US 12,377,432 B2
Printing apparatus
Yoshinori Nakajima, Matsumoto (JP); and Yuki Ishii, Shiojiri (JP)
Assigned to Seiko Epson Corporation, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Oct. 26, 2022, as Appl. No. 18/049,677.
Claims priority of application No. 2021-176205 (JP), filed on Oct. 28, 2021.
Prior Publication US 2023/0139508 A1, May 4, 2023
Int. Cl. B05B 13/04 (2006.01); B05B 7/08 (2006.01); B05C 5/02 (2006.01)
CPC B05B 13/0431 (2013.01) [B05B 7/08 (2013.01); B05C 5/0225 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A printing apparatus comprising:
a head including a first nozzle row in which a plurality of nozzles for ejecting a first ink are arranged and a second nozzle row in which a plurality of nozzles for ejecting a second ink are arranged;
a robot which includes an arm portion having a distal end, a proximal end, and a plurality of joints, and a base portion coupled to the proximal end, supports the head by the distal end, and changes a position and a posture of the head with respect to a workpiece; and
a control module configured to control ejection of the first ink and the second ink from the head, wherein
a brightness of the second ink is lower than a brightness of the first ink, and
when the head scans over a predetermined region along a moving path, a time at which the first ink is ejected from the first nozzle row to a predetermined position of the predetermined region on the workpiece under control of the control module is defined as a first time, and a time at which the second ink is ejected from the second nozzle row to the predetermined position under control of the control module is defined as a second time, a distance between the distal end and the proximal end at the second time is less than a distance between the distal end and the proximal end at the first time.