WO2019087933A1 - Dispositif d'impression et procédé d'impression - Google Patents

Dispositif d'impression et procédé d'impression Download PDF

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Publication number
WO2019087933A1
WO2019087933A1 PCT/JP2018/039720 JP2018039720W WO2019087933A1 WO 2019087933 A1 WO2019087933 A1 WO 2019087933A1 JP 2018039720 W JP2018039720 W JP 2018039720W WO 2019087933 A1 WO2019087933 A1 WO 2019087933A1
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WO
WIPO (PCT)
Prior art keywords
printing
movement
print head
print
printing apparatus
Prior art date
Application number
PCT/JP2018/039720
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English (en)
Japanese (ja)
Inventor
憲司 北田
Original Assignee
セイコーエプソン株式会社
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Filing date
Publication date
Application filed by セイコーエプソン株式会社 filed Critical セイコーエプソン株式会社
Publication of WO2019087933A1 publication Critical patent/WO2019087933A1/fr

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    • 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
    • B41J3/28—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for printing downwardly on flat surfaces, e.g. of books, drawings, boxes, envelopes, e.g. flat-bed ink-jet printers
    • 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
    • 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
    • B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions

Definitions

  • the present invention relates to a technology for performing printing by moving relative to a print target without providing a mechanism for positioning the print target.
  • the printer or printing apparatus includes a mechanism for positioning a print target such as paper, and the printing apparatus itself controls the discharge or application position of the ink to the print target.
  • the printer controls the position (main scanning direction position) of the print head with respect to the width direction of the sheet and the conveyance direction position (sub scanning direction position) of the sheet.
  • various apparatuses have been proposed in recent years that do not have a mechanism for positioning the print target, and the apparatus moves relative to the print target to print (for example, Patent Document 1 below) , 2).
  • Patent Document 1 discloses a printing apparatus having a function of self-running on a print target. This printing apparatus transfers an image to a surface to be printed using a transfer belt.
  • Patent Document 2 discloses an electronic brush as a hand-held printer that performs printing when manually moving a print target. In this electronic brush, the position of the electronic brush relative to the object to be printed is recognized using some kind of mark, and each time the electronic brush is moved manually, the desired image is completed by forming an image in the moving range.
  • the printing on the printing target is performed by the transfer roller (Patent Document 1) or the ink applicator (Patent Document 2), and other printing devices required to complete the printing
  • the transfer roller Patent Document 1
  • the ink applicator Patent Document 2
  • other printing devices required to complete the printing
  • the device is not particularly considered.
  • curing light usually ultraviolet light, hereinafter referred to as UV light
  • UV light curing light
  • a printing apparatus that performs printing using such a method there are cases where printing may not be successful depending on the printing direction, or the movement of the printing apparatus with respect to the print target may be restricted.
  • the present invention has been made to solve the above-described problems, and can be realized as the following modes or application examples.
  • a printing apparatus is provided as one aspect of the present invention.
  • the printing apparatus includes: a moving mechanism for realizing movement of the printing apparatus in a two-dimensional direction on the print target; and a print head for arranging a printing material on the print target along with the movement on the print target;
  • a printing auxiliary unit which is disposed at a position different from the print head and completes the printing on the print object of the print material in combination with the print material disposed by the print head; the print material for the print object
  • the position holding unit holds the positional relationship between the print head and the printing auxiliary unit regardless of the direction of the movement of the printing apparatus by the movement mechanism.
  • the printing apparatus holds the positional relationship between the print head and the printing auxiliary unit regardless of the direction of movement of the printing apparatus by the moving mechanism when the printing apparatus moves with placement of the printing material on the printing target . Since the printing auxiliary unit is combined with the printing material disposed by the printing head to complete the printing on the printing target of the printing material, the printing head and the printing auxiliary unit maintain the positional relationship when moving with printing. For example, printing on the print target of the printing material by the print head and the printing auxiliary unit can be surely completed.
  • the printing material on which the print head is disposed is an ink which is subjected to a fixing process after the disposition on the printing target and is fixed on the printing target;
  • a fixing process may be performed to fix the printing material after being arranged on the print target by the print head.
  • fixing using the printing auxiliary unit can be reliably performed.
  • the ink may be a photocurable ink
  • the printing auxiliary portion may be an ultraviolet light irradiation portion that emits ultraviolet light for fixing.
  • the photocurable ink can be reliably cured and fixed.
  • a curable ink is a thermosetting ink.
  • a method other than heat or light for example, a configuration in which a printing material is used as a first agent and a fixing solvent or the like is used as a second agent, may be applied or discharged to a printing object.
  • the printing auxiliary unit may apply a processing material for pretreatment to the print target prior to the placement of the printing material by the print head.
  • the printing assistance unit may be one that acts on the printing material after the placement of the printing material, or conversely, the treatment material for processing may be applied to the printing object prior to the placement of the printing material.
  • the printing material is ink
  • the printing can be completed by the pretreatment such as forming a primary layer on the printing material.
  • the position holding unit in order to maintain the positional relationship of the print auxiliary unit with respect to the print head, is configured to hold the print auxiliary unit in response to a change in the direction of movement by the moving mechanism.
  • the print head may be moved to a predetermined position surrounding the print head. In this way, the positional relationship between the print head and the printing auxiliary unit can be easily maintained.
  • the print assisting unit may be rotatably moved to a position surrounding the print head.
  • the rotational movement since the rotational movement is performed, printing of the printing assistance unit can be easily realized.
  • the movement of the printing assistance unit is not limited to rotational movement, but may be linear movement.
  • the printing auxiliary unit is disposed at a position surrounding the print head including at least the front and back of the print head; the position holding unit responds to a change in the direction of the movement by the movement mechanism.
  • a printing auxiliary unit arranged at a position for holding the positional relationship of the printing auxiliary unit with respect to the print head may be operated. In this way, the positional relationship between the print head and the print assist unit can be realized without moving the print head and the print assist unit.
  • Printing device is disposed at a position surrounding the print head including at least the front and back of the print head; the position holding unit responds to a change in the direction of the movement by the movement mechanism.
  • the print head includes a plurality of printing material disposition elements for arranging the printing material on the printing target in units of dots along an arrangement direction which is one direction; the movement mechanism is The printing apparatus may be movable in a main scanning direction intersecting the arrangement direction of the printing material placement elements and a sub scanning direction orthogonal to the main scanning direction. In this case, the printing by the dot unit in the main scanning direction and the sub scanning direction can be easily realized by the movement by the movement mechanism.
  • the main scanning direction in which the moving mechanism moves the printing apparatus may be orthogonal to the arrangement direction of the printing material disposition elements. In this way, the printable width can be maximized by one movement by the movement mechanism.
  • the main scanning direction in which the moving mechanism moves the printing apparatus may be a direction obliquely crossing the arrangement direction of the printing material disposition elements.
  • the printing apparatus can print with a predetermined width not only in the main scanning direction but also when moving in the sub scanning direction.
  • the print head may include a rotation mechanism that rotates the print head around a rotation axis perpendicular to the print target. In this way, the print head can be rotated, and the direction in which the printing material is disposed can be easily changed.
  • the print head includes a plurality of arrangements of the printing material arrangement elements; the plurality of printing material arrangement elements arranged in a plurality can arrange a plurality of types of printing materials; the rotation Different types of printing materials of the plurality of types of printing materials are disposed in respective regions divided by lines not passing parallel to the width direction of the plurality of arrays of printing material disposition elements through the center of the axis It may be In this way, by rotating the print head 180 degrees and reciprocating at the same position, printing with different types of printing materials can be completed and undivided print heads using the same number of dot-forming elements The total movement distance required for the printing apparatus can be shorter than when it is used. Moreover, the shift of the dot formation position can also be suppressed.
  • the plurality of printing material placement elements before and after rotation when the center of the rotation axis is rotated 180 degrees around the rotation axis in the arrangement direction of the plurality of printing material placement elements. May be provided at positions where they are alternately arranged. In this way, the printing material arranging elements are alternately arranged before and after the print head is rotated 180 degrees around the rotation axis, and the substantial resolution of the printing material arranging elements can be doubled.
  • the moving mechanism may include a plurality of rotating bodies provided on the bottom surface of the housing of the printing apparatus, and the rotating body may include at least one of a giza roller, a sphere, and an omni wheel. . In this way, movement of the printing apparatus can be easily realized.
  • the moving mechanism is configured such that the printing apparatus can arrange the printing material to the printing object by the print head. And the movement direction of the printing apparatus and the movement amount are detected; and the position holding unit detects the printing head and the printing based on the detected movement direction and movement amount. The positional relationship with the auxiliary portion may be maintained. In this way, printing using the print head and the printing auxiliary unit can be reliably completed even in manual printing.
  • a printing method in which a printing material is placed on a print target using a print head for printing.
  • the printing material is disposed on the printing object from the printing head along with movement in the two-dimensional direction on the printing object; the printing auxiliary unit is disposed at a position different from the printing head.
  • Printing is completed on the print object by the combination with the print material disposed by the print head; when moving the printing apparatus with the arrangement of the print material on the print object, The positional relationship between the print head and the printing auxiliary unit is maintained regardless of the direction of the movement. According to this printing method, the printing on the printing object of the printing material by the print head and the printing auxiliary unit can be surely completed.
  • a plurality of printing material placement elements for placing the printing material in dot units on the printing target are disposed along the predetermined arrangement direction on the printing head; and the printing head is mounted A first moving path moving along a main scanning direction crossing the arrangement direction of the printing material placement elements; and a moving path along the main scanning direction not overlapping the first moving path
  • the movement according to the third movement path may be performed between the movement according to the first movement path and the movement according to the second movement path. In this case, printing can be performed within a desired range of the print target only by the combination of the first, second, and third movement paths.
  • a plurality of printing material placement elements for placing the printing material on a dot basis in the printing target are disposed along the predetermined arrangement direction on the printing head; and the printing head is mounted A first moving path moving along a main scanning direction intersecting the arrangement direction of the printing material placement elements; and the main scanning direction along which the first moving path overlaps Moving along a moving path including: a moving path, and a second moving path moving in a direction opposite to the moving direction of the first moving path base;
  • the position of the printing material disposed during movement by the first movement path and the position of the printing material disposed during movement by the second movement path; (a) the main scan Alternate position in direction; (b) before The position may be any one of a staggered position in the sub scanning direction intersecting the main scanning direction; (c) a staggered position in the main scanning direction and a staggered position in the sub scanning direction intersecting the main scanning direction .
  • the present invention can also be implemented as a method of manufacturing a printing apparatus or a method of manufacturing a printed matter. Furthermore, the present invention can also be implemented as a print head control device, a print head position adjustment method, or the like.
  • FIG. 2 is an explanatory view for explaining an internal configuration of the printing apparatus centering on a control unit. It is an explanatory view showing a situation where application for printing is performed in a smart phone.
  • 5 is a flowchart showing an outline of a printing process routine. 5 is a flowchart illustrating one of moving printing processes.
  • FIG. 6 is an explanatory view showing an image of moving printing processing by the printing apparatus. It is a flowchart which shows the outline
  • 2 is an explanatory view exemplifying a path along which the printing apparatus travels. It is explanatory drawing which shows a mode that a dot is formed in the case of overlap printing of column alternation. It is explanatory drawing which shows a mode that a dot is formed in the case of overlap printing of a row alternating. It is explanatory drawing which shows a mode that a dot is formed in the case of column and row alternate overlap printing. It is an explanatory view showing the circumference of the printing head as what saw printer 20A from the bottom. It is an explanatory view showing the circumference of the printing head as what saw printer 20B from the bottom. It is a schematic diagram which illustrates the form of the printing apparatus at the time of using another form as a moving mechanism.
  • FIG. 6 is an explanatory view showing a configuration in the case where ejection of ink of a plurality of colors is realized by one print head. It is explanatory drawing which shows the other example of arrangement
  • FIG. 1 is an explanatory view showing the schematic configuration of the printing apparatus 20 from the side
  • FIG. 2 is an explanatory view showing the schematic configuration when the printing apparatus 20 is viewed from the bottom.
  • the printing apparatus 20 includes a frame 22 for mounting the parts constituting the printing apparatus 20 in a circular case 21.
  • the head body 25 and a moving mechanism are formed on the frame 22. It includes four omni wheels 31 to 34, a control unit 60 that controls the entire printing apparatus 20, and the like.
  • a battery 80 is mounted on the printing apparatus 20 and supplies power for operation to the entire printing apparatus 20.
  • the head main body 25 includes an ink cartridge 28 containing a photocurable ink as a printing material, a print head 30 for discharging the ink supplied from the ink cartridge 28 onto the printing target PS, and UV for ink curing as a printing auxiliary unit
  • a UV irradiation unit 35 for irradiating light (ultraviolet light) is mounted.
  • the head main body 25 is attached to the rotation shaft of the motor 24 fixed to the frame 22 and rotates at least 180 degrees in either forward or reverse direction by the rotation of the motor 24.
  • the rotation axis of the motor 24 is adjusted to be substantially perpendicular to the surface of the printing object PS when the printing apparatus 20 is placed on the printing object PS.
  • the configuration of rotating the head main body 25 on which the print head 30 and the UV irradiation unit 35 are mounted by the motor 24 functions as a rotation mechanism that rotates the print head 30.
  • omni wheels 31 to 34 as moving mechanisms are provided at four positions on the outer periphery of the bottom of printing apparatus 20, and the two omni wheels 31 to 34 facing each other can be independently rotated. It is arranged.
  • the rolling directions of the omni wheels 31, 32 and 33, 34 are mutually offset by 90 degrees.
  • Each omni wheel 31-34 has an overall tire shape and is rotatable about its own axis of rotation.
  • On the outer periphery of each of the omni wheels 31 to 34 a large number of small rollers which can rotate in a direction parallel to the entire rotation axis are provided. For this reason, using a plurality of omni wheels 31 to 34, it is possible to move in any direction as is well known.
  • the movement of the printing apparatus 20 in the two-dimensional direction using the drive systems of the omni wheels 31 to 34 and the omni wheels 31 to 34 will be collectively described later.
  • the control unit 60 is disposed on the top surface of the frame 22 together with the communication unit 70 as illustrated in FIG. 2.
  • the communication unit 70 is provided with an antenna 72 for wireless communication with an external smart phone or computer.
  • the control unit 60 controls the entire printing apparatus 20.
  • the control unit 60 controls the omni wheels 31 to 34, which are moving mechanisms, and controls the rotation angle of the head main body 25 to position the print head 30 and the UV irradiation unit 35. It also functions as a position holding unit that performs relationship control.
  • the function of the control unit 60 as a position holding unit will be described in detail later using a flowchart.
  • FIG. 3 is an explanatory view for explaining an internal configuration of the printing apparatus 20 centering on the control unit 60.
  • the control unit 60 is configured as an arithmetic logic operation circuit including a known CPU 61 and a memory 63, and the motor 24 and the omni wheel 31 to rotate the head main body 25 via an input / output interface (not shown). It is connected to the motors 41 to 44 and the encoders 51 to 54, the print head 30 and the UV irradiation unit 35 mounted on the head main body 25, and the communication unit 70.
  • the control unit 60 is connected to the print head 30 and the UV irradiating unit 35 and includes a configuration for controlling the dot formation using the photocurable ink.
  • the print head 30 and the UV irradiating unit 35 For example, a print control unit (not shown) for controlling the image processing may be separately provided on the print head 25.
  • the motors 41 to 44 provided on the omni wheels 31 to 34 rotate the omni wheels 31 to 34 around their rotation axes.
  • the direction of rotation of all the omni wheels 31 to 34 is only forward or reverse rotation around the rotation axis of the motor.
  • the encoders 51 to 54 only output the amount of rotation in the rotational direction.
  • the omni wheels 31 to 34 are also movable in the direction orthogonal to the rotation direction of the wheel by the small rollers provided on the outer periphery thereof.
  • the rotation of the small roller at this time is a so-called rotation as a driven wheel. Also, the amount of rotation can not be detected by the encoder.
  • the omni wheels 31 to 34 are provided at substantially equal intervals at four positions on the outer periphery of the printing apparatus 20, and the rotational directions thereof are tangential to the outer periphery of the printing apparatus 20.
  • the entire printing apparatus 20 connects the upper left and lower right in FIG. Move on the line segment Whether to move in the upper left direction or in the lower right direction depends on the combination of the rotational directions of the omni wheels 31 and 33.
  • the control unit 60 detects the outputs of the encoders 51 to 54 provided on the omni wheels 31 to 34. You can know the movement direction and movement amount.
  • the amount of rotation of the omni wheels 31 to 34 and the total amount of movement (including the moving direction) when using the omni wheels 31 to 34 are theoretically analyzed, but in the real omni wheels, the small rollers Since the correction coefficient is determined by experiment, the theoretical value is multiplied by the correction coefficient to obtain the actual amount of movement.
  • the print head 30 on the head main body 25 has a configuration in which a plurality of nozzles NZ that discharge ink in dot units are arranged in one direction.
  • the nozzle NZ is an example of the printing material placement element.
  • the nozzles NZ are actually arranged in two rows as shown in FIG. 2 in order to reduce the dot pitch. If possible, they may be arranged in one row.
  • the nozzle NZ is provided with a known piezoelectric actuator (not shown), and the photocurable ink supplied from the ink cartridge 28 is converted into an ink droplet by the piezoelectric actuator that turns on / off in response to a signal from the control unit 60. Let it discharge.
  • This ink is a photocurable ink and is dropped on the printing target PS, and then cured by UV light from the light source LT of the UV irradiation unit 35 for fixing the photocurable ink, and the surface of the printing target PS Settle in
  • the control unit 60 also controls on / off of a plurality of light sources LT mounted on the UV irradiation unit 35.
  • a light source an LED or the like that emits ultraviolet light can be used.
  • the printing apparatus 20 receives an image from the smart phone 90 via the communication unit 70, performs halftone processing on the image by the control unit 60, and reproduces it on the printing target PS as a collection of ink droplets. Halftoning may be performed on the printing device 20 side, but is performed on the smart phone 90 side, and dot data (data representing the presence or absence of dot formation) as a result is sent to the printing device 20 for printing. You may do it.
  • FIG. 4 is an explanatory view showing how a printing application is executed on the smartphone 90.
  • the smartphone 90 is provided with a button 91 for activating the smartphone 90 and a display 92 incorporating a touch panel.
  • an application for printing an image on the printing apparatus 20 is activated, an image 95 to be printed is displayed on the display 92 in addition to a button 94 for instructing the start of printing.
  • an image captured by a camera (not shown) provided in the smartphone 90, an image attached to a mail or the like, and the like can be assumed.
  • the smartphone 90 communicates with the control unit 60 via the communication unit 70 of the printing apparatus 20, and transmits data of an image to be printed.
  • the printing apparatus 20 is placed on the printing target PS, and when the power is turned on, the printing apparatus 20 communicates with the smartphone 90 by wireless communication to receive image data to be printed. Thereafter, the printing apparatus 20 drives the omni wheels 31 to 34 to self-propelled on the printing target PS, and discharge of ink droplets from the print head 30 and irradiation of UV light by the UV irradiation unit 35 subsequently thereto. , To complete the printing.
  • the printing apparatus 20 can freely drive the omni wheels 31 to 34 by driving the motors 41 to 44, and can travel freely by the signals from the encoders 51 to 54. An image can be printed on a print area on the PS by a desired travel path.
  • FIG. 5 is a flowchart showing an outline of the printing process routine.
  • the printing process is started when the printing apparatus 20 is powered on and communication with the smart phone 90 becomes possible via the communication unit 70.
  • the control unit 60 reads an input from the smart phone 90 via the communication unit 70 (step S130), and determines whether the print start button 94 is pressed and printing is instructed. (Step S140).
  • the printing apparatus 20 stands by until the print start button 94 of the smart phone 90 is pressed, and when the print start button 94 is pressed (step S 140: “YES”), next, it exchanges with the smart phone 90, and the communication unit 70 A process of receiving the image data of the image 95 from the smart phone 90 side is performed (step S150). When all the image data is received, the mobile printing process (step S200) is performed next, and then the process routine is ended.
  • FIG. 6 is a flowchart illustrating one of the moving printing process of step S200.
  • the moving printing process is a process of printing while traveling on the printing target PS using the image data received by the printing apparatus 20.
  • the movement of the printing apparatus 20 is realized by combining the first movement printing operation, the second movement printing operation, and the third movement operation.
  • the third movement operation printing while moving is not performed. Therefore, the significance of the serial numbers aligned with the first and second movement printing operations is small, but for convenience of describing combinations of movement operations, serial numbers are attached. did.
  • FIG. 7 is an explanatory view showing an image of moving printing processing by the printing apparatus 20.
  • FIG. 7 shows a traveling route when printing is performed while the printing apparatus 20 moves the printing target surface PM of the printing target PS to form an image in the printing area IGA.
  • the direction Y intersecting the traveling direction is This is an operation of printing in the print width direction.
  • the X direction is also called the main scanning direction
  • the Y direction is also called the double scanning direction.
  • the second movement printing operation is performed while traveling the printing device 20 linearly along the direction opposite to the movement direction X of the first movement printing operation along the ⁇ X direction path PA2 corresponding to the second movement path.
  • the printing is performed with the direction Y intersecting the direction as the alignment direction of the nozzles NZ of the print head 30.
  • the third movement operation is an operation of moving the printing apparatus 20 in the direction Y orthogonal to the movement direction in the first and second movement printing operations along the Y direction path PA3 corresponding to the third movement path. .
  • the moving distance of the third moving operation is equal to the printing width in the first and second moving printing operations.
  • the printing apparatus 20 can travel in any direction by driving the four omni wheels 31 to 34, there is no need to set the front in particular, but since the rotation range by the motor 24 is limited, In the description, the direction in which the printing apparatus 20 travels when the omni wheels 33 and 34 rotate in FIG. 2 is the X direction in FIG. 7, and the direction in which the printing apparatus 20 travels when the omni wheels 31 and 32 rotate in FIG. Y direction.
  • the movement printing process will be described in detail with reference to FIG.
  • the printing apparatus 20 is placed at the upper left corner of the printing target surface PM of the printing target PS, and printing is started.
  • the printing apparatus 20 starts printing in the X direction set in the print area IGA.
  • the printing direction is set in the printing device 20 in a state where the printing device 20 is placed on the printing target PS. In this state, the print width direction of the printing apparatus 20 matches the Y direction.
  • the printing device 20 receives the data of the image and then performs the first mobile printing operation (step S210).
  • the omni wheels 33 and 34 of the printing apparatus 20 are driven to cause the printing apparatus 20 to travel along the X-direction path PA1 while printing (dot formation) using the print head 30 and the UV irradiation unit It is an operation of performing curing of the ink using 35.
  • the ejection of ink droplets from the print head 30 is performed each time the printing apparatus 20 travels by a distance corresponding to the resolution of the dots formed by the printing apparatus 20.
  • the travel distance is detected by encoders 53 and 54 provided on the omni wheels 33 and 34.
  • the arrangement of the print head 30 and the UV irradiating unit 35 on the head main body 25 has a positional relationship in which the print head 30 precedes the UV irradiating unit 35 along the X direction path PA1. .
  • the printing apparatus 20 stops at that position and rotates the head main body 25 by 90 degrees to the right (step S215). This state is shown at the right end of FIG. 7 as an arrow RR90.
  • the rotation RR 90 is not the rotation of the entire printing apparatus 20 but the rotation of the head main body 25. Therefore, the omni wheels 31 to 34 constituting the moving mechanism do not rotate, and the position of the printing apparatus 20 does not change.
  • the print head 30 and the UV irradiating unit 35 also rotate, and the arrangement of the both is the printing head 30 to the UV irradiating unit 35 in the Y direction. Positional relationship ahead.
  • a third movement operation is next performed (step S220).
  • the omni wheels 31 and 32 are driven to move the printing apparatus 20 in the Y direction.
  • the UV irradiation unit 35 is operated to irradiate UV light, but the ink droplet is not discharged using the print head 30. It is because it only crosses the area already printed. Since the UV irradiation unit 35 is located behind the print head 30 with respect to the movement direction, when the printing apparatus 20 is stopped at the end of the X direction path PA1, the print unit 30 to the UV irradiation unit 35 The ink droplets in the range have not yet been sufficiently irradiated with UV light and the curing is also insufficient. Thereafter, during the third movement operation, UV light is irradiated from the UV irradiation unit 35 rotated 90 degrees right, whereby the ink droplet ejected near the end of the X direction path PA1 is sufficiently cured.
  • step S225 the head main body 25 is rotated again by 90 degrees.
  • This operation is the same as the operation in step S215, but the print head 30 and the UV irradiation unit 35 on the head main body 25 are rotated 180 degrees as viewed from the initial position by the two right 90 degree rotations. It becomes a relationship.
  • the control unit 60 determines whether printing is completed (step S230). If printing of all the image data has not been completed, then the second mobile printing operation is executed (step S240).
  • the second moving printing operation drives the omni wheels 33 and 34 of the printing apparatus 20 to cause the printing apparatus 20 to travel along the -X direction path PA2 in the direction opposite to the X direction path PA1 while the print head 30 And the curing of the ink using the UV irradiation unit 35.
  • the ejection of ink droplets from the print head 30 is performed each time the printing apparatus 20 travels by a distance corresponding to the resolution of the dots formed by the printing apparatus 20, as in the first moving printing operation.
  • the arrangement of the printing head 30 and the UV irradiating unit 35 on the head main body 25 also has a positional relationship in which the printing head 30 precedes the UV irradiating unit 35 as in the first moving printing operation. There is.
  • the printing apparatus 20 When the printing apparatus 20 reaches the end of the -X direction path PA2 in the second movement printing operation, the printing apparatus 20 is stopped, and then the head body 25 is rotated by 90 degrees to the left (step S245). This state is shown as an arrow RL90 at the left end of FIG.
  • the rotation RL 90 is not the rotation of the entire printing apparatus 20, but the rotation of the head main body 25 in the same manner as the rotation by 90 degrees to the right (RR 90). Therefore, the position of the printing apparatus 20 does not change even by the left 90 ° rotation.
  • the print head 30 and the UV irradiating unit 35 When the head main body 25 is rotated 90 degrees left, as shown in FIG. 7, the print head 30 and the UV irradiating unit 35 also rotate, and the arrangement of the both is in the Y direction. Positional relationship ahead.
  • a third movement operation is next performed (step S250).
  • the omni wheels 31 and 32 are driven to move the printing apparatus 20 in the Y direction.
  • the UV irradiation unit 35 is operated to irradiate UV light, but the discharge of the ink droplet using the print head 30 is not performed as in the third movement operation of step S220. Since the UV irradiating unit 35 is located behind the print head 30 in the moving direction, when the printing apparatus 20 stops at the end of the -X direction path PA2, the print head 30 to the UV irradiating unit 35 The ink drops in the range of (1) have not yet been sufficiently irradiated with UV light and the curing is also insufficient. Thereafter, the UV irradiation unit 35 rotated by 90 degrees to the left receives UV irradiation during the third moving operation, and thus the ink droplet ejected near the end of the ⁇ X direction path PA2 is also sufficiently cured.
  • step S260 the control unit 60 determines whether the printing is completed. If printing of all the image data has not been completed, the process returns to step S210 and continues. Since the print head 30 and the UV irradiation unit 35 on the head main body 25 have the same positional relationship as the print start position by the second left 90 degree rotation of the head main body 25 in step S255, The mobile printing process may be performed in the same manner as the conventional process.
  • step S280 return processing is subsequently executed (step S280). Since the third moving operation is performed before the determination of the return processing, if it is determined that the printing is completed, the process may simply be stopped on the spot.
  • the return process (step S280) may include a process of returning to the print start position, and a process of self-running back to the home position which is a predetermined position.
  • a process may be included in which the route traveled by the end of printing is traveled so as to return in a state where the UV irradiation unit 35 is operated.
  • the determination of the printing completion may be made at another timing.
  • the determination of the completion of printing in step S230 may be made immediately after the completion of the first mobile printing operation of step S210. In this case, if the printing is not completed, the processing of step S215 and subsequent steps is executed.
  • the same operation as the right 90-degree rotation of the print head 25 (step S215) or the ejected ink An operation similar to the third movement operation (step S220) of irradiating the droplet with the UV light from the UV irradiation unit 35 may be performed.
  • step S260 the determination of the completion of printing in step S260 may be made immediately after the completion of the second mobile printing operation in step S240. In this case, if the printing has not been completed, the processing of step S245 and subsequent steps is executed.
  • step S245 and subsequent steps the UV light from the UV irradiator 35 operates similarly to the operation of rotating the print head 25 by 90 degrees left (step S245).
  • An operation similar to the third movement operation (step S250) of irradiating the light may be performed.
  • the same processing as the third movement operation performed in step S220 or step S250 may be performed, for example, as indicated by a code PA3F in FIG.
  • it may move in the opposite direction to the third moving operation shown in step S250. Even in such a case, processing such as returning to the home position described above may be performed after the third movement operation.
  • the head main body 25 since the head main body 25 only rotates when moving to the third movement operation after the first movement printing operation ends, the omni wheels 31 to 34 do not rotate. Therefore, when switching the movement operation, the positioning accuracy does not decrease.
  • the printing apparatus 20 is moved in a direction different by 90 degrees from the moving direction up to that time, but does not change by 90 degrees without changing the positions of the omni wheels 31 to 34 when stopped. Since movement in the direction can be started, in this respect as well, in the present embodiment, the positioning accuracy is not reduced.
  • the omnis on the side driven by the first and second movement printing operations Since the wheels 31 to 34 are not driven substantially, the decrease in the positioning accuracy in the X direction can be minimized.
  • Second embodiment Next, a second embodiment will be described.
  • the hardware configuration of the printing apparatus 20 in the second embodiment is the same as that in the first embodiment.
  • the printing device 20 performs printing similar to bidirectional printing with a normal printer.
  • the outline of the mobile printing process in the second embodiment is shown in the flowchart of FIG. Further, a path along which the printing apparatus 20 travels is illustrated in FIG. In FIG. 8, the same processing as that of the first embodiment (FIG. 6) is assigned the same reference numeral, and the detailed description is omitted.
  • the first moving printing operation is performed first (step S210), and then the head body 25 is rotated 180 degrees to the right (step S218).
  • the rotation of 180 degrees to the right is shown as reference sign RR180 in FIG.
  • the positional relationship between the print head 30 and the UV irradiation unit 35 is opposite to the positional relationship when the printing apparatus 20 performs the first moving printing operation. .
  • step S240 the printing apparatus 20 executes a second mobile printing operation.
  • the operation itself of the second mobile printing operation is the same as the second mobile printing operation described in the first embodiment, but at this time, the printing apparatus 20 reverses the traveling path of the first mobile printing operation and the print head Discharge of ink droplets from 30 and irradiation of UV light by the UV irradiation unit 35 are performed. Thus, this is the same as bidirectional printing of a non-self-propelled printer.
  • the UV irradiation unit 35 is positioned at the rear end side of the -X direction path by the right 180 degree rotation, a place where the UV light irradiation can not be sufficiently received in the first movement printing operation along the X direction path The ink drops of the ink can receive sufficient UV light in the second mobile printing operation.
  • the printing apparatus 20 moves in the Y direction in order to irradiate UV light to the ink droplet at the end of the ⁇ X direction path.
  • the printing apparatus 20 determines whether printing of all the image data is completed (step S260), and if printing is not completed, the process returns to step S210 and repeats the above-described processing. If the printing is completed, a return operation (step S280) is performed, and the processing routine is ended.
  • the return operation may be performed as in the first embodiment.
  • the determination of the printing completion (step S260) may be performed immediately after the first mobile printing operation (step S210), and the contents of the return processing in that case are the same as in the first embodiment.
  • the same printing as so-called bidirectional printing is possible.
  • the printing that can be realized by the printing apparatus 20 passing twice through the same place will be listed below.
  • the same image can be printed twice by the X direction path PA1 and the -X direction path PA2. By doing this, the amount of ink ejected per unit area can be increased.
  • the brightness of the entire image when ink droplets are not impacted on the entire surface of the print target depends on the lightness of the print target.
  • the surface of the print target may not be white and the lightness may be low, unlike ordinary paper and the like. Even in such a case, the impact amount of the ink can be increased to reduce the influence of the ground color.
  • the dots in the dot row DC1 and the dots in the dot row DC2 forming the same raster are different nozzles It is because it is formed in NZ. Furthermore, the gap in the moving direction of the dots formed in each of the first and second moving printing operations can be increased. Therefore, it is possible to suppress the possibility that ink droplets ejected to positions adjacent to each other in the moving direction come in contact with each other and to be mixed with each other, and it is possible to suppress a change in tint due to mixing of the ink.
  • the print head 30 is rotated 180 degrees between the X-direction path PA1 and the -X-direction path PA2, so the nozzles used to form one raster and the adjacent ones are used
  • the nozzles used to form a raster are the nozzles NZ that are not adjacent on the print head 30. Furthermore, the gaps in the nozzle array direction of the dots formed in each of the first and second moving printing operations can be increased. Therefore, it is possible to suppress the possibility that the ink droplets ejected to the positions adjacent to the nozzle arrangement direction come in contact with each other and to be mixed, and it is possible to suppress the change of the color tone due to the mixing of the ink.
  • Alternate printing of alternating columns and rows can be performed.
  • dots DZ1 are alternately formed in the X direction path direction and the Y direction in the X direction path PA1, and similarly in the -X direction path PA2.
  • the dots DZ2 dots alternately in both directions and alternately with the dots DZ1 formed earlier, it is possible to increase the amount of ink applied to the printing area of the surface of the printing target PS.
  • the resolution of dot formation in the moving direction of the printing apparatus 20 can be increased.
  • the distance between the dots formed in each of the first and second moving printing operations can be increased in the moving direction and in the nozzle arrangement direction. Therefore, the possibility that the ink droplets ejected to the adjacent positions come in contact with each other and mix can be suppressed, and the change of the color tone and the like due to the mixing of the ink can be further suppressed.
  • the print head 30 and the UV irradiation unit 35 mounted on the head main body 25 have the same configuration, but various configurations are possible for the configuration around the head main body 25. . Hereinafter, some embodiments will be described.
  • FIG. 13 is an explanatory view showing the periphery of the print head 30 on the assumption that the printing apparatus 20A is viewed from the bottom.
  • the print head 30 is fixed, and the UV irradiation unit 36 configured in an annular shape rotates.
  • the UV irradiation unit 36 is formed in an annular shape, and the light sources LT are arranged in part thereof.
  • the arrangement range of the light source LT may be wide or narrow as long as the ink droplets ejected to the print target can be irradiated with the UV light on one side before and behind the print head 30.
  • the print head 30 does not rotate in the 90-degree rotation and the 180-degree rotation in the first and second embodiments, and only the UV irradiation unit 36 rotates. Also in this case, UV light can be irradiated after the discharge of ink droplets using the print head 30, and regardless of the direction of movement of the printing apparatus 20A by the movement mechanism, as the print head 30 and the printing auxiliary unit The positional relationship with the UV irradiator 36 can be maintained. Further, since the print head 30 is not rotated, the positioning accuracy of the print head 30 in the X direction path PA1 and the ⁇ X direction path PA2 can be enhanced.
  • the light source LT may be additionally provided, and the light source ELT shown by a broken line in FIG. 13 may be provided. Since the irradiation range expanded by the expanded light source ELT covers the range corresponding to one side of the nozzle arrangement direction in the print head 30, in this way, the first and second in the first embodiment can be obtained.
  • the first 90 degree rotation of the mobile printing operation (FIG. 6, steps S215, S245) can be omitted.
  • the second moving printing operation in the second embodiment can be obtained.
  • the first 90 degree rotation (FIG. 7, step S245) can be omitted. This is because the light source LT is positioned behind the moving direction in the third moving operation (step S250) by the right 180 degree rotation (step S218) of the first moving printing operation word. In this case, the rotation in step S255 in the second embodiment is 180 degrees.
  • FIG. 14 is an explanatory view showing the periphery of the print head 30 assuming that the printing apparatus 20B is viewed from the bottom.
  • the print head 30 and the UV irradiation unit 37 are fixed. Therefore, the rotatable head body 25 is not provided.
  • the UV irradiation unit 37 is provided with a plurality of light sources LT on both the front and rear sides as viewed from the print head 30 and on the side corresponding to at least one of the arrangement directions of the nozzles of the print head 30.
  • the light source LT surrounds the print head 30 in three directions in the present embodiment.
  • the arrangement of the light source LT is a shape constituting a part of an annular shape as illustrated in FIG. It does not need to be present, and it may be an arrangement in which a plurality of straight lines or curves are combined.
  • the UV irradiation unit 37 may be provided so as to completely surround the print head 30.
  • the print head 30 and the UV irradiation unit 37 do not rotate in the 90-degree rotation and the 180-degree rotation in the first and second embodiments, but in the first, second, and third movement operations.
  • the light source LT located in the backward direction of the print head 30 is turned on. Also by doing this, UV light can be emitted after the discharge of ink droplets using the print head 30, and regardless of the direction of movement of the printing apparatus 20B at the time of printing by the movement mechanism, the print head 30 and printing
  • the positional relationship with the UV irradiation unit 37 in this case, the lit light source LT corresponds to the printing auxiliary unit
  • the auxiliary unit can be held. Further, since the print head 30 is not rotated, the positioning accuracy of the print head 30 in the X direction path PA1 and the ⁇ X direction path PA2 can be enhanced.
  • FIG. 15 is a schematic view illustrating the form of the printing apparatus 20 when another form is used as the moving mechanism.
  • a spherical roller indicated by reference numeral 131 in FIG. 16 can be used.
  • the spherical roller is a roller rotatably holding a ball having no bias in the rolling direction, and includes driving rollers in contact with two side surfaces of the ball.
  • a knurled roller shown as reference numeral 132 in FIG. Giza roller is a roller provided with projections 135 on the roller surface.
  • the use of such a jagged roller makes it possible to reduce the slippage of the rotating roller on the surface to be printed, and to improve the accuracy in determining the moving distance of the printing apparatus 20 from the detection result by the encoder attached to the roller.
  • the knurled roller just needs to be able to reduce the slip of the roller on the printing target, and is not necessarily a protrusion.
  • a part of the roller surface may be made of a material having a high coefficient of friction, such as rubber. In general, a material with a high coefficient of friction is easily elastically deformed. Therefore, when the entire roller is made of a material with a high coefficient of friction, the detection accuracy of the movement distance is reduced due to the deformation of the roller. It is preferable to use the material.
  • FIG. 16 is a schematic view illustrating the form of the printing apparatus 20D when another form is used as the movement mechanism.
  • the printing device 20D has the same configuration as the printing device 20 of the second embodiment except that the plurality of print heads 30M, 30C, 30Y, and 30K are provided on the head main body 25.
  • the print heads 30M, 30C, 30Y, and 30K in the printing apparatus 20D are print heads capable of ejecting inks of different colors.
  • the print head 30M ejects magenta (M) ink.
  • the print head 30C ejects cyan (C) ink.
  • the print head 30Y ejects yellow (Y) ink.
  • the print head 30K ejects black (K) ink.
  • each ink discharged from each of the print heads 30M, 30C, 30Y, and 30K contains a photocurable resin, and curing by irradiation of UV light by the UV irradiation unit 35 is also the same as in the second embodiment.
  • the printing apparatus 20D performs printing by the bidirectional printing operation described in the second embodiment. This is because each of the print heads 30M, 30C, 30Y, and 30K has only a half width in the width direction of printing. Since these print heads 30M, 30C, 30Y, and 30K are disposed two by two close to the end in the Y direction, when the head main body 25 is rotated 180 degrees after completion of the first moving printing operation, the positions of each other It will be replaced. That is, in the first movement printing operation, the printing heads 30C and 30K pass in the second movement printing operation, and the full color printing can be realized. Further, the UV irradiation unit 35 is located behind the print heads 30M, 30C, 30Y, and 30K in the first and second moving printing operations, and the positional relationship between the two is maintained. ing.
  • FIG. 17 shows an example in which two nozzles for ink are disposed in one print head 130.
  • the center of rotation of the head body 25 is disposed to pass through the center of the print head 130.
  • the nozzles arranged in two rows in the print head 130 are divided by a line CL which passes through the center of the rotation axis and is not parallel to the width direction of the nozzle row.
  • the nozzles AD1 and AD2 belonging to each of the divided regions are assigned to discharge different types of ink among the plurality of types of ink.
  • the print head 130 when the print head 130 is rotated 180 degrees, the area of the nozzle AD1 that discharges one ink and the area of the nozzle AD2 that discharges the other ink overlap. Printing can be performed with a plurality of types of ink without waste.
  • FIG. 17 is an explanatory view showing another arrangement example of the nozzle arrangement and the rotation axis.
  • the print head 230 in this case is configured such that the rotation center RC descends at a point of 1 ⁇ 4 of the pitch ZL between the nozzles NZ. For this reason, when the print head 230 is rotated 180 degrees, as shown at the right end of FIG. 18, the nozzles NZ are just arranged in a staggered manner before and after the rotation.
  • the print head 230 before rotation and the print head 230 after rotation are drawn offset in the width direction of the head in the right column of FIG. 18 for convenience of understanding, the nozzles before and after rotation are actually Are located on the same straight line.
  • the dot forming position in the second moving printing operation alternates with the dot forming position in the first moving printing operation.
  • the resolution in the nozzle arrangement direction (Y direction) can be easily enhanced.
  • the print head ejects the photocurable ink
  • the printing auxiliary unit emits UV light for curing the photocurable ink
  • the combination of the two completes the printing for printing.
  • the irradiation unit as the printing auxiliary unit may be configured to provide a semiconductor laser for irradiating a laser instead of a plurality of light sources LT such as LEDs, and scan at least the printing range with the laser light.
  • the light source LT may be constantly lit or intermittently lit.
  • the wavelength of the irradiation light may be selected according to the curing characteristics of the photocurable ink.
  • the ink ejected from the print head may be a thermosetting ink
  • the printing auxiliary portion may be a heating unit such as a heater.
  • the printing aid may be a maser, a laser, or the like, as long as the ink absorbs the electromagnetic waves such as light and generates heat without direct heating.
  • the first agent is ejected by the first head corresponding to the print head
  • the second agent is ejected by the second head as a printing auxiliary unit having the same structure as the print head, and dots are formed by the chemical reaction of the two. You may do so.
  • there is no layer that absorbs the ink solvent on the surface and it may be difficult to fix the ink.
  • the first agent and second agent in the state before becoming a compound are prepared separately, discharged from each head to the print target, and a specific color is emitted by the chemical reaction on the surface of the print target. While being fixed on the surface of printing object.
  • the compound portion is formed on the surface to be printed and fixed on the surface to be printed, so that the compound does not solidify or stick in the cartridge or the passage before the discharge.
  • the first agent may be called a color former and the second agent may be called a developer.
  • Such a second head is mounted on the head main body 25 or the like described in the first embodiment together with the first head so as to have the same positional relationship with the first head in the first and second movement printing operations and the like.
  • the head body 25 may be rotated, for example.
  • the same configuration as illustrated in FIGS. 13 to 14 may be employed.
  • the printing auxiliary unit is disposed behind the printing head and emits UV light or discharges the second agent.
  • the printing auxiliary unit arranges the printing material by the printing head. You may provide in the position which precedes.
  • the pre-processing for applying the treatment material to form the primary layer on the surface of the printing target may be performed by the printing auxiliary unit Good.
  • Such a printing auxiliary part can be comprised as discharge parts, such as a nozzle which discharges the agent which forms a primary layer, or application parts, such as a coating roller which apply
  • the auxiliary printing unit which forms the primary layer prior to the placement of the printing material such as ink by the printing head, is mounted on the head main body 25 or the like described in the first embodiment together with the printing head.
  • the head main body 25 may be rotated so as to maintain the relationship located forward in the moving direction with respect to the print head.
  • the same configuration as illustrated in FIGS. 13 to 14 may be employed.
  • the auxiliary agent may be discharged before printing, for example.
  • the moving mechanism is driven by a motor or the like, but the user of the printing apparatus may move the printing apparatus manually. At this time, it is only necessary to hold the printing apparatus at a predetermined separation distance at which the print head can eject ink and move the printing apparatus, and to detect the moving direction and the movement amount of the printing apparatus.
  • Such a configuration can be realized by omitting the motors 41 to 44 for driving the omni wheels 31 to 34 and leaving the encoders 51 to 54 in the configuration of FIG.
  • the next movement direction may be instructed to the control unit of the printing apparatus, and the control unit that has received the instruction may hold the positional relationship between the print head and the printing auxiliary unit. .
  • the instruction to the control unit may be issued by a button or the like, or the moving route of the printing apparatus is stored in advance in the printing apparatus via the smart phone 90 etc., and the head main body 25 is rotated when it reaches that position.
  • the positional relationship between the print head 30 and the UV irradiation unit 35 may be maintained.
  • the configuration shown in FIG. 14 may be adopted, and when the moving direction is manually changed, this may be detected and the light source LT to be driven may be changed to maintain the positional relationship between the two.
  • the image to be printed is transmitted from the smartphone 90 in the above embodiment, it may be transmitted from another device such as a computer or a tablet.
  • a card reader may be provided in the printing apparatus, and image data recorded on a memory card may be read using the card reader and printed.
  • the movement direction (main scanning direction X) of the printing apparatus 20 and the arrangement direction (Y direction) of the nozzles NZ are orthogonal to each other, but the two do not necessarily have to be orthogonal to each other.
  • the arrangement direction of the printing material arrangement elements such as the nozzles NZ obliquely intersects the main scanning direction in which the moving mechanism moves the printing apparatus
  • the printable range in the first and second moving printing operations is From the position of the nozzle located at the front at the start of the first and second moving printing operations to the position of the nozzle located at the rearmost at the end of the first and second moving printing operations.
  • the UV irradiator 35 disposed in front of or behind the print head may be once retracted to the retracted position, and may be moved backward or forward of the print head 30 therefrom.
  • the side or back side of the print head can be assumed.
  • the printing auxiliary unit such as the UV irradiation unit is inclined with respect to the print head direction, when the printing auxiliary unit is rotated around the print head, the inclination with respect to the print head is preserved, which is preferable.
  • the print head In the case of a configuration in which the print head is retracted to a retracted position from the front or back position and then moved to the opposite side instead of being rotated, the print head is moved relative to the print head at the front or back position.
  • the inclination may be adjusted.
  • the number of nozzles NZ as dot forming elements is not limited to one, and plural rows may be provided.
  • the plurality of rows may be provided for each of a plurality of types of ink, or a plurality of rows may be provided for one ink.
  • the difference in the type of ink may be the difference in hue or the difference in density among the inks of the same hue. Or it may be a difference in the size of the dot to be formed.
  • dot formation elements of the same type of ink may be alternately arranged in a so-called staggered arrangement, and may be used to improve the resolution, or a plurality of simple rows may be provided and used alternately in the printing pass direction You may use it like this.
  • a configuration other than the configuration using the four omni wheels adopted in the embodiment or the configuration using the spherical roller, the giza roller or the like can be adopted.
  • the number of rollers may be three or five or more.
  • the moving mechanism need not be limited to a configuration in which a rotating body such as a roller is in direct contact with the print target, and an endless track mechanism in which an endless belt is installed between the rollers may be used. In this case, it is sufficient to have at least two endless track mechanisms.
  • a part of the roller or the like that constitutes the moving means may be a member that has a member with a low coefficient of friction provided on the bottom surface of the printing apparatus and causes the printing apparatus to slide.
  • the detection of the movement direction and movement amount of the printing apparatus realized by the movement mechanism may be configured using a gyro sensor, a rider, or the like, instead of detection using an encoder provided in the movement mechanism.
  • a gyro sensor When a gyro sensor is used, an acceleration signal in each axial direction may be input from a 3-axis gyro sensor, and this signal may be integrated to obtain the speed and movement amount of the printing apparatus 20.
  • a rider is used, a plurality of markers are provided outside the printing apparatus, and the position of the printing apparatus and the movement direction and movement amount are detected by combination with the markers.
  • Lidar Light Detection and Ranging
  • the lidar is a device that uses laser light or millimeter waves to precisely measure the distance to a marker or the like. If the lidar is provided on the printing apparatus and a plurality of markers are arranged outside the printing apparatus, the lidar accurately measures the separation distance from each marker every movement of the printing apparatus, so the position of the printing apparatus accompanied by the movement It is easy to detect changes in
  • the position of the printing apparatus can also be detected using a high precision GNNS (Global Navigation Satellite System) or the like.
  • GNNS Global Navigation Satellite System
  • the camera may be installed outside the printing apparatus, and the position and movement direction of the printing apparatus may be detected by analyzing an image captured by the camera.
  • the printing on the print target may start immediately from the place where the printing apparatus starts moving, as described in the embodiment, or may start after moving to a predetermined place.
  • the predetermined place may be designated from an external device such as a smart phone, or may be designated by a marker provided on the print target.
  • a marker provided on the print target.
  • a plurality of markers may be arranged, and the location of the start of printing may be specified from the positional relationship of the printing apparatus with respect to the markers.
  • it may be in the form of a sticker or the like indicating the place of start of printing, and may be attached to the print target to indicate the place of start of printing.
  • part or all of the functions realized by hardware may be realized by software, and in the embodiment, part or all of the functions realized by software may be electrical circuitry. It may be realized by hardware such as Moreover, about the component which is not described as an essential requirement in this specification, even if the component is removed, it is materialized as invention.
  • Printing device 24 Motor 25: Head main body 30, 30C, 30K, 30M, 30Y: Print head 31 to 34: Omni wheel 35 to 37: UV irradiation unit 41 to 44: Motor 51 to 54: Encoder DESCRIPTION OF SYMBOLS 60 ... Control part 90 ... Smart phone 130, 230 ... Printing head 131 ... Sphere roller 132 ... Giza roller

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  • Ink Jet (AREA)
  • Printers Characterized By Their Purpose (AREA)

Abstract

Des dispositifs d'impression dans lesquels l'impression est achevée en mettant en correspondance une partie d'assistance à l'impression (telle qu'une partie de rayonnement UV) avec un matériau d'impression (tel qu'une encre photodurcissable) qui est distribuée à partir d'une tête d'impression sur une cible d'impression souffrent d'une correspondance insuffisante lorsque la direction de mouvement a changé. Selon la présente invention, un matériau d'impression, tel qu'une encre photodurcissable, est distribué à partir d'une tête d'impression sur une cible d'impression en association avec un mouvement de direction bidimensionnel sur la cible d'impression et l'impression du matériau d'impression sur la cible d'impression est achevée par une partie d'assistance à l'impression, telle qu'une partie de rayonnement UV, qui est disposée dans un emplacement différent de la tête d'impression par la mise en correspondance de la partie d'assistance à l'impression avec le matériau d'impression qui est distribué par la tête d'impression. Lorsqu'un dispositif d'impression se déplace en association avec la distribution du matériau d'impression sur la cible d'impression, la relation de position entre la tête d'impression et la partie d'assistance à l'impression est maintenue indépendamment de la direction du mouvement.
PCT/JP2018/039720 2017-10-31 2018-10-25 Dispositif d'impression et procédé d'impression WO2019087933A1 (fr)

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