Robot teaching method and three-dimensional object printer
AssigneeSeiko Epson Corporation
InventorKohei UTSUNOMIYA
Life of this patent
Estimating the term…
Abstract
A robot teaching method includes: a printing posture setting step of setting a printing posture that is a relative posture between the head and the workpiece in the printing operation. When a position where a positional relationship with the nozzle surface is fixed is a first position and a position different from the first position where a positional relationship with the nozzle surface is fixed is a third position, the printing posture is set in a virtual space in the printing posture setting step based on a positional relationship between the first position and the workpiece and a positional relationship between the third position and the workpiece.
Claims20
A robot teaching method for a three-dimensional object printer that includes a head having a nozzle surface provided with a nozzle array including a plurality of nozzles, and a robot, and that executes a printing operation in which the head discharges a liquid onto a three-dimensional workpiece and the robot changes a relative position and posture between the head and the workpiece, comprising:
- a printing posture setting step of setting a printing posture that is a relative posture between the head and the workpiece in the printing operation, wherein
- when a position where a positional relationship with the nozzle surface is fixed is a first position, and
- a position different from the first position where a positional relationship with the nozzle surface is fixed is a third position,
- the printing posture is set in a virtual space in the printing posture setting step based on a positional relationship between the first position and the workpiece and a positional relationship between the third position and the workpiece.
A robot teaching method for a three-dimensional object printer that includes a head having a nozzle surface provided with N, N being a natural number of greater than or equal to 2, nozzle arrays including a plurality of nozzles, and a robot, and that executes a printing operation in which the head discharges a liquid onto a three-dimensional workpiece and the robot changes a relative position and posture between the head and the workpiece, comprising:
- a printing posture setting step of setting a printing posture that is a relative posture between the head and the workpiece in the printing operation, wherein
- N positions whose positional relationship with the nozzle surface is fixed and which are provided so as to correspond to the N nozzle arrays, respectively, and
- the printing posture is set based on a positional relationship with the workpiece at the N positions in a virtual space in the printing posture setting step.
A three-dimensional object printer comprising:
- a head having a nozzle surface provided with a nozzle array including a plurality of nozzles that discharge a liquid;
- and
- a robot that changes a relative position and posture between the head and a three-dimensional workpiece, wherein
- the nozzle array includes a first nozzle array and a second nozzle array, which are arranged in a width direction,
- when a straight line passing through a first position on the nozzle surface and a second position on the workpiece is a first straight line,
- a normal line of the workpiece at the second position is a first normal line,
- an angle formed by the first straight line and the first normal line is a first angle,
- a straight line passing through a third position different from the first position on the nozzle surface and a fourth position different from the second position on the workpiece is a second straight line,
- a normal line of the workpiece at the fourth position is a second normal line, and
- an angle formed by the second straight line and the second normal line is a second angle,
- when a first printing operation is executed in which the liquid is discharged from the first nozzle array onto the workpiece and no liquid is discharged from the second nozzle array, a relative posture between the head and the workpiece is set based on the first angle and not based on the second angle, and
- when a second printing operation is executed in which the liquid is discharged from both the first and second nozzle arrays onto the workpiece, a relative posture between the head and the workpiece is set based on the first and second angles.
Dependencies are inferred from the claim text.