JP7687016B2 - 立体物印刷方法 - Google Patents

立体物印刷方法 Download PDF

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Publication number
JP7687016B2
JP7687016B2 JP2021051072A JP2021051072A JP7687016B2 JP 7687016 B2 JP7687016 B2 JP 7687016B2 JP 2021051072 A JP2021051072 A JP 2021051072A JP 2021051072 A JP2021051072 A JP 2021051072A JP 7687016 B2 JP7687016 B2 JP 7687016B2
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Japan
Prior art keywords
data
path
head
point data
printing
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Active
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JP2021051072A
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English (en)
Japanese (ja)
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JP2022149092A5 (enExample
JP2022149092A (ja
Inventor
光平 宇都宮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
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Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2021051072A priority Critical patent/JP7687016B2/ja
Priority to US17/702,878 priority patent/US12194636B2/en
Publication of JP2022149092A publication Critical patent/JP2022149092A/ja
Publication of JP2022149092A5 publication Critical patent/JP2022149092A5/ja
Application granted granted Critical
Publication of JP7687016B2 publication Critical patent/JP7687016B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B41J3/40731—Holders for objects, e. g. holders specially adapted to the shape of the object to be printed or adapted to hold several objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
    • B41J2/01—Ink jet
    • B41J2/21—Ink jet for multi-colour printing
    • B41J2/2107—Ink jet for multi-colour printing characterised by the ink properties
    • B41J2/2114—Ejecting specialized liquids, e.g. transparent or processing liquids

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Ink Jet (AREA)
JP2021051072A 2021-03-25 2021-03-25 立体物印刷方法 Active JP7687016B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2021051072A JP7687016B2 (ja) 2021-03-25 2021-03-25 立体物印刷方法
US17/702,878 US12194636B2 (en) 2021-03-25 2022-03-24 Three-dimensional object printing method and data generation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021051072A JP7687016B2 (ja) 2021-03-25 2021-03-25 立体物印刷方法

Publications (3)

Publication Number Publication Date
JP2022149092A JP2022149092A (ja) 2022-10-06
JP2022149092A5 JP2022149092A5 (enExample) 2024-03-15
JP7687016B2 true JP7687016B2 (ja) 2025-06-03

Family

ID=83362996

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021051072A Active JP7687016B2 (ja) 2021-03-25 2021-03-25 立体物印刷方法

Country Status (2)

Country Link
US (1) US12194636B2 (enExample)
JP (1) JP7687016B2 (enExample)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210237116A1 (en) * 2020-02-03 2021-08-05 Ross-Hime Designs, Inc. Robotic marking system
JP7169476B1 (ja) * 2022-03-28 2022-11-10 アーベーベー・シュバイツ・アーゲー 塗装ロボット
CN116714256B (zh) * 2023-06-13 2025-12-09 上海交通大学医学院附属第九人民医院 原位生物3d打印机器人系统、打印方法、介质、终端以及机器人

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000238254A (ja) 1999-02-25 2000-09-05 Tenryu Ind Co Ltd 物品表面への模様形成方法及び装置
DE102010004496A1 (de) 2010-01-12 2011-07-14 Müller, Hermann, 88279 Verfahren zum Betrieb einer Vorrichtung zum Beschichten und/oder Bedrucken eines Werkstückes
JP2011177931A (ja) 2010-02-26 2011-09-15 Mimaki Engineering Co Ltd ３次元プリンタ
JP2012144264A (ja) 2011-01-07 2012-08-02 N Tech:Kk 印刷装置及び印刷方法
US20150138275A1 (en) 2013-11-19 2015-05-21 Heidelberger Druckmaschinen Ag Method for generating a printed image on an object having a curved surface
JP2016215438A (ja) 2015-05-18 2016-12-22 東芝機械株式会社 加飾装置及び成形加飾システム
JP2018001571A (ja) 2016-06-30 2018-01-11 独立行政法人国立高等専門学校機構 印刷装置、印刷装置の制御方法、及び印刷方法
WO2020162171A1 (ja) 2019-02-05 2020-08-13 オムロン株式会社 印字システム、印字装置、印字方法およびプログラム
CN212098028U (zh) 2020-01-21 2020-12-08 茂泰(福建)鞋材有限公司 一种基于3d视觉的机器人喷墨设备

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JP2005001131A (ja) 2003-06-09 2005-01-06 Seiko Epson Corp レンズの製造方法および製造装置
EP1649983B1 (en) * 2003-06-27 2010-09-22 Honda Motor Co., Ltd. Gait generation device for legged mobile robot
DE102011053798A1 (de) * 2011-09-20 2013-03-21 Dritte Patentportfolio Beteiligungsgesellschaft Mbh & Co.Kg Verfahren zur Bestimmung einer Lageänderung eines Werkzeuges sowie das Werkzeug und die Werkzeugsteuerung
DE102011053799A1 (de) * 2011-09-20 2013-03-21 Dritte Patentportfolio Beteiligungsgesellschaft Mbh & Co.Kg Verfahren zur Steuerung von wenigstens einer Steuergröße eines Werkzeugs sowie das Werkzeug
JP5426722B2 (ja) * 2012-05-24 2014-02-26 ファナック株式会社 ロボットプログラム変更装置
DE102015200986A1 (de) * 2014-02-20 2015-08-20 Heidelberger Druckmaschinen Ag Intellectual Property Vorrichtung zum Bedrucken und Strahlungsbehandeln einer gekrümmten Oberfläche eines Objekts
US10414051B2 (en) * 2014-11-18 2019-09-17 Ged Integrated Solutions, Inc. File translator system
US12083740B2 (en) * 2014-11-29 2024-09-10 National Tsing Hua University Flexible 3D freeform techniques
US10766802B2 (en) * 2014-11-29 2020-09-08 National Tsing Hua University Flexible 3D freeform techniques
JP2018020412A (ja) 2016-08-04 2018-02-08 セイコーエプソン株式会社 シミュレーション装置、ロボット制御装置およびロボット
JP2018111155A (ja) * 2017-01-11 2018-07-19 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
KR102373081B1 (ko) * 2017-02-15 2022-03-11 퍼시몬 테크놀로지스 코포레이션 다수의 엔드-이펙터들을 가진 재료-핸들링 로봇
JP6683671B2 (ja) * 2017-11-24 2020-04-22 ファナック株式会社 ジョグ座標系を設定するロボットの制御装置
FR3082780B1 (fr) * 2018-06-21 2020-07-24 Reydel Automotive Bv Installation d'impression ou de revetement de surfaces de pieces tridimensionnelles
US11031269B2 (en) * 2019-08-22 2021-06-08 Kawasaki Jukogyo Kabushiki Kaisha Substrate transport robot, substrate transport system, and substrate transport method
PL3925786T3 (pl) * 2020-06-18 2024-03-25 Heraeus Electronics Gmbh & Co. Kg Sposób drukowania przyrostowego do drukowania wzoru funkcjonalnego nadruku na powierzchni obiektu trójwymiarowego, powiązany program komputerowy i nośnik odczytywany komputerowo
TW202232266A (zh) * 2021-01-29 2022-08-16 日商發那科股份有限公司 程式評價裝置與教示裝置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000238254A (ja) 1999-02-25 2000-09-05 Tenryu Ind Co Ltd 物品表面への模様形成方法及び装置
DE102010004496A1 (de) 2010-01-12 2011-07-14 Müller, Hermann, 88279 Verfahren zum Betrieb einer Vorrichtung zum Beschichten und/oder Bedrucken eines Werkstückes
JP2011177931A (ja) 2010-02-26 2011-09-15 Mimaki Engineering Co Ltd ３次元プリンタ
JP2012144264A (ja) 2011-01-07 2012-08-02 N Tech:Kk 印刷装置及び印刷方法
US20150138275A1 (en) 2013-11-19 2015-05-21 Heidelberger Druckmaschinen Ag Method for generating a printed image on an object having a curved surface
JP2016215438A (ja) 2015-05-18 2016-12-22 東芝機械株式会社 加飾装置及び成形加飾システム
JP2018001571A (ja) 2016-06-30 2018-01-11 独立行政法人国立高等専門学校機構 印刷装置、印刷装置の制御方法、及び印刷方法
WO2020162171A1 (ja) 2019-02-05 2020-08-13 オムロン株式会社 印字システム、印字装置、印字方法およびプログラム
CN212098028U (zh) 2020-01-21 2020-12-08 茂泰(福建)鞋材有限公司 一种基于3d视觉的机器人喷墨设备

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Publication number Publication date
JP2022149092A (ja) 2022-10-06
US12194636B2 (en) 2025-01-14
US20220305655A1 (en) 2022-09-29

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