| 摘要 |
An apparatus for printing an image onto a curved surface of a three dimensional article. The apparatus principally includes a support fixture adapted to support the article, an ink jet print head having a plurality of nozzles, and an articulatable robotic arm. One of the support fixture supporting the article and the print head is mounted to and carried by the robotic arm. The robotic arm has more than three degrees of freedom of movement and is moveable so as to cause relative movement of the print head along a series of scanning paths that follow the surface contour of the curved surface of the article. A controller is coupled to the robotic arm and is configured to cause articulation of the robotic arm so as to move the print head along the series of scanning paths. The controller causes the robotic arm to continuously locate the print head relative to the curved surface of the article in a position suitable for printing as the print head is moved along the series of scanning paths. The controller is further configured to cause the plurality of nozzles to eject printing medium at predetermined locations along the scanning paths so as to form the image on the curved surface of the substrate. |
