Coating device, coating control device, and coating control method

Abstract

Provided is a coating device capable of suppressing the occurrence of coating unevenness on an object to be coated. The coating device is provided with: a plurality of coating nozzles for coating an object to be coated by periodically spraying a fluid onto the object to be coated; a speed determination unit that determines the arrival time at which each of the coating nozzles reaches each position on the object to be coated, and the nozzle movement speed of each of the coating nozzles at each arrival time; a first ratio determination unit that determines, on the basis of the nozzle movement speed, a first duty ratio, which is the ratio of the coating time for each cycle of each coating nozzle at the arrival time; and a control unit that controls the coating operation of each of the coating nozzles by using the determined first duty ratio.

Description

Technical Field

[0001] This disclosure relates to a coating apparatus, a coating control device, and a coating control method. Background Technology

[0002] A coating apparatus is known to have a coating nozzle for applying fluid to a coating object. Patent Document 1 discloses a coating apparatus having a single coating nozzle, wherein the duty cycle of the fluid coating action is controlled in accordance with the moving speed of the coating nozzle, thereby uniformly coating the coating object with fluid. Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-194627 Summary of the Invention The problem that the invention aims to solve

[0004] From the perspective of rapidly coating the fluid, it is possible to use multiple coating nozzles and coat the object while varying the movement speed of the nozzles. In this case, the speed of each nozzle as it passes through different positions on the object varies for each nozzle. Therefore, by setting the duty cycle in a way that optimizes the coating action of only one nozzle, it is impossible to uniformly coat the fluid onto the object. Technical means for solving problems

[0005] This disclosure can be implemented in the following ways.

[0006] (1) According to one aspect of the present disclosure, a coating apparatus is provided. The coating apparatus includes: a plurality of coating nozzles for periodically spraying fluid onto a coating object to perform coating; a speed determining unit for determining the arrival time of each of the coating nozzles at each position on the coating object, and the nozzle movement speed of each of the coating nozzles at each arrival time; a first ratio determining unit for determining, based on the nozzle movement speed, the ratio of the coating time in each cycle of each of the coating nozzles at the arrival time, i.e., a first duty cycle; and a control unit for controlling the coating operation of each of the coating nozzles using the determined first duty cycle. According to this coating apparatus, since the coating apparatus controls the coating operation using the first duty cycle, the coating amount of each coating nozzle at each position on the coating object can be appropriately controlled. Therefore, uneven coating on the coating object can be suppressed. (2) In the coating apparatus described above, it may further include: a simulation unit that simulates the coating correlation amount related to the amount of fluid applied at each location on the object to be coated based on the first duty cycle; and a display unit that displays the simulation results. According to this type of coating apparatus, since the coating apparatus includes a display unit that displays the simulation results of the coating correlation amount, the user can easily confirm the coating correlation amount. Therefore, based on the simulation results of the coating correlation amount, the user can easily identify any coating unevenness that may occur on the object to be coated. (3) In the coating apparatus described above, it may also include: a second ratio determining unit that determines a second duty cycle obtained by multiplying the first duty cycle by a coefficient preset for each pre-divided region of the object to be coated; and a control unit that controls the coating operation of each coating nozzle based on the second duty cycle. With this type of coating apparatus, the user can preset the coefficient for each pre-divided region of the object to be coated, taking into account the coating operation of the coating nozzles. Therefore, the user can control the coating operation of the coating nozzles at the arrival time of each position of the object to be coated. Attached Figure Description

[0007] Figure 1 This is a block diagram of the coating apparatus in this embodiment. Figure 2 This is an explanatory diagram showing the detailed configuration of the coating execution unit in this embodiment. Figure 3 This is a flowchart illustrating the coating control process in this embodiment. Figure 4 This is an explanatory diagram illustrating an example of the first control table in this embodiment. Figure 5 This is an explanatory diagram illustrating an example of region-specific data in this embodiment. Detailed Implementation

[0008] A. Implementation Method A1. Device Composition: Figure 1 This is a block diagram of the coating apparatus 100 in this embodiment. The coating apparatus 100 coats a workpiece with fluid through multiple coating nozzles N1 to Nn (n is a natural number) that periodically spray fluid. In this embodiment, the workpiece is a mold used in hot forging. The fluid in this embodiment is a lubricant. Furthermore, the types of workpieces and fluids are not limited to those described above. The workpiece can be any industrial product or component, such as a vehicle, vehicle components, electronic equipment, or electronic components. Additionally, the fluid can be a photoresist for semiconductors, a coating, a rust inhibitor, an adhesive, a colorant, an anti-reflective agent, etc.

[0009] like Figure 1 As shown, the coating apparatus 100 includes a PC (personal computer) 10, a PLC (programmable logic controller) 20, a control unit 30, a coating execution unit 40, and a display unit 50. The PC 10, PLC 20, control unit 30, coating execution unit 40, and display unit 50 can exchange data with each other via a communication network 90. ​​The communication network 90 can be, for example, a wired LAN (Local Area Network), a wireless LAN, or a peer-to-peer network based on dedicated cables. The PC 10, PLC 20, and display unit 50 are used to determine the coating conditions for the coating fluid applied to the object to be coated. The control unit 30 controls the coating operation according to the determined coating conditions. The control unit 30 is composed of a microcontroller.

[0010] Figure 2 This is an explanatory diagram showing the detailed configuration of the coating execution unit 40 in this embodiment. Figure 2 The coating execution unit 40 is shown in a state where a part of the coating execution unit 40 (the nozzle unit 42 described later) is arranged between the upper mold UM and the lower mold LM, which are the objects to be coated. The coating execution unit 40 performs coating on the upper mold UM and the lower mold LM according to the coating operation controlled by the control unit 30. The coating execution unit 40 includes a coating robot 41 and a nozzle unit 42.

[0011] In this embodiment, the coating robot 41 is configured as a so-called industrial robot, such as a vertical joint robot. A nozzle unit 42 is mounted at the end effector portion of the coating robot 41's arm. The coating robot 41 moves the nozzle unit 42 into the region Ar1 between the upper mold UM and the lower mold LM, and moves it along a pre-defined path within region Ar1. Afterward, the coating robot 41 moves the nozzle unit 42 out of region Ar1.

[0012] The nozzle unit 42 includes a substrate 43 and a plurality of coating nozzles dispersed on the upper and lower surfaces of the substrate 43. Figure 2 In this design, five coating nozzles N1, N3, N5, N7, and N9 are arranged on the upper surface of the substrate 43. Additionally, five coating nozzles N2, N4, N6, N8, and N10 are arranged on the lower surface of the substrate 43. Hereinafter, one of the multiple coating nozzles N1, N2, ... may also be collectively referred to as "coating nozzle N". Furthermore, the number of coating nozzles N arranged on the upper and lower surfaces of the substrate 43 is not limited to five and can be any number. Figure 2Alternatively, multiple coating nozzles N can be arranged in the depth direction, that is, in a direction orthogonal to the direction from the upper mold UM to the lower mold LM and orthogonal to the arrangement direction of the five coating nozzles N1, N3, N5, N7, and N9. Each coating nozzle N coats the upper mold UM and lower mold LM by periodically spraying fluid towards them. Hereinafter, the upper mold UM and lower mold LM will be collectively referred to as "coating object M". Each coating nozzle N is connected to a pipe under a specified pressure, and a fluid control valve capable of high-speed opening and closing is installed inside each pipe. By controlling the opening and closing of the fluid control valve, the coating execution unit 40 can perform the coating operation while rapidly changing the duty cycle. Furthermore, the duty cycle in this disclosure refers to the proportion of coating time in each cycle of the coating nozzle N.

[0013] The display unit 50 displays various menu screens for controlling the coating apparatus 100, as well as the simulation results performed by the simulation unit 14 (described later). Additionally, the display unit 50 may also have the function of accepting user input. For example, the display unit 50 may be configured as a liquid crystal display with touch panel functionality.

[0014] PC 10 includes CPU 10p and memory 10m. The CPU 10p functions as a data acquisition unit 11, a speed determination unit 12, a first ratio determination unit 13, and an analog unit 14 by executing a program pre-stored in memory 10m.

[0015] The data acquisition unit 11 acquires target film thickness data, upper and lower duty cycle limits, timing speed data, and mechanical data. The speed determination unit 12 determines the arrival time of each coating nozzle N at each position on the object to be coated M, and the nozzle movement speed of each coating nozzle N at each arrival time. The first ratio determination unit 13 determines the proportion of coating time in each cycle of each coating nozzle N at the arrival time (hereinafter referred to as the "first duty cycle") based on the nozzle movement speed. The simulation unit 14 simulates the coating correlation quantity related to the amount of fluid coated at each position on the object to be coated M based on the first duty cycle. Details of the data acquired by the data acquisition unit 11 and the processing performed by the speed determination unit 12, the first ratio determination unit 13, and the simulation unit 14 will be described later.

[0016] The PLC 20 includes a CPU 20p and a memory 20m. The CPU 20p functions as a region designation unit 21 and a second ratio determination unit 22 by executing programs pre-stored in the memory 20m.

[0017] The region designation unit 21 designates and presets the coefficients for each pre-divided region of the coating object M. In this embodiment, the above designation is achieved by accepting the coefficient designation made by the user via the display unit 50 and specifying the accepted coefficient. Details regarding coefficient designation will be described later.

[0018] The second ratio determination unit 22 determines the second duty cycle, which will be described later. Specifically, the second ratio determination unit 22 calculates and determines the second duty cycle by multiplying the first duty cycle determined by the first ratio determination unit 13 by a coefficient specified by the area designation unit 21. The coating execution unit 40 performs coating based on the second duty cycle.

[0019] Furthermore, the PC 10, PLC 20, control unit 30, coating execution unit 40, and display unit 50 do not need to be located in the same physical position; it is sufficient that they can communicate with each other.

[0020] A2. Coating control treatment: Figure 3 This is a flowchart illustrating the coating control process in this embodiment. "Coating control process" refers to the process used to control the coating operation of the coating liquid applied to the coating object M by the coating execution unit 40. The coating control process begins when the user instructs the user to execute the coating control process using the display unit 50.

[0021] In step S101, the data acquisition unit 11 acquires target film thickness data. "Target film thickness data" refers to the film thickness value of the coating that is the target for the object M to be coated. The user presets and inputs the desired film thickness value for the coating on the object M. Hereinafter, "step S" will be briefly referred to as "S".

[0022] In S102, the data acquisition unit 11 acquires the upper and lower limits of the duty cycle. The "upper and lower limits of the duty cycle" refer to the upper and lower limits of the duty cycle for each coating nozzle N. These limits are preset based on the performance of the fluid control valve that switches the fluid between ON and OFF states. Furthermore, the upper limit of the duty cycle is set considering the ease with which the fluid adheres to the object M to be coated and the likelihood of the Leidenfrost phenomenon occurring. The Leidenfrost phenomenon refers to the phenomenon where, when a liquid drips onto the surface of an object and the surface is at or above a specified temperature, the liquid separates from the surface due to evaporating gas, resulting in the surface failing to be wetted. When the Leidenfrost phenomenon occurs, a layer of evaporating gas forms between the fluid and the object M to be coated, significantly reducing coating efficiency. If coating is performed at a duty cycle higher than the specified limit, the surface temperature of the object M is prone to rise, making the Leidenfrost phenomenon more likely to occur. Users pre-set and input the upper and lower limits of the duty cycle, taking into account the above aspects.

[0023] In S103, the data acquisition unit 11 acquires the timing speed data. "Timing speed data" refers to the time-series movement speed data of each coating nozzle N. The timing speed data is set by the user considering the limitations of the coating operation's cycle time and the movement path of each coating nozzle N. Furthermore, in this embodiment, the coating nozzle N is fixed to the nozzle unit 42 and moves integrally with the nozzle unit 42; however, it can also be configured so that each coating nozzle N performs an individual operation. In this case, the timing speed data for each coating nozzle N can also be acquired.

[0024] In S104, the data acquisition unit 11 acquires mechanical data. "Mechanical data" refers to mechanical data related to the shape of the object to be coated M, the configuration of the coating nozzles N, and their number. The user presets and inputs the mechanical data. Furthermore, S101 to S104 can be executed simultaneously or in any order.

[0025] In S105, the speed determination unit 12 calculates and determines the time corresponding to the nozzle's moving distance. "The time corresponding to the nozzle's moving distance" refers to the moving distance of each coating nozzle N and the arrival time corresponding to that moving distance. Based on the timing speed data input in S103, the time corresponding to the nozzle's moving distance is calculated. Since each coating nozzle N moves according to the timing speed data, if the time corresponding to the nozzle's moving distance is determined, the moving speed of each coating nozzle N at the arrival time of each moving distance is also determined. The time corresponding to the nozzle's moving distance is used to calculate the nozzle moving speed, which will be described later.

[0026] In S111, the first ratio determination unit 13 calculates and determines the ideal duty cycle. The "ideal duty cycle" refers to the ideal duty cycle per unit distance of each coating nozzle N required to achieve the target coating film thickness value. The ideal duty cycle is calculated based on the target film thickness data input in S101, the upper and lower limit values ​​of the duty cycle input in S102, and the timing speed data input in S103. Regarding the ideal duty cycle of each coating nozzle N, the timing speed data is considered overall; locations with higher moving speeds of the coating nozzle N are set to larger values. Furthermore, the ideal duty cycle of each coating nozzle N is also calculated considering the cumulative coating film thickness of each coating nozzle N. For example, since... Figure 2The coating nozzles N1, N3, N5, N7, and N9 are arranged along the direction of entry into the object M to be coated. Therefore, multiple coating nozzles N will pass through a certain point on the object M. Thus, even if the target coating thickness cannot be achieved at a certain point on the object M when the duty cycle of coating nozzle N1 is set to its upper limit, coating can still be performed by the subsequent coating nozzle, namely coating nozzle N3. At this time, the target coating thickness achieved by coating nozzle N3 is obtained by subtracting the coating thickness achieved by coating nozzle N1 from the target coating thickness before coating by coating nozzle N1. In this way, considering the cumulative coating thickness at each location on the object M, and in a manner that makes the coating thickness uniform at each location on the object M, the ideal duty cycle per unit distance of each coating nozzle N is calculated.

[0027] In S112, the speed determination unit 12 calculates and determines the nozzle movement speed. "Nozzle movement speed" refers to the arrival time of each coating nozzle N at each position on the object to be coated M, and the nozzle movement speed of each coating nozzle N at each arrival time. The nozzle movement speed is calculated based on the time corresponding to the nozzle movement distance calculated in S105 and the mechanical data input in S104. Each coating nozzle N moves on the object to be coated M according to the time corresponding to the nozzle movement distance. Therefore, the arrival time of each coating nozzle N at each position on the object to be coated M is determined, thereby determining the nozzle movement speed of each coating nozzle N at each arrival time. Furthermore, the nozzle movement speed can be the relative speed of the coating nozzle N with respect to the object to be coated M. That is, the speed at which the object to be coated moves relative to the coating nozzle N can also be used as the nozzle movement speed, provided that the object to be coated M is configured to move during the coating fluid application.

[0028] In S113, the speed determination unit 12 calculates and determines the nozzle position. "Nozzle position" refers to the position of each coating nozzle N on the coating object M at each arrival time at each position of the object to be coated. The nozzle position is calculated based on the timing speed data input in S103 and the mechanical data input in S104.

[0029] In S120, the first ratio determination unit 13 calculates and determines the first duty cycle of each coating nozzle N. The "first duty cycle of each coating nozzle N" refers to the first duty cycle of each coating nozzle N at the arrival time at each position on the object to be coated M. The first duty cycle of each coating nozzle N is calculated based on the ideal duty cycle calculated in S111 and the nozzle movement speed calculated in S112. The nozzle position of each coating nozzle N calculated in S113 is calculated in a manner corresponding to the first duty cycle of each arrival time, and used to calculate the coating time in S141 (described later). Based on the first duty cycle of each coating nozzle N, a first control table D12 is output. The first control table D12 shows the first duty cycle of each coating nozzle N per unit time and the position of each coating nozzle N on the object to be coated M per unit time. As described later, the control unit 30 controls the coating operation of each coating nozzle N using the first duty cycle shown in the first control table D12.

[0030] Figure 4 This is an explanatory diagram illustrating an example of the first control table D12 in this embodiment. For example... Figure 4 As shown, the first control table D12 shows the duty cycle of the coating nozzles N1, N2...Nn every 0.1 seconds, and the position of each coating nozzle N1, N2...Nn every 0.1 seconds.

[0031] In S121, the region designation unit 21 designates region designation data. "Region designation data" refers to data presented for each region of the object to be coated, based on a pre-set coefficient for each region pre-divided into regions. In this embodiment, the "coefficient" refers to any number between 10 (%) and 100 (%). In cases where the target coating thickness differs for each region of the object to be coated, as in this embodiment, the user can adjust the coating operation by adjusting the coefficient for each region accordingly. Thus, the user can adjust the coating thickness for each region of the object to be coated.

[0032] Figure 5 This is an explanatory diagram illustrating an example of the region specification data used in this embodiment. For example... Figure 5 As shown, in the area specification data, coefficients are displayed for each pre-divided area of ​​the mold, which is the object to be coated, M. For example, in Figure 5 The area shown as 65% indicates that the coating thickness is 65% of the area shown as 100%. Furthermore, the user can appropriately change the division method and coefficient values ​​in the coating object M according to factors such as the object being coated, the properties of the fluid, etc.

[0033] like Figure 3As shown, the second ratio determination unit 22 calculates and determines the second duty cycle of each coating nozzle N. In S130, "the second duty cycle of each coating nozzle N" refers to the second duty cycle of each coating nozzle N at the arrival time of each position on the object to be coated M. The second duty cycle of each coating nozzle N is calculated based on the first duty cycle of each coating nozzle calculated in S120 and the area specification data input in S121. More specifically, it can be obtained by multiplying the first duty cycle by a coefficient preset according to each pre-divided area of ​​the object to be coated M. Based on the second duty cycle of each coating nozzle N, the second control table D13 is output. As described later, the control unit 30 controls the coating operation of each coating nozzle N based on the second duty cycle shown in the second control table D13. Since the second control table D13 and Figure 4 The first control table D12, which has been described in the previous section, has the same structure, so the description is omitted.

[0034] In S131, the control unit 30 controls the coating operation of each coating nozzle N according to the second duty cycle shown in the second control table D13. In S132, the coating execution unit 40 performs coating according to the instructions from the control unit 30.

[0035] Since the switching of the duty cycle between ON and OFF requires a certain amount of time, even if the fluid is coated according to the first duty cycle, uneven coating may occur on the object M due to the switching time of the duty cycle between ON and OFF. Therefore, in S141 and S142, the simulation unit 14 simulates the amount of fluid coated at each position on the object M (hereinafter referred to as "coating-related amount") according to the first duty cycle.

[0036] In S141, the simulation unit 14 simulates the coating time. "Coating time" refers to the time when each coating nozzle N coats the object M under the condition that coating is performed according to the determined first duty cycle. Data related to the coating time is used to calculate the cumulative coating time as a coating-related quantity, as described later.

[0037] In S142, the simulation unit 14 simulates the cumulative coating time. "Cumulative coating time" refers to the cumulative coating time of the fluid at each location on the object to be coated, assuming coating is performed according to the determined first duty cycle. The cumulative coating time is calculated based on the coating time calculated in S141. As a result of the simulation performed by the simulation unit 14, the display unit 50 displays a uniformity confirmation chart D14 output based on the cumulative coating time at each location on the object to be coated. Based on the cumulative coating time at each location on the object to be coated, the user can identify the uniformity of the coating on the object to be coated and any potential fluid coating unevenness on the object to be coated. Furthermore, by changing the target coating thickness, etc., input in S101, the user can further explore the conditions under which uniform coating can be achieved on the object to be coated.

[0038] According to the above-described embodiment, the coating apparatus 100 controls the coating operation based on a first duty cycle, thus enabling appropriate control of the coating amount of each coating nozzle N at each position on the object to be coated M. Therefore, uneven coating on the object to be coated M can be suppressed.

[0039] Furthermore, according to the embodiment, the coating apparatus 100 includes a display unit 50 that displays the simulation results of the coating correlation amount, allowing the user to easily confirm the coating correlation amount. Therefore, based on the simulation results of the coating correlation amount, the user can easily identify any coating unevenness that may occur on the object M to be coated.

[0040] Furthermore, according to the coating apparatus 100 of the embodiment, the user can pre-set the coefficient of each pre-divided region of the object to be coated, taking into account the coating action of the coating nozzle N. Therefore, the user can control the coating action of the coating nozzle N at the arrival time of each position of the object to be coated M.

[0041] B. Other implementation methods: (B1) In this embodiment, the coating apparatus 100 has an analog unit 14 and a display unit 50, but at least one of them may be omitted. Even if the coating apparatus 100 does not have at least one of the analog unit 14 and the display unit 50, the control unit 30 can still control the coating operation of each coating nozzle N using the first duty cycle.

[0042] (B2) In this embodiment, the coating apparatus 100 has a region designation unit 21 and a second ratio determination unit 22, but at least one of them may be omitted. In a configuration where the coating apparatus 100 does not have at least one of the region designation unit 21 and the second ratio determination unit 22, the coating conditions for the coating fluid on the object to be coated M may be determined based on the first duty cycle determined by the first ratio determination unit 13 of the PC 10. In this case, since the coefficient for each region divided in the object to be coated M is not specified, the target film thickness value is the same across the entire surface of the object to be coated M.

[0043] (B3) In this embodiment, the coating apparatus 100 includes a data acquisition unit 11, but the data acquisition unit 11 may be omitted. In a configuration without a data acquisition unit 11, the speed determination unit 12 may determine the nozzle movement speed of each coating nozzle N based on information pre-input to the PC 10 and stored in the memory 10m. Similarly, in the above configuration, the first ratio determination unit 13 may determine the first duty cycle of each coating nozzle N based on information stored in the memory 10m.

[0044] (B4) In this embodiment, the coating-related amount is set as the cumulative coating time of the fluid at each position on the object M to be coated, as envisioned when coating is performed according to the first duty cycle, but this disclosure is not limited to this. The coating-related amount may also be the cumulative coating time envisioned when coating is performed according to the second duty cycle. In addition, the coating-related amount is not limited to the cumulative coating time, and may be any amount related to the amount of fluid coated. For example, it may be the amount of fluid coated as envisioned when coating is performed.

[0045] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, technical features in the embodiments that correspond to the technical features in the various embodiments described in the "Summary of the Invention" section can be appropriately replaced or combined to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. In addition, technical features can be appropriately deleted as long as they are not described as essential parts in this specification. Explanation of reference numerals in the attached figures

[0046] 10…PC; 10p…CPU; 10m…Memory; 11…Data acquisition unit; 12…Speed ​​determination unit; 13…First ratio determination unit; 14…Analog unit; 20…PLC; 20p…CPU; 20m…Memory; 21…Area designation unit; 22…Second ratio determination unit; 30…Control unit; 40…Coating execution unit; 41…Coating robot; 42…Nozzle unit; 43…Substrate; 50…Display unit; 90…Communication network; 100…Coating device; Ar1…Area; D12…First control table; D13…Second control table; D14…Uniformity confirmation chart; M…Coating object; LM…Lower mold; UM…Upper mold; N…Coating nozzle.

Claims

1. A coating apparatus, comprising: Multiple coating nozzles periodically spray fluid onto the object to be coated; The speed determination unit determines the arrival time of each of the coating nozzles to each position on the object to be coated, and the nozzle movement speed of each of the coating nozzles at each arrival time; The first ratio determination unit determines, based on the nozzle movement speed, the proportion of coating time in each cycle of each coating nozzle at the arrival time, i.e., the first duty cycle; and The control unit controls the coating action of each of the coating nozzles using the determined first duty cycle.

2. The coating apparatus according to claim 1, wherein, The coating apparatus also includes: The simulation unit, based on the first duty cycle, simulates the coating correlation amount at each location on the object to be coated, related to the amount of fluid applied; and The display unit shows the results of the simulation.

3. The coating apparatus according to claim 1, wherein, The coating apparatus further includes a second ratio determining unit that determines a second duty cycle obtained by multiplying a first duty cycle by a pre-set coefficient for each pre-divided region of the object to be coated. The control unit controls the coating action of each coating nozzle according to the second duty cycle.

4. A control device for controlling the coating of a fluid onto a coating object by means of a plurality of coating nozzles that periodically jet the fluid, comprising: The speed determination unit determines the arrival time of each of the coating nozzles to each position on the object to be coated, and the nozzle movement speed of each of the coating nozzles at each arrival time; The first ratio determination unit determines, based on the nozzle movement speed, the proportion of coating time in each cycle of each coating nozzle at the arrival time, i.e., the first duty cycle; and The control unit controls the coating action of each of the coating nozzles using the determined first duty cycle.

5. A control method for controlling the coating of said fluid onto a coating object via a plurality of coating nozzles that periodically jet the fluid, comprising: The steps of determining the arrival time of each of the coating nozzles to each position on the object to be coated, and the nozzle movement speed of each of the coating nozzles at each arrival time; The step of determining the proportion of coating time in each cycle of each coating nozzle at the arrival time, i.e., the first duty cycle, based on the nozzle moving speed; as well as The step of controlling the coating action of each of the coating nozzles using the determined first duty cycle.

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