Coating device and wiping method

Abstract

The coating device includes a coating head, a wiping mechanism, an arm, and a control unit. The coating head has a nozzle surface for ejecting coating material. The wiping mechanism wipes the nozzle surface. The arm holds the coating head. The control unit controls the movement of the coating head via the arm. The control unit makes the coating head move relative to the wiping mechanism to wipe the nozzle surface.

Description

Technical Field

[0001] The disclosed embodiments relate to a coating device and a wiping method. Background Art

[0002] A coating device using an inkjet method is known. In such an inkjet coating device, a head member for ejecting a coating material and a wiper for removing the coating material attached to the head member are mounted. The coating device uses a dedicated mechanism for moving the wiper so that the wiper moves in a manner of wiping one side of the head member ejecting the coating material, thereby removing the coating material attached to the head member.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-160801

[0006] Patent Document 2: Japanese Patent Application Publication No. 2004-337770 Summary of the invention

[0007] A coating device according to one embodiment of the present invention comprises a head member, a wiping mechanism, an arm, and a control unit. The head member has a nozzle surface for ejecting a coating material. The wiping mechanism wipes the nozzle surface. The arm holds the head member. The control unit controls the movement of the head member via the arm. The control unit causes the head member to move relative to the wiping mechanism to wipe the nozzle surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is an explanatory diagram of the coating device according to the embodiment.

[0009] Figure 2 This is a cross-sectional view showing an example of a painted object.

[0010] Figure 3 It is a diagram showing an example of arrangement of a head member and a wiper included in the coating apparatus according to the first embodiment.

[0011] Figure 4 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a second embodiment.

[0012] Figure 5 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the second embodiment.

[0013] Figure 6 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a third embodiment.

[0014] Figure 7 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the third embodiment.

[0015] Figure 8 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a fourth embodiment.

[0016] Fig. 9 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the fourth embodiment.

[0017] Fig.10 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a fifth embodiment.

[0018] Fig.11 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a sixth embodiment.

[0019] Fig.12 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a seventh embodiment.

[0020] Fig.13 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the seventh embodiment.

[0021] Fig.14 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to an eighth embodiment.

[0022] Fig.15 It is an explanatory diagram of a coating device according to a first modified example of the embodiment.

[0023] Fig.16 It is an explanatory diagram of a coating device according to a second modified example of the embodiment.

[0024] Fig.17 yes Fig.16 An illustration of the wiping unit is shown. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the coating device and wiping method disclosed in the present application will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to the embodiments described below.

[0026] <Structure of coating device>

[0027] First, refer to Figure 1 The outline of the coating apparatus according to the embodiment will be described. Figure 1 1 is an explanatory diagram of a coating device according to an embodiment. Figure 1In the figure, a three-dimensional orthogonal coordinate system including a Z axis with a positive direction pointing vertically upward and a negative direction pointing vertically downward is shown. Such an orthogonal coordinate system is sometimes shown in other drawings used in the following description. Figure 1 The same components of the coating apparatus 1 shown are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0028] like Figure 1 As shown, the coating device 1 includes a head member 10 , a wiper 14 , a robot 20 , and a control device 40 .

[0029] The head member 10 is fixed to the robot 20 . The head member 10 moves according to the operation of the robot 20 controlled by the control device 40 .

[0030] The head member 10 coats the object 30 by causing the coating material ejected from the plurality of ejection holes 11 located on the nozzle face 12 to hit the surface of the object 30 facing the nozzle face 12 .

[0031] The coating material is supplied from a can (not shown) to the head member 10. The head member 10 ejects the coating material supplied from the can. The coating material is a mixture containing volatile components and non-volatile components and has fluidity. It should be noted that the can may also be a container (not shown) housed in the head member 10.

[0032] Volatile components include, for example, water, organic solvents, alcohols, etc., which adjust the physical properties of the coating material, such as viscosity and surface tension. Non-volatile components include, for example, pigments, resin materials, and additives. Pigments include one or more coloring pigments used according to the desired coating color. The resin material adheres to the coated object 30 to form a film. Additives are, for example, functional materials added for the purpose of weather resistance, etc.

[0033] It should be noted that the coating material supplied to the discharge hole 11 is prepared by mixing a plurality of coloring pigments or coating materials at a predetermined ratio so as to express a desired coating color.

[0034] The wiper 14 wipes the nozzle surface 12 of the head component 10. The wiper 14 is an example of a wiping mechanism. The wiper 14 is supported by a supporting member not shown in the figure, and is arranged near the robot 20. The wiper 14 is an elastic member having a predetermined hardness. Specifically, the wiper 14 has a hardness between the non-volatile components contained in the coating material attached to the nozzle surface 12 and the multiple ejection holes 11 of the nozzle surface 12. Therefore, the non-volatile components contained in the coating material attached to the nozzle surface 12 can be effectively removed, and the deformation of the ejection holes 11 caused by the wear of the nozzle surface 12 can be suppressed, thereby improving the durability of the head component 10. It should be noted that, regarding the hardness of the multiple ejection holes 11 of the nozzle surface 12, the hardness of a member constituting the nozzle surface 12, such as a nozzle plate, can be measured.

[0035] In addition, the wiper 14 may be formed by winding a soft material such as woven fabric, nonwoven fabric or paper around an elastic member. The wiper 14 is in contact with the nozzle surface 12 at a pressure within a predetermined range. When the head member 10 is moved in a certain direction while maintaining this state, the coating material attached to the nozzle surface 12, especially the non-volatile components such as pigment and resin material, are wiped off from the nozzle surface 12.

[0036] The wiper 14 may also be a so-called wet wiper containing an affinity component having affinity for the non-volatile component attached to the nozzle face 12. Here, "affinity" refers to a property of reducing the close contact with the nozzle face 12 by, for example, swelling, dispersion, dissolution, etc. When the close contact between the nozzle face 12 and the non-volatile component is reduced, the non-volatile component is easily wiped off. Examples of the affinity component having such an affinity include water, organic solvents, alcohols, oils, and fats. When the affinity component is volatile, the reduction in coating quality caused by the affinity component remaining on the nozzle face 12 is suppressed.

[0037] The robot 20 holds the head member 10. The robot 20 is, for example, a six-axis multi-joint robot. The robot 20 has a plurality of arms 21, and the head member 10 is fixed to the front end of the arm 21. The robot 20 is fixed to a floor surface, a wall surface, a ceiling surface, or the like.

[0038] The control device 40 controls the coating apparatus 1. The control device 40 includes a control unit 41 for controlling the coating apparatus 1, and a storage unit 45. The control unit 41 includes a discharge control unit 42 and an operation control unit 43.

[0039] The spray control unit 42 controls the head member 10 based on the setting information stored in the storage unit 45, so that the coating material is sprayed from the plurality of spray holes 11 toward the object to be coated 30. The motion control unit 43 controls the motion of the plurality of arms 21 based on the setting information stored in the storage unit 45, and controls the movement of the head member 10 via the arms 21. The distance between the head member 10 and the object to be coated 30 is maintained at, for example, about 0.5 to 14 mm.

[0040] In addition, the motion control unit 43 controls the motion of the plurality of arms 21 based on the position information of the wiper 14 stored in the storage unit 45, so that the head member 10 moves relative to the wiper 14 to wipe the nozzle surface 12. It should be noted that the detailed motion of the head member 10 when the nozzle surface 12 is wiped by the wiper 14 will be described later.

[0041] The storage unit 45 stores setting information for various controls. The storage unit 45 stores information related to the spray control of the coating material performed by the head member 10. In addition, the storage unit 45 stores information related to the motion control of the plurality of arms 21. In addition, the storage unit 45 stores position information of the wiper 14. It should be noted that the storage unit 45 may also store data input by a user through a teaching operation performed using a terminal device (not shown) as teaching data for causing the robot 20 to operate.

[0042] The object to be coated 30 is, for example, a vehicle body. The object to be coated 30 is placed on a conveying device (not shown) and is fed in and out. The coating device 1 of the embodiment coats the object to be coated 30 while the conveying device is stopped. It should be noted that the coating device 1 can coat the object to be coated 30 that is repeatedly conveyed and stopped, or can coat the object to be coated 30 in parallel with the conveying of the object to be coated 30.

[0043] In the previous device using the head member 10, the freedom of movement of the head member 10 is small, and the wiper 14 is moved relative to the head member 10 when wiping the nozzle surface 12. Therefore, there is room for improvement in, for example, simplification of the structure that can achieve miniaturization and cost reduction. In contrast, in the coating device 1 of the embodiment, the head member 10 is fixed to the manipulator 20, so the head member 10 can be moved relative to the wiper 14 fixed near the manipulator 20 according to the freedom of the arm 21 to wipe the nozzle surface 12. Therefore, for example, a dedicated mechanism for moving the wiper 14 toward the head member 10 is not required, and the structure can be simplified.

[0044] Figure 2 This is a cross-sectional view showing an example of a painted object. Figure 2The object to be coated 30 shown includes a substrate 31, a primer layer 32 and a first coating layer 33. The substrate 31 is, for example, a steel plate processed into a predetermined shape, and is subjected to an electroplating treatment as required to impart rust resistance. The primer layer 32 is provided to impart, for example, weather resistance, color development, and peeling resistance. The first coating layer 33 is, for example, a base layer having smoothness and weather resistance and imparting a desired coating color. The surface of the first coating layer 33 becomes the surface to be coated 30a to be coated by the coating device 1 of the embodiment.

[0045] On the first coating layer 33, which is the coating surface 30a, there is a second coating layer 34. The second coating layer 34 is arranged in such a manner that a portion of the first coating layer 33 is covered with a coating material having a coating color different from that of the first coating layer 33. Thus, the coating object 30 is a coated body 38 coated in a so-called two-tone manner, in which a region 36 where the second coating layer 34 is located and a region 35 where the second coating layer 34 is not arranged and the first coating layer 33 is exposed are arranged with an end 37 of the second coating layer 34 as a boundary.

[0046] exist Figure 2 In the example shown, the coating device 1 is used to position the second coating layer 34 on the coating surface 30a on the first coating layer 33, but the present invention is not limited thereto. The coating device 1 can also be used to position the first coating layer 33 on the coating surface 32a on the primer layer 32, for example.

[0047] It should be noted that the coating body 38 is not limited to Figure 2 For example, a cover layer not shown in the figure may be arranged on the surface of the regions 35 and 36. In addition, the second coating layer 34 may not be provided but only the first coating layer 33 may be provided, or the second coating layer 34 may be arranged on the entire surface of the first coating layer 33. Furthermore, the object to be coated 30 or the coated body 38 may further include one or more layers not shown in the figure.

[0048] <First Embodiment>

[0049] Figure 3 1 is a diagram showing an example of arrangement of the head member and the wiper included in the coating apparatus of the first embodiment. Figure 1 ) so that the arm 21 (refer to Figure 1 ) moves relative to the wiper 14 to move the head member 10 relative to the wiper 14. Figure 3As shown, the head member 10 is arranged along the XY plane intersecting the Z axis with respect to the wiper 14 arranged along the Z axis direction, and the first surface 10a as one end surface of the head member 10 is in contact with or close to the wiper 14. The head member 10 arranged in this way moves in the direction 50 along the positive direction of the Y axis from the first surface 10a side of the head member 10 toward the second surface 10b side as the other end surface in a manner that the nozzle surface 12 receives a predetermined pressing force from the second surface 14b of the wiper 14, thereby the nozzle surface 12 is wiped by the wiper 14.

[0050] It should be noted that the above series of actions can be performed continuously after the coating action is completed, or the arm 21 (see Figure 1 ) is temporarily stationary. When the arm 21 is temporarily stationary before the wiping action, the misalignment of the head component 10 caused by the movement of the arm 21 accompanied by, for example, vibration and swing is reduced, and the accuracy of the wiping action is improved. It should be noted that the "stationary" mentioned here is not limited to a completely stopped state, and includes, for example, a state where vibration and swing are attenuated to a predetermined allowable range. In addition, "before the action of wiping the nozzle surface 12" is not limited to before the wiper 14 is brought into contact with the nozzle surface 12, for example, it can also be after the wiper 14 is brought into contact with the nozzle surface 12 and before the head component 10 is moved.

[0051] <Second Embodiment>

[0052] Figure 4 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a second embodiment. Figure 4 In the example shown, Figure 3 The coating apparatus of the first embodiment shown is different in that the nozzle surface 12 of the head member 10 is inclined at an angle θ1 with respect to the XY plane.

[0053] The head member 10 tiltedly arranged so that the nozzle surface 12 faces the wiper 14 side moves in the direction 50 along the positive direction of the Y axis, so that the nozzle surface 12 is wiped by the wiper 14 from the first surface 10a side to the second surface 10b side. The wiper 14 is compressed according to its hardness or other characteristics, or is bent toward the first surface 14a of the wiper 14, so that the nozzle surface 12 receives a predetermined pressing force from the second surface 14b of the wiper 14. Therefore, for example, even if the head member 10 is misaligned with respect to the movement of the wiper 14, the misalignment can be offset by changing the deformation amount of the wiper 14, thereby reducing the possibility of damage to the nozzle surface 12, for example.

[0054] Here, the angle θ1 of the nozzle surface 12 relative to the XY plane (wiping piece 14) can be set to, for example, 10° or more and 35° or less. When the angle θ1 is less than 10°, the effect of offsetting the misalignment of the head member 10 is difficult to be manifested. In addition, when the angle θ1 exceeds 35°, the amount of change of the wiping piece 14 increases, and it is easy to be damaged.

[0055] <Modification of Second Embodiment>

[0056] Figure 5 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the second embodiment. Figure 5 In the example shown, Figure 4 The coating apparatus of the second embodiment shown is different in that the direction 50 in which the head member 10 moves is along the nozzle surface 12 which is inclined at an angle θ2 relative to the XY plane. Even when the direction 50 is inclined in this way, the possibility of damage to the nozzle surface 12 can be reduced by offsetting the misalignment of the head member 10 relative to the wiper 14, as in the coating apparatus of the second embodiment.

[0057] Here, the angle θ2 of the nozzle surface 12 relative to the XY plane (wiping piece 14) can be set to, for example, 10° or more and 35° or less. When the angle θ2 is less than 10°, it is difficult to achieve the effect of offsetting the misalignment of the head member 10. In addition, when the angle θ2 exceeds 35°, the pressing force pressed by the wiping piece 14 is difficult to be transmitted to the nozzle surface 12, and there is a possibility that the nozzle surface 12 is not wiped properly.

[0058] <Third Embodiment>

[0059] Figure 6 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a third embodiment. Figure 6 In the example shown, Figure 3 The coating apparatus of the first embodiment shown is different in that the nozzle surface 12 can be wiped in two directions, a direction 50 and a direction 50 a , which are opposite to each other along the Y-axis direction.

[0060] That is, while the head member 10 moves in the direction 50 along the positive direction of the Y axis, the nozzle surface 12 is wiped from the first surface 10a side to the second surface 10b side by the second surface 14b of the wiper 14. In addition, while the head member 10 moves in the direction 50a along the negative direction of the Y axis, the nozzle surface 12 is wiped from the second surface 10b side to the first surface 10a side by the first surface 14a of the wiper 14.

[0061] Since the nozzle surface 12 can be wiped in two directions, the direction 50 and the direction 50a, the wiping performance of the wiper 14 is improved. In addition, by wiping in two directions, for example, the nozzle surface 12 can be prevented from being damaged by the spray hole 11 (see Figure 1 ) deformation, the durability of the head component 10 is improved.

[0062] <Modification of the Third Embodiment>

[0063] Figure 7 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the third embodiment. Figure 7 In the example shown, Figure 4 The coating apparatus of the second embodiment shown is different in that the nozzle surface 12 can be wiped in two directions, a direction 50 and a direction 50 a , which are opposite to each other along the Y-axis direction.

[0064] That is, while the head member 10 is moving in the direction 50 along the positive direction of the Y axis with the nozzle surface 12 tilted toward the wiper 14, the nozzle surface 12 is wiped from the first surface 10a side toward the second surface 10b side by the second surface 14b of the wiper 14. In addition, while the head member 10 is moving in the direction 50a along the negative direction of the Y axis with the nozzle surface 12 tilted toward the wiper 14, the nozzle surface 12 is wiped from the second surface 10b side toward the first surface 10a side by the first surface 14a of the wiper 14.

[0065] Since the nozzle surface 12 can be wiped in both directions 50 and 50a, the wiping performance of the wiper 14 is improved. In addition, by changing the inclination of the nozzle surface 12 in both directions 50 and 50a, the wiping performance of the nozzle surface 12 is improved, for example, the coating material remaining on the nozzle surface 12 is reduced.

[0066] It should be noted that in Figure 7 In the example shown, the head member 10 is described as moving along the direction 50 and the direction 50a along the Y-axis component, but the present invention is not limited thereto. Figure 5 As shown, the head member 10 is moved in a direction along the nozzle face 12 .

[0067] <Fourth Embodiment>

[0068] Figure 8 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a fourth embodiment. Figure 8In the example shown, the direction 50 in which the head member 10 moves when wiping the nozzle face 12 is parallel to the direction 51 in which the head member 10 moves when spraying the coating material 13 from the plurality of spray holes 11 to coat the surface of the object 30 facing the nozzle face 12 .

[0069] By moving the head member 10 in the direction 50, which is along the direction 51 in which the head member 10 moves when coating the object 30, the nozzle surface 12 is wiped, so that the control unit 41 (operation control unit 43) uses the robot 20 (see Figure 1 ) is simplified. It should be noted that the direction 50 in which the head member 10 is moved when wiping the nozzle surface 12 may be a direction opposite to the direction 51.

[0070] <Variation of the Fourth Embodiment>

[0071] Fig. 9 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the fourth embodiment. Fig. 9 In the example shown, the direction 50 in which the head member 10 is moved when wiping the nozzle face 12 intersects with the direction 51 in which the head member 10 is moved when the coating material 13 is ejected from the plurality of ejection holes 11 to coat the surface of the object 30 opposite to the nozzle face 12. Specifically, the direction 50 is along the Y-axis, and the direction 51 is along the X-axis intersecting the Y-axis.

[0072] The nozzle surface 12 is wiped by moving the head component 10 in a direction 50 intersecting with a direction 51, where the direction 51 is the moving direction of the head component 10 when coating the object 30. For example, in a head component 10 that is coating while reciprocating between one end side and the other end side of the coating material 13, the nozzle surface 12 can be wiped during the process of switching the moving direction of the head component 10, for example, the moving distance of the head component 10 can be reduced and the coating time can be shortened.

[0073] <Fifth Embodiment>

[0074] Fig.10 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a fifth embodiment. Fig.10 In the example shown, the wiper 14 is supported by a suspension 18 as a buffer mechanism. The suspension 18 adjusts the height of the wiper 14, that is, the length in the Z-axis direction, according to the pressing force received by the wiper 14 from the nozzle surface 12, thereby buffering the pressing force received by the wiper 14 from the nozzle surface 12. By providing the suspension 18 that supports the wiper 14 in this way, it is possible to absorb the difference in the pressing force received by the nozzle surface 12 from the wiper 14 due to, for example, the misalignment of the head member 10 or the unevenness of the moving speed.

[0075] <Sixth Implementation Method>

[0076] Fig.11 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a sixth embodiment. Fig.11 In the example shown, a plurality of wipers 14 and 15 having different characteristics are included.

[0077] The wiper 14 is a so-called wet wiper including an affinity component for the nonvolatile component contained in the coating material, and the wiper 15 is a so-called dry wiper that does not include an affinity component or has a smaller content of the affinity component than the wiper 14. The wiper 14 is an example of a first wiper, and the wiper 15 is an example of a second wiper.

[0078] While the head member 10 is moving in the direction 50 along the positive direction of the Y axis, the nozzle surface 12 is wiped sequentially from the first surface 10a side to the second surface 10b side by the wiper 14 and the wiper 15. By arranging the plurality of wipers 14 and 15 having different characteristics in this way so that the nozzle surface 12 is wiped by the dry wiper after the wet wiper, for example, a reduction in the coating quality caused by the affinity component remaining on the nozzle surface 12 can be prevented.

[0079] It should be noted that Fig.11 In the example shown, the wipers 14 and 15 are arranged in parallel along the direction 50 in which the nozzle surface 12 moves. However, there is no limitation on the arrangement as long as the wipers 14 and 15 are provided. Fig.11 When the wipers 14 and 15 are arranged side by side as shown, for example, the time required for wiping the nozzle surface 12 can be shortened.

[0080] <Seventh Embodiment>

[0081] Fig.12 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a seventh embodiment. Fig.12 In the example shown, a plurality of wipers 14 to 16 having different characteristics and a lifting mechanism 19 are included.

[0082] The wipers 14 to 16 are arranged side by side along the Y-axis direction. The wipers 14 and 16 are wet wipers, and the wiper 15 is a dry wiper. The wipers 14 to 16 are examples of first to third wipers, respectively. The lifting mechanism 19 is configured to be able to lift the wipers 14 and 16 under the control of the control unit 41.

[0083] While the head member 10 is moving in the direction 50 along the positive direction of the Y axis, the lifting mechanism 19 is operated so that the wiper 16 is lower than the height of the wiper 15 in the Z direction, and is operated so that the heights of the wiper 14 and the wiper 15 in the Z direction are aligned. By the operation of the lifting mechanism 19, the nozzle surface 12 is wiped by the wiper 14 and the wiper 15 in sequence from the first surface 10a side to the second surface 10b side, but is not wiped by the wiper 16.

[0084] Furthermore, while the head member 10 is moving in the direction 50a along the negative direction of the Y axis, the lifting mechanism 19 is operated so that the heights of the wiper 16 and the wiper 15 in the Z direction are aligned, and the height of the wiper 14 in the Z direction is lower than the height of the wiper 15. The nozzle surface 12 is wiped by the wiper 16 and the wiper 15 in sequence from the second surface 10b side to the first surface 10a side, but is not wiped by the wiper 14.

[0085] By alternately arranging a plurality of wipers 14 to 16 having different characteristics in this manner and providing a lifting mechanism 19 that changes the positions of the wipers 14 and 16 relative to the wiper 15 according to the moving direction of the head member 10, the nozzle surface 12 can be wiped in two directions, for example, direction 50 and direction 50a, thereby improving the wiping performance of the wipers 14 to 16.

[0086] <Variation of Seventh Embodiment>

[0087] Fig.13 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to a modified example of the seventh embodiment. Fig.13 In the example shown, a plurality of wipers 15 , 14 , and 17 having different characteristics and a lifting mechanism 19 are included.

[0088] The wipers 15, 14, and 17 are arranged in sequence along the Y-axis direction. The wiper 14 is a wet wiper, and the wipers 15 and 17 are dry wipers. The wipers 14, 15, and 17 are examples of a first wiper, a second wiper, and a fourth wiper, respectively. The lifting mechanism 19 is configured to be able to lift the wipers 15 and 17 according to the control of the control unit 41.

[0089] While the head member 10 is moving in the direction 50 along the positive direction of the Y axis, the lifting mechanism 19 operates so that the wiper 15 is lower than the height of the wiper 14 in the Z direction, and the height of the wiper 17 in the Z direction is aligned with the height of the wiper 14. According to the operation of the lifting mechanism 19, the nozzle surface 12 is wiped by the wiper 14 and the wiper 17 in sequence from the first surface 10a side to the second surface 10b side, but is not wiped by the wiper 15.

[0090] Furthermore, while the head member 10 is moving in the direction 50a along the negative direction of the Y axis, the lifting mechanism 19 is operated so that the heights of the wiper 15 and the wiper 14 in the Z direction are aligned, and the wiper 17 is operated so that the height in the Z direction is lower than the height of the wiper 14. The nozzle surface 12 is wiped by the wiper 14 and the wiper 15 in sequence from the second surface 10b side to the first surface 10a side, but is not wiped by the wiper 17.

[0091] By alternately arranging a plurality of wipers 15, 14, 17 having different characteristics in this manner and providing a lifting mechanism 19 that changes the positions of the wipers 15, 17 relative to the wiper 14 according to the moving direction of the head member 10, the nozzle surface 12 can be wiped in two directions, for example, direction 50 and direction 50a, thereby improving the wiping performance of the wipers 15, 14, 17.

[0092] <Eighth Implementation Method>

[0093] Fig.14 It is a diagram showing an example of arrangement of a head member and a wiper included in a coating apparatus according to an eighth embodiment. Fig.14 In the example shown, a plurality of wipers 14 to 16 having different characteristics are included.

[0094] The wipers 14 to 16 are arranged side by side in the Y-axis direction. The wiper 15 protrudes relative to the wipers 14 and 16. The wipers 14 and 16 are wet wipers, and the wiper 15 is a dry wiper. The wipers 14 to 16 are examples of first to third wipers, respectively.

[0095] While the head member 10 moves in the direction 50 along the nozzle surface 12 , the nozzle surface 12 is wiped sequentially from the first surface 10 a side toward the second surface 10 b side by the wipers 14 and 15 , but is not wiped by the wiper 16 .

[0096] While the head member 10 moves in the direction 50 a along the nozzle surface 12 , the nozzle surface 12 is wiped sequentially from the second surface 10 b side toward the first surface 10 a side by the wipers 16 and 15 , but is not wiped by the wiper 14 .

[0097] By alternately arranging a plurality of wipers 14 to 16 having different characteristics and making wiper 15 protrude relative to wipers 14 and 16 , nozzle surface 12 can be wiped in two directions, for example, direction 50 and direction 50 a . Therefore, wiping performance by wipers 14 to 16 is improved.

[0098] In addition, you can also Figure 5As shown in FIG. 1 , the head member 10 is moved in the direction along the nozzle surface 12, and the head member 10 is moved while changing the inclination of the nozzle surface 12 relative to the wiper 14. In this case, when the head member 10 is moved, the arm 21 (see FIG. 1 ) Figure 1 ) By appropriately adjusting the angle of the head member 10, the wipers 14 to 16 can be selectively brought into contact.

[0099] <First Modification of Coating Apparatus>

[0100] Fig.15 It is an explanatory diagram of a coating device according to a first modified example of the embodiment. Fig.15 In the example shown, the difference from the coating device 1 of the embodiment is that there is a robot 20A having a wiper 14 fixed to an arm 21. Since the wiper 14 is fixed to the arm 21, the head member 10 and the wiper 14 can be moved relatively to wipe the nozzle surface 12. Therefore, for example, the time required for wiping the nozzle surface 12 can be shortened. In addition, even when the nozzle surface 12 is frequently wiped, the loss of time can be reduced. There is also an advantage that the coating quality is improved by frequent wiping.

[0101] <Second Modification of Coating Apparatus>

[0102] Fig.16 It is an explanatory diagram of a coating device according to a second modified example of the embodiment. Fig.16 The coating apparatus 1A shown is different from the coating apparatus 1 of each of the above-described embodiments and modifications in that a wiping unit 114 as an example of a wiping mechanism is provided instead of the wiper 14 .

[0103] Fig.17 yes Fig.16 The wiping unit is shown in FIG. Fig.17 As shown, the wiping unit 114 includes a pressure roller 115 , a delivery roller 116 , a take-up roller 117 , and a wiping sheet (web) 120 .

[0104] The unwinding roller 116 unwinds the wiping sheet 120. The unwinding roller 116 unwinds the wiping sheet 120a before the wiping process in which the wiping unit 114 wipes the head member 10.

[0105] The pressure roller 115 makes the wiping sheet 120 abut against the nozzle surface 12 of the head member 10. The pressure roller 115 is located between the unwinding roller 116 and the winding roller 117. The pressure roller 115 makes the wiping sheet 120a before wiping unwinded from the unwinding roller 116 abut against the nozzle surface 12 of the head member 10. The pressure roller 115 may rotate following the movement of the wiping sheet 120 or may rotate without following the movement of the wiping sheet 120.

[0106] The winding roller 117 winds up the wiping sheet 120 unwound from the unwinding roller 116. The winding roller 117 winds up the wiping sheet 120b after the wiping has passed through the pressure roller 115.

[0107] The wiping sheet 120 may also be a soft material such as woven fabric, non-woven fabric or paper. The wiping sheet 120 is brought into contact with the nozzle surface 12 at a pressure within a predetermined range by the pressure roller 115. When the head member 10 is moved in a certain direction (e.g., along the positive direction 50 of the Y axis) while maintaining this state, the coating material attached to the nozzle surface 12, especially the non-volatile components such as pigment and resin material, are wiped off from the nozzle surface 12.

[0108] The wiping sheet 120 may also include an affinity component having an affinity for the non-volatile component attached to the nozzle surface 12. Here, "affinity" refers to a property that reduces the adhesion with the nozzle surface 12 by, for example, swelling, dispersion, dissolution, etc. When the adhesion between the nozzle surface 12 and the non-volatile component is reduced, the non-volatile component is easily wiped off. Examples of the affinity component having such an affinity include water, organic solvents, alcohols, oils, etc., but when the affinity component is volatile, the reduction in coating quality caused by the affinity component remaining on the nozzle surface 12 is suppressed.

[0109] The wiping unit 114 may also be fixed to the arm 21. When the wiping unit 114 is fixed to the arm 21, the nozzle surface 12 can be wiped by moving the head member 10 and the wiping unit 114 relatively. Therefore, for example, the time required for wiping the nozzle surface 12 can be shortened. In addition, even when the nozzle surface 12 is frequently wiped, the loss of time can be reduced. There is also an advantage that the coating quality is improved by frequent wiping.

[0110] In addition, the drive of the wiping unit 114 may also be controlled by the control device 40. For example, the control device 40 may also control the winding speed of the wiping sheet 120 driven by the winding roller 117 and / or the unwinding roller 116, and / or the contact amount of the wiping sheet 120 and the nozzle surface 12 by the pressure roller 115. In addition, the drive of the wiping unit 114 may also be controlled by a control mechanism (not shown) different from the control device 40.

[0111] The above describes various embodiments of the present invention, but the present invention is not limited to the above embodiments, and various changes can be made as long as they do not deviate from the main purpose. For example, in the above embodiment, a coating device 1 having a head component 10 for spraying a single-color coating material is described, but for example, the following manipulator 20 can also be provided, which respectively holds the head component 10 for spraying a coating material of standard colors such as magenta (M), yellow (Y), cyan (C) and black (K).

[0112] In addition, in the above-mentioned embodiment, an example is shown in which the nozzle surface 12 is wiped by the wiper 14 extending to the positive side of the Z axis, but the present invention is not limited thereto. The nozzle surface 12 may be wiped by the wiper 14 extending to the negative side of the Z axis, for example, or by the wiper 14 arranged along the X-axis direction or the Y-axis direction intersecting the Z-axis direction. Furthermore, the nozzle surface 12 may be wiped by the wiper 14 arranged obliquely with respect to the Z axis.

[0113] Similarly, the example in which the wiping unit 114 makes the wiping sheet 120 abut against the positive side of the Z axis is shown, but the invention is not limited thereto, and the wiping sheet 120 may be abutted against the negative side of the Z axis, for example, or may be abutted against the wiping sheet 120 in a direction along the X-axis direction or the Y-axis direction intersecting the Z-axis direction. Furthermore, the wiping unit 114 may make the wiping sheet 120 abut against the wiping sheet 120 in a direction inclined with respect to the Z axis.

[0114] In addition, an example of using an elastic member having a predetermined hardness as the wiper 14 is shown, but the present invention is not limited thereto, and a non-contact wiper 14 may be used. A hollow cylindrical member may be exemplified as the non-contact wiper 14. The non-contact wiper 14 can wipe the nozzle surface 12 in a non-contact state by ejecting air from the inside of the cylinder.

[0115] As described above, the coating device 1 of the embodiment includes a head member 10, a wiping mechanism (a wiping piece 14 and / or a wiping unit 114), an arm 21, and a control unit 41. The head member 10 has a nozzle surface 12 for ejecting a coating material. The wiping mechanism wipes the nozzle surface 12. The arm 21 holds the head member 10. The control unit 41 controls the movement of the head member 10 via the arm 21. The control unit 41 causes the head member 10 to move relative to the wiping mechanism to wipe the nozzle surface 12. Therefore, the structure can be simplified.

[0116] Further effects and variations can be easily derived by those skilled in the art. Therefore, the wider scope of the present invention is not limited to the specific details and representative embodiments shown and described above. Therefore, various changes can be made without departing from the concept or scope of the general invention defined by the technical solution and its equivalents.

[0117] Description of reference numerals:

[0118] 1. 1A coating device

[0119] 10 Head component

[0120] 11. Spout hole

[0121] 12 Nozzle face

[0122] 13 Coating materials

[0123] 14~17 Wiping parts

[0124] 20 Robot

[0125] 21 Arm

[0126] 30 Objects to be coated

[0127] 30a Painted surface

[0128] 40 Control device

[0129] 41 Control Department

[0130] 42. Discharge control unit

[0131] 43 Motion Control Unit

[0132] 45 Storage

[0133] 114 Wiping unit.

Claims

1. A coating device, wherein: The coating device comprises: a coating head having a nozzle face for ejecting coating material; a wiping mechanism that wipes the nozzle face; a multi-articulated arm that holds the coating head; and a control unit that controls the movement of the coating head via the arm, The control unit moves the coating head relative to the wiping mechanism to wipe the nozzle surface. The control unit temporarily stops the arm before wiping the nozzle surface. The wiping mechanism has a first surface and a second surface, the first surface is a surface that wipes the nozzle surface when the coating head moves in a first direction, and the second surface is a surface different from the first surface and is a surface that wipes the nozzle surface when the coating head moves in a second direction symmetrical to the first direction across the coating head. The control unit moves the coating head in the first direction with the second direction side of the nozzle surface tilted downward, that is, in the direction of gravity, The control unit moves the coating head in the second direction in a posture in which the first direction side of the nozzle surface is inclined downward, that is, in the direction of gravity.

2. The coating device according to claim 1, wherein: The control unit moves the coating head in a posture in which the nozzle surface is inclined at an angle of 10 degrees or more and 35 degrees or less with respect to the wiping mechanism.

3. The coating device according to claim 1, wherein: The control unit varies the inclination of the nozzle surface with respect to the wiping mechanism according to the moving direction of the coating head.

4. The coating device according to claim 1, wherein: The coating device includes a plurality of wiping mechanisms having different characteristics.

5. The coating device according to claim 4, wherein: The plurality of wiping mechanisms include a first wiping mechanism containing an affinity component and a second wiping mechanism for wiping the affinity component, wherein the affinity component has affinity for a nonvolatile component included in the coating material.

6. The coating device according to claim 5, wherein: The coating device includes a third wiping mechanism that faces the second wiping mechanism across the first wiping mechanism and wipes off the affinity component.

7. The coating device according to claim 6, wherein: The coating device includes a lifting mechanism that changes a position of the second wiping mechanism or the third wiping mechanism relative to the first wiping mechanism according to a moving direction of the coating head.

8. The coating device according to claim 5, wherein: The coating device includes a fourth wiping mechanism that faces the first wiping mechanism across the second wiping mechanism and includes the affinity component.

9. The coating device according to claim 8, wherein: The coating device includes a lifting mechanism that changes a position of the first wiping mechanism or the fourth wiping mechanism relative to the second wiping mechanism according to a moving direction of the coating head.

10. The coating device according to claim 6, wherein: The second wiping mechanism protrudes relative to the first wiping mechanism and the third wiping mechanism.

11. The coating device according to any one of claims 4 to 10, wherein: The plurality of wiping mechanisms are arranged in parallel along a moving direction of the nozzle surface.

12. The coating device according to any one of claims 1 to 10, wherein: The control unit moves the coating head in a direction along a moving direction of the coating head when coating an object to be coated, thereby wiping the nozzle surface.

13. The coating device according to any one of claims 1 to 10, wherein: The control unit moves the coating head in a direction intersecting with a moving direction of the coating head when coating an object to be coated, thereby wiping the nozzle surface.

14. The coating device according to any one of claims 1 to 10, wherein: The coating device includes a buffer mechanism that buffers a pressing force applied to the nozzle surface from the wiping mechanism.

15. The coating device according to any one of claims 1 to 10, wherein: The wiping mechanism has a hardness between a nonvolatile component contained in the coating material attached to the nozzle surface and a plurality of ejection holes included in the nozzle surface.

16. The coating device according to claim 2, wherein: The control unit moves the coating head while changing the inclination of the nozzle surface relative to the wiping mechanism.

17. The coating device according to any one of claims 1 to 10, wherein: The wiping mechanism is fixed to the arm.

18. A wiping method, wherein: The coating head having a nozzle surface for ejecting coating material is relatively moved relative to a wiping mechanism for wiping the nozzle surface by a multi-jointed arm for holding the coating head, and the nozzle surface is wiped, and the arm is temporarily stopped before wiping the nozzle surface. The wiping mechanism has a first surface and a second surface, the first surface is a surface that wipes the nozzle surface when the coating head moves in a first direction, and the second surface is a surface different from the first surface and is a surface that wipes the nozzle surface when the coating head moves in a second direction symmetrical to the first direction across the coating head. The coating head is moved in the first direction with the second direction side of the nozzle surface tilted downward, that is, in the direction of gravity, The coating head is moved in the second direction in a posture in which the first direction side of the nozzle surface is inclined downward, that is, in the direction of gravity.

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