Patent ID: 11932035
Assignee: SEIKO EPSON CORPORATION
Field: Textile and paper machines (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A three-dimensional object printing apparatus comprising:
an imaging device fixed to a base and imaging an object located at an inside of an imaging range;
a first articulated robot supporting a head having a nozzle for discharging a liquid and changing a position and a posture of the head;
a second articulated robot supporting a workpiece and changing a position and a posture of the workpiece;
a memory configured to store a program; and
a processor configured to execute the program so as to:
control the second articulated robot to move the workpiece from an outside of the imaging range to the inside of the imaging range as a material feeding step;
control at least one of the first articulated robot and the second articulated robot to relatively move the head and the workpiece at the inside of the imaging range as a printing step in which the head discharges the liquid to the workpiece;
cause the imaging device to capture an image of the imaging range to generate an imaging result;
acquire information relating to a relative position of the workpiece with respect to the base based on the imaging result of the imaging device as an information acquisition step that is performed between the material feeding step and the printing step; and
control the first articulated robot to move the head to the outside of the imaging range in the information acquisition step.