based on at least one piece of information. Includes a sensor that measures the position of the object
The printing system according to any one of claims 1 to 4, wherein the second setting unit determines a target position of the marker based on the position of the object measured by the sensor. Claims 1 to 5, wherein the controller controls the marker and the marker moving device so as to perform printing step by step while changing the relative position between the object and the marker. The printing system according to any one of the following items. The print parameter includes print position information having redundancy.
The printing system according to claim 5, wherein the controller controls the marker and the marker moving device so as to adjust the printing position based on the measurement result of the sensor and the printing position information. The printing system according to any one of claims 1 to 7 , wherein the marker is a laser marker. A marker for printing on an object,
A marker moving portion that moves the marker portion so that the relative position between the object and the marker portion can be changed with three or more degrees of freedom.
A control unit that controls the marker unit and the marker movement unit by executing a control program is provided.
The control unit has the marker unit and the marker moving unit so that printing is performed at a predetermined position of the object based on the print parameters and the three -dimensional shape and position of the object. Control and
The control unit is configured to determine whether or not printing is possible on the object based on information on the three-dimensional shape of the object and the position of the object.
A printing device further comprising a notification unit for notifying the user of the result of determining whether or not printing is possible . A printing method using a printing system including a marker moving device for moving the marker and a controller so that the relative position between the marker and the object can be changed with three or more degrees of freedom. And
The step of acquiring information about the three-dimensional shape and position of the object, and
Steps to set print parameters and
A step of setting a control program for the controller based on the print parameters, the three-dimensional shape of the object, and the position.
A step of controlling the marker and the marker moving device to print on the object by executing the control program by the controller .
A step of determining whether or not printing is possible on the object based on the information on the three-dimensional shape and the position of the object, and
A printing method comprising a step of notifying a user of a result of determining whether or not printing is possible . The printing step is
The printing method according to claim 10 , further comprising a step of repeating printing while changing the relative position between the object and the marker. The print parameter includes print position information having redundancy.
The printing method according to claim 10 , further comprising a step of controlling the marker and the marker moving device to adjust the printing position based on the three-dimensional shape of the object, the position of the object, and the printing position information. To the controller,
Steps to get information about the 3D shape and position of an object,
Based on the print parameters and the three-dimensional shape and position of the object, the relative position between the marker and the marker and the object can be changed with three or more degrees of freedom. A step of controlling the marker moving device for moving the marker to print on the object, and
A step of determining whether or not printing is possible on the object based on the information on the three-dimensional shape and the position of the object, and
A program for executing a step of notifying a user of the result of determining whether or not printing is possible . The printing step is
13. The program of claim 13 , comprising repeating printing while changing the relative position between the object and the marker. The print parameter includes print position information having redundancy.
The printing step is
13. The program according to claim 13 , comprising a step of controlling the marker and the marker moving device to adjust the print position based on the three-dimensional shape of the object, the position of the object, and the print position information.

Images