Coating device and control method for coating device

Abstract

To provide a coating device and a control method for a coating device which can stabilize thickness of a coating film formed on a coated object even if a temperature of an air cylinder varies.SOLUTION: A coating device includes a coating part for coating a coated object, a moving device for reciprocating at least one object of the coated object and the coating part, a temperature sensor for measuring a device temperature which is a temperature of at least one of the temperature of the moving device and the ambient temperature around the moving device, and a control part, wherein the moving device has an air cylinder for reciprocating the object by a pressure of air, a pressure adjusting part for adjusting an air pressure which is a pressure of air supplied to the air cylinder, and a flow rate adjusting part for adjusting an air flow rate which is a flow rate of air discharged from the air cylinder, and the control part can execute adjustment control of adjusting the air flow rate by the flow rate adjustment part and adjusting the air pressure by the pressure adjusting part, on the basis of the device temperature.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a coating apparatus and a method for controlling the coating apparatus. [Background technology]

[0002] There is known a coating device that includes a reciprocating device that reciprocates an object to be coated and a moving device that reciprocates a spray gun that applies paint to the object to be coated. For example, Patent Document 1 describes a coating device that includes an air cylinder that reciprocates the object to be coated and the spray gun by air pressure. Patent Document 2 describes a coating device that reciprocates the spray gun, reciprocates the coated plate, and rotates the coated plate by air drive using air pressure. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-100163 A [Patent Document 2] JP 2016-7563 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the coating devices described in Patent Documents 1 and 2, when the temperature around the coating device or the temperature of the air cylinder fluctuates, the moving speed of the workpiece and the spray gun reciprocated by the air cylinder may fluctuate. This is thought to be due to the fact that when the temperature of the air cylinder fluctuates, the hardness of the packing that seals between the piston and the housing of the air cylinder and the viscosity of the lubricant that lubricates the packing and the housing change, causing the frictional force between the piston and the housing to fluctuate. If the temperature of the place where the coating device is installed cannot be adjusted, there is a problem that if the temperature of the air cylinder fluctuates due to the influence of the temperature around the coating device, etc., and the moving speed of the workpiece and the spray gun fluctuates, the thickness of the coating film formed on the workpiece is not stable.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide a coating apparatus and a control method for a coating apparatus that can stabilize the thickness of a coating film formed on a workpiece even if the temperature of the air cylinder fluctuates. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention has the following aspects. [1] A painting section that paints the substrate; A moving device that moves at least one of the object to be coated and the coating portion back and forth; a temperature sensor for measuring a device temperature, which is at least one of a temperature of the moving device and a temperature of an atmosphere around the moving device; A control unit; Equipped with The moving device is an air cylinder that reciprocates the object by air pressure; a pressure adjusting unit that adjusts the air pressure, which is the pressure of the air supplied to the air cylinder; a flow rate adjusting unit that adjusts an air flow rate, which is a flow rate of at least one of the air supplied to the air cylinder and the air discharged from the air cylinder; having The control unit is capable of executing adjustment control to adjust the air flow rate by the flow rate adjustment unit and adjust the air pressure by the pressure adjustment unit, based on the apparatus temperature. [2] The control unit of the coating device described in [1] executes the adjustment control when the difference between the equipment temperature when the adjustment control was last executed and the equipment temperature measured by the temperature sensor is equal to or greater than the adjustment control execution temperature. [3] The control unit causes the moving device to perform a reciprocating motion to move the object back and forth, and performs the adjustment control when a required movement time, which is the time required for the reciprocating motion, deviates from a target movement time, which is a target time required for the reciprocating motion, by more than a target differential time. [4] A coating apparatus as described in any one of [1] to [3], wherein the control unit is capable of executing a first adjustment control that controls the flow rate adjustment unit and the pressure regulating unit so that a first control amount for adjusting the air flow rate by the flow rate adjustment unit is minimized in the adjustment control. [5] The control unit executes the adjustment control based on a plurality of required movement time tables that define a relationship between both the opening degree of the flow rate adjustment unit and the air pressure, which are correlated with the air flow rate, and a required movement time, which is a time required for a reciprocating motion to reciprocate the object; each of the plurality of required movement time tables is a table that defines a relationship between the opening degree and the air pressure and the required movement time at each of the device temperatures that are different from each other; A coating device described in any of [1] to [4], in the adjustment control, the control unit executes a first adjustment control to determine a target opening, which is the target opening, and a target air pressure, which is the target air pressure, based on a target movement time, which is a target time required for the reciprocating movement, using the movement required time table for the equipment temperature that has the smallest difference from the equipment temperature detected by the temperature sensor. [6] The coating apparatus described in [5], wherein the adjustment control includes a second adjustment control that further adjusts the target opening and the target air pressure when the difference between the required movement time and the target movement time when the air flow rate and the air pressure are adjusted based on the target opening and the target air pressure set in the first adjustment control is greater than a target difference time. [7] A method for detecting a moving device comprising: The coating apparatus described in [5] or [6], wherein the multiple moving devices include a first moving device that moves the coating section back and forth in a first direction, and a second moving device that moves the workpiece back and forth in a second direction that intersects the first direction. [8] The plurality of travel time tables include a first required time table that defines a relationship between the opening degree and the air pressure at different device temperatures and the required movement time of the first movement device; a second required time table that defines a relationship between the movement time required for the second moving device and the opening degree and the air pressure at different device temperatures; The coating apparatus according to [7], [9] The second direction is a horizontal direction perpendicular to the vertical direction, and the first direction is a direction tilted from the horizontal direction; The coating apparatus described in [8], wherein the first required time table has a first table that defines a relationship between the opening and the air pressure when moving the coating unit toward one side in the first direction and the required movement time, and a second table that defines a relationship between the opening and the air pressure when moving the coating unit toward the other side in the first direction and the required movement time.

[10] The flow rate adjusting unit has a speed controller and a motor, The control unit drives an opening adjustment unit of the speed controller by the motor to adjust the opening of the speed controller.

[11] The coating apparatus according to

[10] , wherein the motor is either a stepping motor or a servo motor.

[12] A method for controlling a coating apparatus comprising: a coating section for coating a workpiece; a moving device for moving at least one of the workpiece and the coating section back and forth; a temperature sensor for measuring an apparatus temperature which is at least one of the temperature of the moving device or the temperature of the atmosphere around the moving device; and a control section, wherein the moving device has an air cylinder for moving the object back and forth by air pressure; a pressure regulating section for adjusting the air pressure which is the pressure of the air supplied to the air cylinder; and a flow rate regulating section for adjusting the air flow rate which is the flow rate of at least one of the air supplied to the air cylinder and the air discharged from the air cylinder, The control unit adjusts the air flow rate by the flow rate adjustment unit and adjusts the air pressure by the pressure adjustment unit based on the apparatus temperature.

[13] The control unit includes a first adjustment control that adjusts the opening and the air pressure based on a plurality of required movement time tables that define a relationship between both the opening of the flow rate adjustment unit and the air pressure, which are correlated with the air flow rate, and a required movement time, which is the time required for a reciprocating motion to reciprocate the object; each of the plurality of required movement time tables is a table that defines a relationship between the opening degree and the air pressure and the required movement time at each of the device temperatures that are different from each other; The control method for a coating equipment described in

[12] , wherein in the first adjustment control, the control unit uses the movement required time table for the equipment temperature having the smallest difference from the equipment temperature detected by the temperature sensor to determine the target opening degree, which is the target opening degree, and the target air pressure, which is the target air pressure, based on the movement target time, which is the target time required for the reciprocating movement.

[14] A control method for a coating equipment described in

[13] , comprising a second adjustment control in which the control unit further adjusts the target opening and the target air pressure when the difference between the required movement time and the target movement time when adjusting the air flow rate and the air pressure based on the target opening and the target air pressure set in the first adjustment control is greater than the target difference time. Effect of the Invention

[0007] According to the present invention, it is possible to provide a coating apparatus and a method for controlling a coating apparatus that can stabilize the thickness of a coating film formed on a workpiece even if the temperature of the air cylinder fluctuates. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic cross-sectional view showing a coating device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a first schematic cross-sectional view showing a coating apparatus according to an embodiment of the present invention, taken perpendicular to FIG. 1 . [Diagram 3] FIG. 1 is a schematic diagram showing a first moving device according to an embodiment of the present invention; [Figure 4] FIG. 2 is a second schematic cross-sectional view perpendicular to FIG. 1 showing a coating apparatus according to an embodiment of the present invention; [Diagram 5] FIG. 2 is a schematic diagram showing a second moving device according to an embodiment of the present invention; [Figure 6] 1 is a flowchart showing a control method for a coating device according to an embodiment of the present invention. [Figure 7] FIG. 13 is a diagram showing an example of a travel time table according to an embodiment of the present invention. [Figure 8] FIG. 13 is a diagram showing the relationship between the flow rate adjustment value and the air flow rate according to an embodiment of the present invention. [Figure 9] FIG. 13 is a diagram showing the relationship between air pressure and supply flow rate in one embodiment of the present invention. [Figure 10] FIG. 1 is a conceptual diagram showing a travel time table according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In each drawing, an XYZ coordinate system is appropriately shown as a three-dimensional Cartesian coordinate system. In the XYZ coordinate system, the Z axis direction is the vertical direction. The side toward which the Z axis arrow points (+Z side) is the upper side in the vertical direction. The side opposite to the side toward which the Z axis arrow points (-Z side) is the lower side in the vertical direction. In the following explanation, the upper side in the vertical direction is simply referred to as the "upper side," and the lower side in the vertical direction is simply referred to as the "lower side." The X-axis direction is a direction perpendicular to the Z-axis direction, and is the front-to-rear direction of the painting equipment. The side toward which the X-axis arrow points (+X side) is the front side of the painting equipment. The side opposite to the side toward which the X-axis arrow points (-X side) is the rear side of the painting equipment. In the following explanation, the front-to-rear direction of the painting equipment is simply referred to as the "front-to-rear direction." Additionally, the front side of the painting equipment is simply referred to as the "front side," and the rear side of the painting equipment is simply referred to as the "rear side." The Y-axis direction is a direction perpendicular to both the Z-axis direction and the X-axis direction, and is the left-right direction of the painting equipment. The side toward which the Y-axis arrow points (+Y side) is the left side of the painting equipment. The side opposite to the side toward which the Y-axis arrow points (-Y side) is the right side of the painting equipment. In the following explanation, the left-right direction of the painting equipment will simply be referred to as the "left-right direction." Additionally, the left side of the painting equipment will simply be referred to as the "left side," and the right side of the painting equipment will simply be referred to as the "right side." Note that the terms upper, lower, front, rear, left, and right are simply names used to explain the relative positional relationships of each part, and the actual positional relationships, etc. may be other than those indicated by these names.

[0010] In each drawing, the first direction D1 is a direction in which the coating part moves. In this embodiment, the first direction D1 is a direction inclined from the vertical direction (Z-axis direction) to the front-rear direction (X-axis direction). The first direction D1 faces a direction inclined from the horizontal direction perpendicular to the vertical direction. The first direction D1 may face the vertical direction or the horizontal direction. In the following description, the side to which the arrow of the first direction D1 faces (+D1 side) is called "one side of the first direction D1", and the opposite side to the side to which the arrow of the first direction D1 faces (-D1 side) is called "the other side of the first direction D1". The one side of the first direction D1 is a direction inclined from the upper side (+Z side) to the front side (+X side). The other side of the first direction D1 is a direction inclined from the lower side (-Z side) to the rear side (-X side).

[0011] In each drawing, the second direction D2 is a direction intersecting with the first direction D1. In this embodiment, the second direction D2 is perpendicular to the first direction D1. In this embodiment, the second direction D2 is parallel to the left-right direction (Y-axis direction). The second direction D2 faces the horizontal direction. In the following description, the side (+D2 side) to which the arrow of the second direction D2 faces is called "one side of the second direction D2", and the side opposite to the side (-D2 side) to which the arrow of the second direction D2 faces is called "the other side of the second direction D2". In this embodiment, the one side of the second direction D2 is the left side (+Y side), and the other side of the second direction D2 is the right side (-Y side). Note that when the first direction D1 faces the horizontal direction, the second direction D2 may face the vertical direction.

[0012] The coating apparatus 10 according to the embodiment of the present invention is a coating apparatus that coats paint on a coating object 65 having a color, such as a vehicle such as an automobile or motorcycle, a train or parts thereof, or a color-matched coating plate. The coating object 65 may have a single-layer coating film or a multi-layer coating film. The size of the coating object 65 is not particularly limited, but is a size that can be easily coated with a spray gun. The size of the coating object 65 is preferably, for example, about 5 cm to 30 cm in length per side. As shown in FIG. 1, the coating apparatus 10 is installed inside a coating room 20. The coating apparatus 10 includes a moving device 25, a coating unit 60, a control unit 80, and a temperature sensor 85. In this embodiment, the control unit 80 is disposed outside the coating room 20. The control unit 80 may be disposed inside the coating room 20.

[0013] The moving device 25 reciprocates the object 28. In this embodiment, the object 28 is a coating object 65 and a coating unit 60. As shown in FIG. 2, the coating apparatus 10 includes a plurality of moving devices 25. The plurality of moving devices 25 include a first moving device 30, a second moving device 40, and a third moving device 50. In this embodiment, the first moving device 30 reciprocates the coating unit 60 in a first direction D1. In this embodiment, the second moving device 40 reciprocates the coating object 65 in a second direction D2. That is, the moving device 25 reciprocates at least one of the object 28, the object 65 and the coating unit 60. The moving device 25 reciprocates the object 65 and the coating unit 60 in directions intersecting each other. The third moving device 50 moves the first moving device 30 in the front-rear direction (X-axis direction). The third moving device 50 may move the second moving device 40 in the front-rear direction.

[0014] The first moving device 30 supports the coating unit 60 and reciprocates the coating unit 60 in the first direction D1. The first moving device 30 reciprocates the coating unit 60 in the first direction D1 by air pressure. The first moving device 30 has a support member 31 and a first air cylinder 32. The first air cylinder 32 is an air cylinder that reciprocates the target object 28 by air pressure. As shown in FIG. 3, the first moving device 30 has a compressor 35a, a pressure adjustment unit 35b, a valve 36, a flow path 37, a flow rate adjustment unit 38, and position detection sensors 39a, 39b. That is, the moving device 25 has an air cylinder, a pressure adjustment unit 35b, and a flow rate adjustment unit 38.

[0015] 2, the support member 31 supports the first air cylinder 32 and the coating unit 60. An end portion on one side (+D1 side) of the support member 31 in the first direction D1 is held by the third moving device 50. The support member 31 is movable in the front-rear direction (X-axis direction) by the third moving device 50. This allows the coating unit 60 to move in the front-rear direction. The support member 31 has a first support portion 31a and a second support portion 31b.

[0016] The first support portion 31a is rod-shaped and extends in the first direction D1. An end portion of the first support portion 31a on one side (+D1 side) in the first direction D1 is held by the third moving device 50. The first support portion 31a supports the first air cylinder 32. The second support portion 31b is rod-shaped and extends in the first direction D1. The second support portion 31b is disposed forward (+X side) of the first support portion 31a. An end portion of the second support portion 31b on one side in the first direction D1 is held by the third moving device 50.

[0017] The first air cylinder 32 reciprocates the coating unit 60 in the first direction D1 by air pressure. The first air cylinder 32 has a shape extending in the first direction D1. As shown in FIG. 3, the first air cylinder 32 has a housing 33, a piston 34, a sealing member 34a, and a rod 34b. The configuration of the first air cylinder 32 is not particularly limited, and for example, the first air cylinder 32 can be a rod cylinder, a magnet type rodless cylinder, a mechanical joint type rod cylinder, or the like.

[0018] The housing 33 is tubular and extends in the first direction D1. In this embodiment, the housing 33 is cylindrical and extends in the first direction D1. The internal space of the housing 33 is divided into a first space 33a and a second space 33b by the piston 34 and the sealing member 34a. The first space 33a is a space on the other side (-D1 side) of the piston 34 in the first direction D1 among the internal space of the housing 33. The second space 33b is a space on one side (+D1 side) of the piston 34 in the first direction D1 among the internal space of the housing 33. The housing 33 is provided with a first opening 33d and a second opening 33e.

[0019] The first opening 33d is provided at an end on the other side (-D1 side) in the first direction D1 of the housing 33. The first opening 33d connects the first space 33a to the outside of the housing 33. The second opening 33e is provided at an end on one side in the first direction D1 of the housing 33. The second opening 33e connects the second space 33b to the outside of the housing 33.

[0020] The piston 34 is movable in the first direction D1 inside the housing 33. The piston 34 is cylindrical and extends in the first direction D1. The outer diameter of the piston 34 is smaller than the inner diameter of the housing 33. The piston 34 moves in the first direction D1 due to the pressure difference between the air pressure in the first space 33a and the air pressure in the second space 33b. When the air pressure in the first space 33a is greater than the air pressure in the second space 33b, the piston 34 moves to one side (+D1 side) of the first direction D1. When the air pressure in the first space 33a is less than the air pressure in the second space 33b, the piston 34 moves to the other side (-D1 side) of the first direction D1. The movement speed of the piston 34 increases as the difference between the air pressure in the first space 33a and the air pressure in the second space 33b increases. Since the piston 34 moves vertically along the first direction D1, the moving speed of the piston 34 is affected by the gravity of the piston 34. This causes a speed difference between the speed at which the piston 34 moves to one side in the first direction D1 and the speed at which the piston 34 moves to the other side in the first direction D1.

[0021] The sealing member 34a is annular and extends in the first direction D1. The sealing member 34a is fixed to the outer peripheral surface of the piston 34. The outer peripheral surface of the sealing member 34a contacts the inner peripheral surface of the housing 33. The sealing member 34a seals between the housing 33 and the piston 34. This can suppress air flow between the first space 33a and the second space 33b. In this embodiment, the sealing member 34a is made of rubber. The sealing member 34a may be made of resin. A lubricant (not shown) is applied between the sealing member 34a and the housing 33. The lubricant is, for example, oil. The lubricant reduces the frictional force between the sealing member 34a and the housing 33. This allows the piston 34 to move smoothly inside the housing 33.

[0022] The rod 34b is a rod-like member extending from the piston 34 to one side (+D1 side) in the first direction D1. The end of the rod 34b on one side in the first direction D1 is located outside the housing 33. A sealing portion (not shown) is provided between the rod 34b and the housing 33. The sealing portion seals between the rod 34b and the housing 33. The rod 34b is movable in the first direction D1 together with the piston 34. As shown in FIG. 2, a moving member 62 is fixed to the end of the rod 34b on one side in the first direction D1. As shown in FIG. 4, when the rod 34b moves to one side in the first direction D1, the moving member 62 moves to one side in the first direction D1 along the second support portion 31b. As a result, the coating unit 60 held by the moving member 62 via the mounting member 61 moves to one side in the first direction D1. As shown in FIG. 2, when the rod 34b moves to the other side (-D1 side) of the first direction D1, the moving member 62 moves to the other side of the first direction D1 along the second support portion 31b. As a result, the coating unit 60 moves to the other side of the first direction D1. As a result, the first air cylinder 32 can reciprocate the coating unit 60 in the first direction D1. As described above, the piston 34 moves in the first direction D1 due to the pressure difference between the air pressure in the first space 33a and the air pressure in the second space 33b. Therefore, the first air cylinder 32 reciprocates the coating unit 60 in the first direction D1 due to the air pressure. Note that the first air cylinder 32 supports the coating unit 60 and the moving member 62, etc., and moves vertically along the first direction D1, so that the moving speed of the piston 34 is affected by the gravity of the coating unit 60 and the moving member 62, etc. This causes a speed difference to occur between the speed at which the painting unit 60 moves to one side in the first direction D1 and the speed at which the painting unit 60 moves to the other side in the first direction D1.

[0023] As shown in FIG. 3, the flow path 37 connects the compressor 35a and the first air cylinder 32. The flow path 37 is a flow path through which air supplied from the compressor 35a to the first air cylinder 32 and air discharged from the first air cylinder 32 flow. The flow path 37 has a first flow path 37a, a second flow path 37b, a third flow path 37c, and a fourth flow path 37d. The first flow path 37a connects the compressor 35a and the pressure adjustment unit 35b. The second flow path 37b connects the pressure adjustment unit 35b and the connection port 36A of the valve 36. The third flow path 37c connects the connection port 36B of the valve 36 and the first opening 33d of the housing 33. The fourth flow path 37d connects the connection port 36C of the valve 36 and the second opening 33e of the housing 33.

[0024] The compressor 35a supplies compressed air to the first air cylinder 32. In this embodiment, the compressor 35a is a compressor. The air compressed and sent from the compressor 35a flows into the pressure adjustment section 35b via the first flow path 37a. The pressure adjustment section 35b adjusts the air pressure Pa, which is the pressure of the air supplied to the first air cylinder 32. The pressure adjustment section 35b adjusts the air pressure Pa by reducing the pressure of the air compressed and sent from the compressor 35a. In this embodiment, the pressure adjustment section 35b is an electro-pneumatic regulator. The air whose pressure has been adjusted by the pressure adjustment section 35b flows into the valve 36 via the second flow path 37b and the connection port 36A.

[0025] The valve 36 is a five-way valve having five connection ports. In this embodiment, the valve 36 is an electromagnetic valve. The valve 36 can be switched between two connection states, a first connection state and a second connection state. In the first connection state, the valve 36 communicates the connection port 36A with the connection port 36B, and the connection port 36C with the connection port 36E. In the first connection state, the valve 36 communicates the second flow path 37b with the third flow path 37c, and the fourth flow path 37d with the connection port 36E. In the first connection state, the air whose air pressure Pa is adjusted by the pressure adjusting unit 35b flows into the first space 33a through the third flow path 37c. As a result, the air in the first space 33a is pressurized. In the first connection state, the air in the second space 33b is exhausted through the fourth flow path 37d, the connection port 36C, and the connection port 36E. As a result, the air pressure in the second space 33b is reduced. As a result, in the first connected state, the air pressure in the first space 33a becomes greater than the air pressure in the second space 33b, so that the piston 34 and the rod 34b move to one side (+D1 side) in the first direction D1. In the first connected state, the coating unit 60 moves to one side in the first direction D1.

[0026] In the second connection state, the valve 36 communicates the connection port 36A with the connection port 36C, and communicates the connection port 36B with the connection port 36D. In the second connection state, the valve 36 communicates the second flow path 37b with the fourth flow path 37d, and communicates the third flow path 37c with the connection port 36D. In the second connection state, the air whose air pressure Pa is adjusted by the pressure adjusting unit 35b flows into the second space 33b through the fourth flow path 37d. In the second connection state, the air in the first space 33a is exhausted through the third flow path 37c, the connection port 36B, and the connection port 36D. As a result, in the second connection state, the pressure of the air in the first space 33a becomes smaller than the pressure of the air in the second space 33b, so that the piston 34 and the rod 34b move to the other side (-D1 side) of the first direction D1. In the second connected state, the coating unit 60 moves to the other side in the first direction D1.

[0027] In this embodiment, the flow rate adjustment unit 38 adjusts the air flow rate Fa, which is the flow rate of air discharged from the first air cylinder 32. The flow rate adjustment unit 38 may adjust the flow rate of air supplied to the first air cylinder 32. In this embodiment, the first moving device 30 has two flow rate adjustment units 38. One flow rate adjustment unit 38 is disposed in the third flow path 37c. One flow rate adjustment unit 38 adjusts the air flow rate Fa exhausted from the first space 33a in the second connection state. The other flow rate adjustment unit 38 is disposed in the fourth flow path 37d. The other flow rate adjustment unit 38 adjusts the air flow rate Fa exhausted from the second space 33b in the first connection state. Each flow rate adjustment unit 38 has a speed controller 38a and a motor 38d.

[0028] The speed controller 38a can adjust the flow rate of air discharged from the first air cylinder 32. The speed controller 38a of one flow rate adjustment unit 38 is disposed in the third flow path 37c. The speed controller 38a of the other flow rate adjustment unit 38 is disposed in the fourth flow path 37d. In this embodiment, the speed controller 38a is a meter-out type speed controller that does not adjust the flow rate of air supplied from the valve 36 to the first air cylinder 32, but can adjust the air flow rate Fa discharged from the first air cylinder 32 to the valve 36. The speed controller 38a has an opening adjustment unit 38b. The opening adjustment unit 38b adjusts the opening of a throttle valve provided in a path on the discharge side (not shown) of the speed controller 38a. In other words, the opening adjustment unit 38b adjusts the opening of the speed controller 38a. This allows the air flow rate Fa discharged from the first air cylinder 32 to be adjusted.

[0029] The motor 38d is connected to the opening adjustment unit 38b. The motor 38d drives the opening adjustment unit 38b to adjust the opening of the speed controller 38a. Therefore, according to this embodiment, the opening of the speed controller 38a can be automatically adjusted by the motor 38d, so that the number of steps required for a user of the coating device 10 to adjust the air flow rate Fa can be reduced, and even if the user is different, the variation in the adjustment of the opening can be suppressed. The motor 38d is either a stepping motor or a servo motor. In this embodiment, the motor 38d is a stepping motor. The motor 38d may be a servo motor. Therefore, according to this embodiment, the opening adjustment unit 38b can be driven with high precision by the motor 38d, so that the opening of the speed controller 38a can be adjusted with high precision.

[0030] As shown in FIG. 2, the position detection sensors 39a and 39b detect the rod 34b. In this embodiment, the position detection sensors 39a and 39b may be sensors such as fiber sensors and photoelectric sensors. The position detection sensors 39a and 39b in this embodiment are fiber sensors. The detection method of the position detection sensors 39a and 39b is not particularly limited, and sensors of a detection method such as a transmission type, a reflection type, and a recursive reflection type may be used. In this embodiment, the first moving device 30 has two position detection sensors 39a and 39b. The position detection sensor 39a is disposed slightly on one side (+D1 side) of the first direction D1 from the housing 33. The position detection sensor 39a detects the rod 34b when the rod 34b moves to the other side (-D1 side) of the first direction D1. The position detection sensor 39b is disposed on one side of the first direction D1 from the position detection sensor 39a. The position detection sensor 39b detects the rod 34b when the rod 34b moves to one side in the first direction D1. Therefore, the two position detection sensors 39a, 39b can detect the time it takes for the coating unit 60 to move in the first direction D1.

[0031] The temperature sensor 85 is disposed inside the coating chamber 20. In this embodiment, the temperature sensor 85 measures a device temperature Td, which is the temperature of the atmosphere around the moving device 25. The temperature sensor 85 may be attached to the moving device 25 and measure the temperature of the moving device 25 directly.

[0032] The control unit 80 can execute adjustment control to adjust the air flow rate Fa by the flow rate adjustment unit 38 and adjust the air pressure Pa by the pressure adjustment unit 35b based on the device temperature Td detected by the temperature sensor 85. As shown in FIG. 3, the control unit 80 is connected to each of the pressure adjustment unit 35b, the valve 36, the two motors 38d, the amplifier 39d, and the temperature sensor 85. In the adjustment control, the control unit 80 controls the movement speed of the coating unit 60 by controlling the operation of each of the pressure adjustment unit 35b, the valve 36, and the two motors 38d. In this manner, the control unit 80 adjusts the movement time tm1, which is the time required for the coating unit 60, i.e., the object 28, to move back and forth. In this embodiment, the movement time tm1 of the coating unit 60 is the time required for the coating unit 60 to move half back and forth in the first direction D1. In this embodiment, in which the coating unit 60 reciprocates in the first direction D1 under the influence of gravity, the controller 80 adjusts the required movement time tm1+, which is the time required for the coating unit 60 to move to one side (+D1 side) of the first direction D1, which is a direction against gravity, and the required movement time tm1-, which is the time required for the coating unit 60 to move to the other side (-D1 side) of the first direction D1, which is a direction not against gravity. That is, the required movement time tm1 includes the required movement time tm1+ and the required movement time tm1-. The controller 80 may be connected to the pressure regulator 35b, the valve 36, the two motors 38d, the amplifier 39d, and the temperature sensor 85 via cables or wireless communication means.

[0033] The control unit 80 can obtain the device temperature Td measured by the temperature sensor 85. The control unit 80 can adjust the air pressure Pa, which is the pressure of the air supplied to the first air cylinder 32, by controlling the operation of the pressure adjusting unit 35b. The control unit 80 can switch the valve 36 to one of two connection states, the first connection state and the second connection state. As a result, the control unit 80 can switch the moving direction of the coating unit 60 to one side (+D1 side) of the first direction D1 and the other side (-D1 side) of the first direction D1. The control unit 80 can adjust the opening of the speed controller 38a by the motor 38d. As a result, the control unit 80 can adjust the air flow rate Fa, which is the flow rate of air discharged from the first air cylinder 32. The control unit 80 is connected to the two position detection sensors 39a and 39b via the amplifier 39d. The amplifier 39d amplifies the detection signals of the two position detection sensors 39a and 39b. The control unit 80 can calculate a required movement time tm1, which is the time required for the painting unit 60 to move back and forth in the first direction D1, from the detection signals of the two position detection sensors 39a, 39b.

[0034] In this embodiment, in the valve 36 in the first connection state, the greater the air pressure Pa controlled by the control unit 80, the faster the speed at which the air in the first space 33a of the first air cylinder 32 is pressurized. As a result, the speed at which the coating unit 60 moves to one side (+D1 side) in the first direction D1 becomes faster, so the movement time tm1+ required for the coating unit 60 to move to one side in the first direction D1 becomes shorter. In addition, the greater the air flow rate Fa controlled by the control unit 80, the faster the speed at which the air in the second space 33b is depressurized. As a result, the speed at which the coating unit 60 moves to one side in the first direction D1 becomes faster, so the movement time tm1+ required for the coating unit 60 to move to the other side (-D1 side) in the first direction D1 becomes shorter. In the valve 36 in the second connection state, the greater the air pressure Pa controlled by the control unit 80, the faster the speed at which the air in the second space 33b is pressurized, so the movement time tm1- required for the coating unit 60 to move to the other side (-D1 side) in the first direction D1 becomes shorter. Furthermore, the greater the air flow rate Fa controlled by the control unit 80, the faster the air pressure in the first space 33a is reduced, and the shorter the movement time tm1- required for the coating unit 60 to move to the other side in the first direction D1 becomes.

[0035] In this embodiment, the control unit 80 is a computer that controls the operation of each part of the first moving device 30 and the second moving device 40. A control program that controls the operation of each part is installed in the control unit 80. At least a part of the function of each component of the control unit 80 is realized by, for example, a processor such as a CPU (Central Processing Unit) executing a control program, i.e., software, stored in a memory unit (not shown).

[0036] At least a part of the functions of each component of the control unit 80 may be realized by hardware including a circuit unit such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), and a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The control unit 80 may include a memory unit (not shown). In this case, the memory unit (not shown) is realized by a storage medium such as a RAM, a ROM, an HDD (hard disk drive), and a flash memory.

[0037] As shown in FIG. 2, the painting unit 60 is held by a moving member 62 via an attachment member 61. The painting unit 60 paints an object 65 with paint. In this embodiment, the painting unit 60 is a spray gun that sprays paint. In this embodiment, the painting unit 60 sprays paint in a direction inclined downward from the front side (+X side). The configuration of the painting unit 60 is not particularly limited, and a gravity type, suction type, or pressure type spray gun can be used. In this embodiment, the painting unit 60 is a suction type spray gun that sucks up paint contained in a paint cup 60a.

[0038] The painting unit 60 is fixed to the mounting member 61 at two or more locations, preferably three or more locations. By fixing the painting unit 60 to the mounting member 61 at three or more locations, it is possible to suppress vibration of the painting unit 60 when the painting unit 60 moves in the first direction D1. This allows the painting unit 60 to stably paint the workpiece 65. The mounting member 61 is held by the moving member 62.

[0039] The moving member 62 is rod-shaped and extends in the first direction D1. The moving member 62 holds the mounting member 61. The moving member 62 is supported by the second support portion 31b. More specifically, the moving member 62 is supported by the second support portion 31b so as to be movable in the first direction D1. The moving member 62 is also connected to the rod 34b of the first air cylinder 32. As a result, when the rod 34b moves in the first direction D1, the coating unit 60 moves in the first direction D1.

[0040] In this embodiment, the second support portion 31b and the moving member 62 are disposed above the painting portion 60. This makes it possible to prevent paint sprayed by the painting portion 60 from adhering to the sliding portions of the second support portion 31b and the moving member 62, thereby improving the durability of the sliding portions. Also, in this embodiment, the first air cylinder 32 is disposed rearward (-X side) of the painting portion 60. This makes it possible to prevent paint sprayed by the painting portion 60 from adhering to the first air cylinder 32. This makes it possible to improve the stability of the operation of the first air cylinder 32.

[0041] As shown in FIG. 1 and FIG. 2, the second moving device 40 supports the object 65 to be coated and moves the object 65 back and forth in the second direction D2. The second moving device 40 moves the object 65 back and forth in the second direction D2 by air pressure. As shown in FIG. 2, the second moving device 40 is disposed forward (+X side) of the first moving device 30. The second moving device 40 has a holding member 41 and a second air cylinder 42. The second air cylinder 42 is an air cylinder that moves the object 28 back and forth by air pressure. As shown in FIG. 5, the second moving device 40 has a compressor 45a, a pressure adjusting unit 45b, a valve 46, a flow path 47, a flow rate adjusting unit 48, and position detection sensors 49a, 49b. That is, the moving device 25 has the second air cylinder 42, the pressure adjusting unit 45b, and the flow rate adjusting unit 48. In the following description, among the configurations of the elements of the second moving device 40 of this embodiment, the description of the configurations similar to the configurations of the elements of the first moving device 30 described above may be omitted.

[0042] As shown in Fig. 2, the holding member 41 holds the workpiece 65. The upper end of the holding member 41 is held by the second air cylinder 42. The holding member 41 is fixed to the coating chamber 20 via the second air cylinder 42. The holding member 41 is movable in the second direction D2 by the second air cylinder 42. This allows the workpiece 65 to move in the second direction D2. The holding member 41 has a magnetic member 41a, a first holding portion 41c, and a second holding portion 41d.

[0043] The magnetic member 41a has magnetic properties. The magnetic member 41a is disposed below the second air cylinder 42. As shown in Fig. 5, the magnetic member 41a is held in the second air cylinder 42 by a magnetic force between the magnetic member 41a and a piston 44 of the second air cylinder 42. The magnetic member 41a is held in the second air cylinder 42 so as to be movable together with the piston 44 in the second direction D2.

[0044] As shown in Fig. 2, the first holding portion 41c is rod-shaped and extends vertically (Z-axis direction). The upper end of the first holding portion 41c is fixed to the magnetic member 41a. The second holding portion 41d is rod-shaped and extends in the first direction D1. An end of the second holding portion 41d on one side (+D1 side) in the first direction D1 is fixed to the lower end of the first holding portion 41c. The second holding portion 41d holds the workpiece 65.

[0045] The second air cylinder 42 reciprocates the workpiece 65 in the second direction D2 by air pressure. As shown in FIG. 1, the second air cylinder 42 extends in the second direction D2. The second air cylinder 42 is fixed to the ceiling of the coating chamber 20. As shown in FIG. 5, the second air cylinder 42 has a housing 43, a piston 44, and a sealing member 44a. The configuration of the second air cylinder 42 is not particularly limited, and the second air cylinder 42 may be, for example, a rod cylinder, a magnet type rodless cylinder, or a mechanical joint type rod cylinder.

[0046] The housing 43 is tubular and extends in the second direction D2. In this embodiment, the housing 43 is cylindrical and extends in the second direction D2. The first space 43a is a space on one side (+D2 side) of the piston 44 in the second direction D2 within the internal space of the housing 43. The second space 43b is a space on the other side (-D2 side) of the piston 44 in the second direction D2 within the internal space of the housing 43. The housing 43 is provided with a first opening 43d and a second opening 43e.

[0047] The first opening 43d is provided at an end on one side (+D2 side) in the second direction D2 of the housing 43. The second opening 43e is provided at an end on the other side (-D2 side) in the second direction D2 of the housing 43. Other configurations of the housing 43 are similar to the other configurations of the housing 33 of the first movement device 30 described above.

[0048] The piston 44 can move in the second direction D2 inside the housing 43. The piston 44 is cylindrical and extends in the second direction D2. The piston 44 moves in the second direction D2 due to the pressure difference between the air pressure in the first space 43a and the air pressure in the second space 43b. The movement speed of the piston 44 increases as the difference between the air pressure in the first space 43a and the air pressure in the second space 43b increases. In this embodiment, the piston 44 is made of a magnet. The piston 44 holds the magnetic member 41a by magnetic force. When the piston 44 moves in the second direction D2, the holding member 41 and the object 65 to be coated move in the second direction D2. Therefore, the second air cylinder 42 reciprocates the object 65 to be coated in the second direction D2 by the air pressure. That is, the second air cylinder 42 moves the object 28 by the air pressure. Other configurations of the piston 44 are similar to those of the piston 34 of the first moving device 30 described above.

[0049] The sealing member 44a is fixed to the outer peripheral surface of the piston 44. The outer peripheral surface of the sealing member 44a contacts the inner peripheral surface of the housing 43. The sealing member 44a seals between the housing 43 and the piston 44. A lubricant (not shown) is applied between the sealing member 44a and the housing 43. Other configurations of the sealing member 44a and the lubricant of this embodiment are similar to those of the sealing member 34a and the lubricant of the first moving device 30 described above.

[0050] The flow path 47 connects the compressor 45a and the second air cylinder 42. The flow path 47 is a flow path through which air supplied from the compressor 45a to the second air cylinder 42 and air discharged from the second air cylinder 42 flow. The flow path 47 has a first flow path 47a, a second flow path 47b, a third flow path 47c, and a fourth flow path 47d. The first flow path 47a connects the compressor 45a and the pressure adjustment unit 45b. The second flow path 47b connects the pressure adjustment unit 45b and the connection port 46A of the valve 46. The third flow path 47c connects the connection port 46B of the valve 46 and the first opening 43d of the housing 43. The fourth flow path 47d connects the connection port 46C of the valve 46 and the second opening 43e of the housing 43.

[0051] The compressor 45a supplies compressed air to the second air cylinder 42. In this embodiment, the compressor 45a is a compressor. The air compressed and sent from the compressor 45a flows into the pressure adjustment section 45b via the first flow path 47a. The pressure adjustment section 45b adjusts the air pressure Pa, which is the pressure of the air supplied to the second air cylinder 42. In this embodiment, the pressure adjustment section 45b is an electro-pneumatic regulator. The air whose pressure has been adjusted by the pressure adjustment section 45b flows into the valve 46 via the second flow path 47b and the connection port 46A.

[0052] The valve 46 is a five-way valve having five connection ports. In this embodiment, the valve 46 is a solenoid valve. In the first connection state, the valve 46 communicates the connection port 46A with the connection port 46B, and communicates the connection port 46C with the connection port 46E. In the first connection state, the air whose air pressure Pa is adjusted by the pressure adjusting section 45b flows into the first space 43a, and the air in the first space 43a is pressurized. In addition, the air in the second space 43b is exhausted from the connection port 46E, and the air in the second space 43b is depressurized. Therefore, in the first connection state, the piston 44 and the holding member 41 move to the other side (-D2 side) of the second direction D2. Therefore, in the first connection state, the coating object 65 moves to the other side of the second direction D2.

[0053] In the second connection state, the valve 46 communicates the connection port 46A with the connection port 46C, and communicates the connection port 46B with the connection port 46D. In the second connection state, the air whose air pressure Pa has been adjusted by the pressure adjusting section 45b flows into the second space 43b, and the air in the second space 43b is pressurized. In addition, the air in the first space 43a is exhausted from the connection port 46D, and the air in the first space 43a is depressurized. Therefore, in the second connection state, the piston 44 and the holding member 41 move to one side (+D2 side) in the second direction D2. Therefore, in the second connection state, the workpiece 65 moves to one side in the second direction D2.

[0054] The flow rate adjustment unit 48 adjusts the air flow rate Fa discharged from the second air cylinder 42. In this embodiment, the second moving device 40 has two flow rate adjustment units 48. One flow rate adjustment unit 48 is disposed in the third flow path 47c. One flow rate adjustment unit 48 adjusts the air flow rate Fa discharged from the first space 43a in the second connected state. The other flow rate adjustment unit 48 is disposed in the fourth flow path 47d. The other flow rate adjustment unit 48 adjusts the air flow rate Fa discharged from the second space 43b in the first connected state. Each flow rate adjustment unit 48 has a speed controller 48a and a motor 48d.

[0055] The speed controller 48a can adjust the flow rate of air discharged from the second air cylinder 42. The speed controller 48a of one flow rate adjustment unit 48 is disposed in the third flow path 47c. The speed controller 48a of the other flow rate adjustment unit 48 is disposed in the fourth flow path 47d. In this embodiment, the speed controller 48a is a meter-out type speed controller. The speed controller 48a has an opening adjustment unit 48b. The opening adjustment unit 48b adjusts the opening of the speed controller 48a. This makes it possible to adjust the flow rate Fa of air discharged from the second air cylinder 42.

[0056] The motor 48d is connected to the opening adjustment unit 48b. The motor 48d drives the opening adjustment unit 48b to adjust the opening of the speed controller 48a. The motor 48d is either a stepping motor or a servo motor. In this embodiment, the motor 48d is a stepping motor. The motor 48d may be a servo motor.

[0057] The position detection sensors 49a and 49b detect the holding member 41. In this embodiment, the second moving device 40 has two position detection sensors 49a and 49b. The position detection sensor 49a is disposed at a position facing one side (+D2 side) of the housing 43 in the second direction D2. The position detection sensor 49a detects the holding member 41 when the holding member 41 moves to one side of the second direction D2. The other position detection sensor 49b is disposed at a position facing the other side (-D2 side) of the housing 43 in the second direction D2. The position detection sensor 49b detects the holding member 41 when the holding member 41 moves to the other side of the second direction D2. Therefore, the two position detection sensors 49a and 49b can detect the time when the coating object 65 moves in the second direction D2. Other configurations of the position detection sensors 49a and 49b are similar to other configurations of the position detection sensors 39a and 39b of the first moving device 30 described above.

[0058] The control unit 80 can execute adjustment control to adjust the air flow rate Fa by the flow rate adjustment unit 48 and adjust the air pressure Pa by the pressure adjustment unit 45b based on the device temperature Td detected by the temperature sensor 85. In the second moving device 40, the control unit 80 is connected to each of the pressure adjustment unit 45b, the valve 46, the two motors 38d, the amplifier 49d, and the temperature sensor 85. The control unit 80 controls the movement speed of the workpiece 65 by controlling the operation of each of the pressure adjustment unit 45b, the valve 46, and the two motors 48d. In this way, the control unit 80 adjusts the movement time tm2 required for the workpiece 65, i.e., the target object 28, to move back and forth. The movement time tm2 required for the workpiece 65 to move back and forth n1 times in the second direction D2. The number of reciprocating movements n1 is not particularly limited as long as it is 1 or more, but from the viewpoint of workability and coating accuracy, 3 to 10 times is preferable, 4 to 8 times is more preferable, and 5 to 6 times is particularly preferable. In this embodiment, the movement time tm2 required for the workpiece 65 to move reciprocatingly in the second direction D2 five times during the adjustment work is.

[0059] In the adjustment control, it is preferable to adjust the air pressure Pa by the pressure regulating units 35b, 45b after adjusting the air flow rate Fa by the flow rate adjusting units 38, 48. This is because the air flow rate Fa has a greater effect on the movement times tm1, tm2 than the air pressure Pa. Furthermore, if the air pressure Pa is set within the range of 0.2 MPa to 0.3 MPa before adjusting the air flow rate Fa, the air pressure Pa after adjusting the air flow rate Fa can be adjusted either up or down, making the adjustment work easier.

[0060] As shown in Fig. 2, the workpiece 65 is held by the second holding portion 41d of the holding member 41. In this embodiment, the workpiece 65 moves back and forth in the second direction D2. The means for holding the workpiece 65 on the holding member 41 is not particularly limited. For example, the workpiece 65 may be held by screwing to the second holding portion 41d, or may be held by a magnet, adhesive, pressure sensitive adhesive, hook and loop fastener, double-sided adhesive tape, or the like. When the workpiece 65 is held by a magnet, it is preferable to use a neodymium magnet to reduce weight.

[0061] In this embodiment, the second air cylinder 42 is preferably disposed above the workpiece 65. This makes it possible to prevent paint sprayed downward from the front side (+X side) by the coating unit 60 onto the workpiece 65 from adhering to the second air cylinder 42. Therefore, the second air cylinder 42 can be operated stably.

[0062] In this embodiment, the direction in which the coating unit 60 sprays the paint is preferably in the range of 0° to 90° below the horizontal direction, and more preferably in the range of 10° to 80° below. This prevents the paint sprayed by the coating unit 60 from flying upward, and therefore prevents the first moving device 30 and the second moving device 40 from being contaminated by the paint. In addition, the angle between the surface of the workpiece 65 and the direction in which the coating unit 60 sprays the paint is preferably within the range of 90°±30°, and more preferably within the range of 90°±10°. This allows a uniform coating to be easily formed on the surface of the workpiece 65.

[0063] The third moving device 50 is preferably fixed to the ceiling of the coating chamber 20. The third moving device 50 has a third air cylinder 51. The support member 31 is attached to the third air cylinder 51. The third air cylinder 51 moves the first moving device 30 and the coating unit 60 in the front-rear direction (X-axis direction) by air pressure. This allows the coating distance, which is the distance between the coating unit 60 and the workpiece 65, to be adjusted. The second moving device 40 may be attached to the third air cylinder 51, in which case the second moving device 40 and the workpiece 65 move in the front-rear direction. The coating distance is preferably in the range of 50 mm or more and 500 mm or less, and more preferably in the range of 100 mm or more and 400 mm or less.

[0064] In this embodiment, when the coating unit 60 coats the workpiece 65, the control unit 80 preferably causes the first moving device 30 to reciprocate the coating unit 60 in the first direction D1, while causing the second moving device 40 to reciprocate the workpiece 65 in a second direction D2 intersecting the first direction D1. Therefore, according to this embodiment, the coating unit 60 can coat the workpiece 65 with paint while causing the coating unit 60 and the workpiece 65 to reciprocate in directions intersecting each other, so that a coating film of uniform thickness can be formed over the entire workpiece 65.

[0065] In this embodiment, when the coating unit 60 coats the workpiece 65, the first moving device 30 moves the coating unit 60 half a reciprocation while the second moving device 40 moves the workpiece 65 back and forth n times in the second direction D2. The number of times n2 the workpiece 65 is reciprocated during the coating operation can be appropriately selected according to the size of the plate to be coated, the target thickness of the coating film, and the type of paint, and is usually 3 to 10 times, preferably 4 to 9 times, and more preferably 5 to 8 times. In this embodiment, the target movement time tg1 of the coating unit 60 is the target time required for the reciprocating movement of the coating unit 60 to move half a reciprocation in the first direction D1. In addition, the target movement time tg2 of the workpiece 65 is the target time required for the reciprocating movement of the workpiece 65 to move five reciprocations in the second direction D2. In this embodiment, the target movement times tg1 and tg2 are 7.5 seconds. In addition, the movement required time tm1 in this embodiment is the time required for the coating unit 60 to make half a reciprocation in the first direction D1. The movement required time tm2 is the time required for the workpiece 65 to make five reciprocations in the second direction D2. Note that the movement target times tg1 and tg2 may be times other than 7.5 seconds. Furthermore, the movement target times tg1 and tg2 may be times different from each other.

[0066] Next, a control method for the coating apparatus 10 of this embodiment will be described. The control method for the coating apparatus 10 of this embodiment includes an adjustment control CA for adjusting the movement times tm1 (the movement time tm1 includes tm1+ and tm1-) and tm2 of the coating unit 60 and the workpiece 65. In the adjustment control CA, the control unit 80 adjusts the air flow rate Fa by the flow rate adjustment units 38 and 48, and adjusts the air pressure Pa by the pressure adjustment units 35b and 45b. As a result, the control unit 80 adjusts the movement speeds of the coating unit 60 and the workpiece 65 so that the differences between the movement times tm1 and tm2 of the coating unit 60 and the workpiece 65 and the movement target times tg1 (the movement target time tg1 includes the movement target time tg1+ and the movement target time tg1-) and tg2 are equal to or less than the target difference time tdg. As described above, in this embodiment, the movement target times tg1 and tg2 are each 7.5 seconds. Moreover, the movement target time tg1+ is a target movement time when the painting unit 60 moves to one side (+D1 side) in the first direction D1, and the movement target time tg1- is a target movement time when the painting unit 60 moves to the other side (-D1 side) in the first direction D1. FIG. 6 is a flowchart showing a control method for the painting device 10 of this embodiment. The adjustment control CA includes a first adjustment control C1 and a second adjustment control C2. In this embodiment, the target difference time tdg is, for example, 0.2 seconds. The target difference time tdg may be a time other than 0.2 seconds. In addition, the target difference time tdg1 of the painting unit 60 may be different from the target difference time tdg2 of the workpiece 65. In this case, the control unit 80 adjusts the movement speed of the painting unit 60 so that the difference between the movement required time tm1 of the painting unit 60 and the movement target time tg1 is equal to or less than the target difference time tdg1 of the painting unit 60. Furthermore, the control unit 80 adjusts the movement speed of the workpiece 65 so that the difference between the required movement time tm2 of the workpiece 65 and the target movement time tg2 is equal to or less than the target difference time tdg2 of the workpiece 65.

[0067] First, the control unit 80 acquires the device temperature Td detected by the temperature sensor 85. The control unit 80 executes the adjustment control CA when the difference between the device temperature Tp when the previous adjustment control CA was executed, which is stored in the memory unit (not shown), and the device temperature Td detected by the temperature sensor 85 is equal to or greater than the adjustment control execution temperature Tc (S01). In this embodiment, even if the difference between the device temperature Tp when the previous adjustment control CA was executed and the device temperature Td detected by the temperature sensor 85 is smaller than the adjustment control execution temperature Tc, the adjustment control CA is executed when the coating conditions when the coating unit 60 coats the workpiece 65 are changed (S011). In this embodiment, the coating conditions are the target film thickness of the coating film, the size of the workpiece 65, the material of the workpiece 65, the type of paint used, the type of the coating unit 60, i.e., the type of spray gun, the opening, aperture, atomized air amount, and pattern air amount of the coating unit 60, the reciprocating speed of the workpiece 65, the number of reciprocating times of the workpiece 65, the moving speed of the coating unit 60, and the like. In this embodiment, the control unit 80 does not execute the adjustment control CA if the difference between the device temperature Tp and the device temperature Td when the adjustment control CA was executed last time is smaller than the adjustment control execution temperature Tc and if the painting conditions are not changed (S011).

[0068] In the air cylinders 32, 42 of this embodiment, when the temperature of the air cylinders 32, 42 fluctuates, the moving speed of the pistons 34, 44 fluctuates. This is thought to be due to the fact that when the temperature of the air cylinders 32, 42 fluctuates, the hardness of the sealing members 34a, 44a and the viscosity of the lubricant that lubricates the sealing members 34a, 44a and the housings 33, 43 fluctuate, causing the frictional force between the pistons 34, 44 and the housings 33, 43 to fluctuate. Therefore, when the temperature of the air cylinders 32, 42 fluctuates, the moving speeds of the coating section 60 and the coating object 65, which are the object 28, fluctuate, so that the difference between the movement required times tm1, tm2 and the movement target times tg1, tg2 of the coating section 60 and the coating object 65, respectively, tends to become large. Therefore, when the temperature of the air cylinders 32, 42 fluctuates, there is a problem that the thickness of the coating film formed on the coating object 65 is not stable. In contrast, in this embodiment, when the difference between the device temperature Tp when the previous adjustment control CA was executed and the device temperature Td detected by the temperature sensor 85 is equal to or greater than the adjustment control execution temperature Tc, adjustment control CA is executed to make the difference between the movement required times tm1, tm2 of the coating unit 60 and the workpiece 65 and the target movement times tg1, tg2 equal to or less than the target difference time tdg. This makes it possible to stabilize the thickness of the coating film formed on the workpiece 65.

[0069] In the adjustment control CA, the control unit 80 executes the first adjustment control C1. In the first adjustment control C1, the control unit 80 first selects the movement required time table Tb (S02). More specifically, in the first adjustment control C1, the control unit 80 selects the movement required time table Tb to be used in the first adjustment control C1 from a plurality of movement required time tables Tb stored in a memory unit (not shown). As shown in FIG. 7, the movement required time table Tb is a table that defines the relationship between both the opening degree Va and air pressure Pa of the flow rate adjustment unit 38 and the movement required times tm1 and tm2 of the object 28. Note that the movement required time table Tb shown in FIG. 7 is a table that defines the relationship between both the opening degree Va and air pressure Pa of the second movement device 40 and the movement required time tm2 of the workpiece 65 when the device temperature Td is 15°C.

[0070] The opening degree Va of the flow rate adjustment unit 38, 48 is the opening degree of the speed controller 38a, 48a adjusted by the opening degree adjustment unit 38b, 48b. FIG. 8 shows the relationship between the opening degree Va and the air flow rate Fa. The horizontal axis of FIG. 8 is the opening degree Va. When the opening degree Va is zero, the speed controller 38a, 48a is closed. As the opening degree Va increases, the opening degree of the speed controller 38a, 48a increases. The vertical axis of FIG. 8 is the air flow rate Fa. As shown in FIG. 8, as the opening degree Va increases, the air flow rate Fa increases. The opening degree Va correlates with the air flow rate Fa. As the opening degree Va increases, the flow rate of the air discharged from the air cylinder 32, 42 increases, and therefore the moving speed of the object 28 increases. Therefore, as shown in FIG. 7, as the opening degree Va increases, the moving time tm1, tm2 required for the object 28 to move becomes shorter. 8, the opening degree Va and the air flow rate Fa have a nonlinear relationship, and when the opening degree Va is in the range of 4.0 or more and 5.0 or less, the amount of change in the air flow rate Fa relative to the amount of change in the opening degree Va becomes locally large. Note that the air flow rate Fa increases as the air pressure Pa increases.

[0071] FIG. 9 shows the relationship between the air pressure Pa and the supply air flow rate Fb. In this embodiment, the supply air flow rate Fb is the flow rate of air supplied from the pressure adjusting units 35b and 45b to the air cylinders 32 and 42. The horizontal axis of FIG. 9 is the air pressure Pa. The vertical axis of FIG. 9 is the supply air flow rate Fb. As shown in FIG. 9, the supply air flow rate Fb is directly proportional to the air pressure Pa. Therefore, as the air pressure Pa increases, the flow rate of air supplied to the air cylinders 32 and 42 increases, and the moving speed of the target object 28 increases. Therefore, as shown in FIG. 7, as the air pressure Pa increases, the moving times tm1 and tm2 required for the target object 28 become shorter.

[0072] As shown in Fig. 10, each of the multiple required movement time tables Tb is a table that defines the relationship between both the opening degree Va and the air pressure Pa and the required movement times tm1, tm2 at mutually different device temperatures Td. In this embodiment, each required movement time table Tb is a required movement time table Tb for every 5°C in the device temperature Td range of 0°C to 40°C. The multiple required movement time tables Tb may include a required movement time table Tb for a device temperature Td less than 0°C, or may include a required movement time table Tb for a device temperature Td higher than 40°C. The multiple required movement time tables Tb include multiple first required time tables Tb1 and multiple second required time tables Tb2.

[0073] Each of the multiple first required time tables Tb1 is a table that defines the relationship of the required movement time tm1 of the first moving device 30 to the opening degree Va and air pressure Pa at multiple different device temperatures Td. That is, each of the multiple first required time tables Tb1 is a table that defines the relationship of the required movement time tm1 of the coating unit 60 to the opening degree Va and air pressure Pa at multiple different device temperatures Td. Each of the multiple second required time tables Tb2 is a table that defines the relationship of the required movement time tm2 of the second moving device 40 to the opening degree Va and air pressure Pa at multiple different device temperatures Td. That is, each of the multiple second required time tables Tb2 is a table that defines the relationship of the required movement time tm2 of the workpiece 65 to the opening degree Va and air pressure Pa at multiple different device temperatures Td. The multiple first required time tables Tb1 have multiple first tables Tba and multiple second tables Tbb.

[0074] The multiple first tables Tba are tables that define the relationship between the opening Va and the air pressure Pa and the movement time tm1+ required for the coating unit 60 to move when the first moving device 30 moves the coating unit 60 to one side (+D1 side) in the first direction D1. The multiple second tables Tbb are tables that define the relationship between the opening Va and the air pressure Pa and the movement time tm1- required for the coating unit 60 to move when the first moving device 30 moves the coating unit 60 to the other side (-D1 side) in the first direction D1.

[0075] In the first adjustment control C1, the control unit 80 determines the target opening degree Vg, which is the target opening degree Va, and the target air pressure Pg, which is the target air pressure Pa, based on the movement target times tg1 and tg2, using the movement required time table Tb with the smallest difference from the device temperature Td. In the following description, as an example of the first adjustment control C1 in this embodiment, a procedure for determining the target opening degree Vg and the target air pressure Pg of the second moving device 40 will be described in the case where the device temperature Tp when the previous adjustment control CA was executed is 25° C., the target opening degree Vg and the target air pressure Pg determined by the previous adjustment control CA are 3.0 and 0.24 [MPa], respectively, and the device temperature Td detected by the temperature sensor is 16° C. Although the description will be omitted, the procedure for determining the target opening degree Vg and the target air pressure Pg of the first moving device 30 is the same as the procedure for determining the target opening degree Vg and the target air pressure Pg of the second moving device 40.

[0076] The control unit 80 selects the second required time table Tb2 with the device temperature Td of 15° C. shown in FIG. 7, which is closest to the device temperature Td of 16° C. detected by the temperature sensor 85, from among the multiple second required time tables Tb2 (S02 in FIG. 6). Next, the control unit 80 determines the opening degree Va and air pressure Pa that result in the required movement time tm2 that is closest to 7.5 seconds, which is the target movement time tg2 of this embodiment (S03 in FIG. 6), and sets the opening degree Va and air pressure Pa to the target opening degree Vg and target air pressure Pg, respectively (S04 in FIG. 6). That is, in the first adjustment control C1, the control unit 80 adjusts the opening degree Va and air pressure Pa based on the required movement time table Tb. In the second required time table Tb2 shown in Fig. 7, when the opening degree Va is 5.0 and the air pressure Pa is 0.32 [MPa], and when the opening degree Va is 4.0 and the air pressure Pa is 0.40 [MPa], the required movement time tm2 is 7.5 seconds, which is the same as the movement target time tg2. In this way, when there are multiple movement target times tg2 in the table, the control unit 80 may select any combination, but it is preferable to determine the opening degree Va and the air pressure Pa as the target opening degree Vg and the target air pressure Pg so that the first control amount, which is the difference between the opening degree Va determined in the previous adjustment control CA and the opening degree Va determined in the current adjustment control CA, is minimized. In other words, the control unit 80 controls the flow rate adjustment unit 48 and the pressure adjustment unit 45b so that the first control amount for adjusting the air flow rate Fa by the flow rate adjustment unit 48 is minimized.

[0077] As described above, the target opening degree Vg and the target air pressure Pg determined in the previous adjustment control CA are 3.0 and 0.24 [MPa], respectively. Therefore, when the opening degree Va is 5.0 and the air pressure Pa is 0.32 [MPa], the first control amount is 2.0. Also, when the opening degree Va is 4.0 and the air pressure Pa is 0.40 [MPa], the first control amount is 1.0. Therefore, it is preferable that the control unit 80 determines the target opening degree Vg and the target air pressure Pg to be 4.0 and 0.40 [MPa], respectively, so that the first control amount is the smallest (S04). Thereafter, the control unit 80 controls the flow rate adjustment unit 48 so that the opening degree Va becomes the target opening degree Vg, and controls the pressure adjustment unit 45b so that the air pressure Pa becomes the target air pressure Pg. As a result, the control unit 80 adjusts the air flow rate Fa by the flow rate adjustment unit 48 and adjusts the air pressure Pa by the pressure adjustment unit 45b based on the device temperature Td. When the control unit 80 controls the flow rate adjustment unit 48 and the pressure adjustment unit 45b, the first adjustment control C1 ends.

[0078] As shown in Fig. 6, when the first adjustment control C1 is ended, the control unit 80 measures the movement time tm1, tm2 of the target object 28 when adjusting the air flow rate Fa and the air pressure Pa based on the target opening Vg and the target air pressure Pg set in the first adjustment control C1 (S05). If the difference between the movement required time tm1, tm2 and the movement target time tg1, tg2 is equal to or less than the target difference time tdg, the control unit 80 determines that the appropriate target opening Vg and the target air pressure Pg have been determined, and ends the adjustment control CA (S06). If the difference between the movement required time tm1, tm2 and the movement target time tg1, tg2 is greater than the target difference time tdg, the control unit 80 executes the second adjustment control C2 (S06).

[0079] According to this embodiment, the control unit 80 can execute the first adjustment control C1 in the adjustment control CA, which controls the flow rate adjustment units 38, 48 and the pressure adjustment units 35b, 45b so that the first control amount for adjusting the air flow rate Fa by the flow rate adjustment units 38, 48 is minimized. This makes it easier to suppress the amount of fluctuation in the air flow rate Fa, which is more affected by the movement speed, from becoming too large in the first adjustment control C1, and therefore makes it easier to stabilize the movement speed of the air cylinders 32, 42 after the first adjustment control C1 is executed. Therefore, it is easier to stabilize the movement times tm1, tm2 of the object 28 after the first adjustment control C1 is executed, and therefore makes it easier to stabilize the thickness of the coating film formed on the workpiece 65.

[0080] In the second adjustment control C2, the control unit 80 further adjusts the target opening Vg and the target air pressure Pg. When the required movement times tm1, tm2 are longer than the movement target times tg1, tg2, the control unit 80 adjusts at least one of the target opening Vg and the target air pressure Pg to a large opening Va and a large air pressure Pa. When the required movement times tm1, tm2 are shorter than the movement target times tg1, tg2, the control unit 80 adjusts at least one of the target opening Vg and the target air pressure Pg to a small opening Va and a small air pressure Pa (S07, S08). Note that in the second adjustment control C2, it is preferable to adjust the required movement times tm1, tm2 by adjusting the air pressure Pa. This is because the first adjustment control C1 has already been executed, and the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 is considered to be small, and in order to bring the required movement times tm1, tm2 closer to the target movement times tg1, tg2, adjustment using the air pressure Pa, which has a small effect on the required movement times tm1, tm2, is preferable.

[0081] Thereafter, the control unit 80 measures the time tm1, tm2 required for the object 28 to move when the air flow rate Fa and the air pressure Pa are adjusted based on the adjusted target opening Vg and target air pressure Pg. If the difference between the required movement times tm1, tm2 and the movement target times tg1, tg2 is equal to or less than the target difference time tdg, the control unit 80 ends the second adjustment control C2 (S09). If the difference between the required movement times tm1, tm2 and the movement target times tg1, tg2 is greater than the target difference time tdg, the control unit 80 further adjusts the target opening Vg and the target air pressure Pg, and then measures the time tm1, tm2 required for the object 28 to move. The control unit 80 repeatedly adjusts the target opening Vg and the target air pressure Pg until the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 becomes equal to or less than the target difference time tdg, and when the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 becomes equal to or less than the target difference time tdg, the control unit 80 ends the second adjustment control C2 (S09). When the second adjustment control C2 ends, the adjustment control CA ends.

[0082] According to this embodiment, the moving device 25 has air cylinders 32, 42 that reciprocate at least one of the object 28 to be coated 65 and the coating section 60 by air pressure, pressure adjusting units 35b, 45b that adjust the air pressure Pa, which is the pressure of the air supplied to the air cylinders 32, 42, and flow rate adjusting units 38, 48 that adjust the air flow rate Fa, which is the flow rate of air discharged from the air cylinders 32, 42, and the control unit 80 can execute adjustment control CA that adjusts the air flow rate Fa by the flow rate adjusting units 38, 48 and adjusts the air pressure Pa by the pressure adjusting units 35b, 45b based on the device temperature Td. As described above, when the temperature of the air cylinders 32, 42 fluctuates, the moving speed of the object 28 fluctuates. Therefore, there was a risk that the thickness of the coating film formed on the object 65 would be unstable. In contrast, in this embodiment, the control unit 80 adjusts the air flow rate Fa and the air pressure Pa based on the device temperature Td, so that fluctuations in the moving speed of the target object 28 can be suppressed even if the temperatures of the air cylinders 32, 42 fluctuate. Therefore, the thickness of the coating film formed on the target object 65 can be stabilized.

[0083] As shown in FIG. 8, the opening degree Va and the air flow rate Fa of the flow rate adjustment unit 38, 48 have a nonlinear relationship, and the change in the air flow rate Fa relative to the change in the opening degree Va may be locally large. Therefore, when the moving speed of the target object 28 is adjusted only by adjusting the opening degree Va, the difference between the air pressure in the first space 33a, 43a of the air cylinder 32, 42 and the air pressure in the second space 33b, 43b may fluctuate suddenly, making it difficult to stabilize the moving speed of the target object 28. In contrast, in this embodiment, the control unit 80 adjusts the air pressure Pa by the pressure adjustment unit 35b, 45b while adjusting the opening degree Va to adjust the air flow rate Fa. As shown in FIG. 9, the supply air flow rate Fb, which is the flow rate of air supplied from the pressure adjustment unit 35b, 45b to the air cylinder 32, 42, is directly proportional to the air pressure Pa. Therefore, it is easy to stabilize the change in the supply air flow rate Fb relative to the change in the air pressure Pa. Therefore, in this embodiment, in the adjustment control CA, the control unit 80 adjusts both the air flow rate Fa and the air pressure Pa, so that it is easy to suppress a sudden change in the difference between the air pressure in the first space 33a, 43a and the air pressure in the second space 33b, 43b of the air cylinder 32, 42. Therefore, since it is easy to suppress a sudden change in the difference between the air pressure in the first space 33a, 43a and the air pressure in the second space 33b, 43b, it is easy to stabilize the moving speed of the object 28. Therefore, even if the temperature of the air cylinder 32, 42 fluctuates, the thickness of the coating film formed on the coated object 65 can be stabilized.

[0084] According to this embodiment, the control unit 80 executes the adjustment control CA when the difference between the device temperature Tp when the previous adjustment control CA was executed and the device temperature Td measured by the temperature sensor 85 is equal to or greater than the adjustment control execution temperature Tc. When the difference between the device temperature Tp when the previous adjustment control was executed and the device temperature Td measured by the temperature sensor 85 is smaller than the adjustment control execution temperature Tc, even if the flow rate adjustment units 38, 48 and the pressure adjustment units 35b, 45b are controlled based on the target opening Vg and the target air pressure Pg set in the previous adjustment control CA, the difference between the movement required time tm1, tm2 of the object 28 and the movement target time tg1, tg2 is small. In this embodiment, the adjustment control CA is not executed when the difference between the device temperature Tp when the previous adjustment control CA was executed and the device temperature Td measured by the temperature sensor 85 is smaller than the adjustment control execution temperature Tc, so that the adjustment time of the coating device 10 can be suppressed from increasing. Therefore, the productivity of the coating device 10 can be suppressed from decreasing.

[0085] In this embodiment, as described above, the adjustment control CA is executed when the difference between the device temperature Tp when the previous adjustment control CA was executed and the device temperature Td detected by the temperature sensor 85 is equal to or greater than the adjustment control execution temperature Tc. However, regardless of the device temperature Td detected by the temperature sensor 85, the movement times tm1 and tm2 required for the object 28 may be measured, and the adjustment control CA may be executed when the movement times tm1 and tm2 deviate from the movement target times tg1 and tg2 by equal to or greater than the target difference time tdg. Even in this case, the movement speed of the object 28 can be stabilized by executing the adjustment control CA. Therefore, the thickness of the coating film formed on the workpiece 65 can be stabilized.

[0086] According to this embodiment, the control unit 80 executes the adjustment control CA based on a plurality of required movement time tables Tb that define the relationship between both the opening degree Va and air pressure Pa of the flow rate adjustment units 38, 48 that are correlated with the air flow rate Fa, and the required movement times tm1, tm2. Each of the plurality of required movement time tables Tb is a table that defines the relationship between both the opening degree Va and air pressure Pa at mutually different device temperatures Td, and the required movement times tm1, tm2. In the adjustment control CA, the control unit 80 executes a first adjustment control C1 that determines each of the target opening degree Vg and the target air pressure Pg based on the movement target times tg1, tg2, using the required movement time table Tb of the device temperature Td that has the smallest difference from the device temperature Td detected by the temperature sensor 85. Therefore, the control unit 80 can determine the target opening Vg and the target air pressure Pg so as to reduce the difference between the required movement times tm1, tm2 of the object 28 and the target movement times tg1, tg2, based on the required movement time table Tb at the device temperature Td closest to the temperature of the air cylinders 32, 42. Therefore, the control unit 80 can adjust the air flow rate Fa and the air pressure Pa based on the target opening Vg and the target air pressure Pg appropriate for the device temperature Td of the air cylinders 32, 42. Therefore, even if the temperature of the air cylinders 32, 42 fluctuates, the movement speed of the object 28 can be stabilized, and therefore the thickness of the coating film formed on the workpiece 65 can be stabilized.

[0087] According to this embodiment, the adjustment control CA includes a second adjustment control C2 that further adjusts the target opening Vg and the target air pressure Pg when the difference between the movement required time tm1, tm2 and the movement target time tg1, tg2 when the air flow rate Fa and the air pressure Pa are adjusted based on the target opening Vg and the target air pressure Pg set in the first adjustment control C1 is larger than the target difference time tdg. When the operation time of the air cylinders 32, 42 increases, or when the coating device 10 has not been operated for a long period since it was last operated, the movement speed of the target object 28 may fluctuate. This is considered to be due to the fact that the frictional force between the pistons 34, 44 and the housings 33, 43 fluctuates due to the deterioration of the sealing members 34a, 44a and the lubricant over time. 8, the relationship between the opening degree Va and the air flow rate Fa is nonlinear, and when the opening degree Va is in the range of 4.0 or more and 5.0 or less, the amount of change in the air flow rate Fa relative to the amount of change in the opening degree Va becomes locally large, so that when the target opening degree Vg is in that range, the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 tends to be larger than the target difference time tdg. Therefore, even if the target opening degree Vg and the target air pressure Pg are determined based on the required movement time table Tb in the first adjustment control C1, the required movement times tm1, tm2 may deviate significantly from the target movement times tg1, tg2. In contrast, in this embodiment, when the difference between the required movement times tm1, tm2 of the object 28 and the movement target times tg1, tg2 at the air flow rate Fa and air pressure Pa adjusted based on the target opening Vg and target air pressure Pg set in the first adjustment control C1 is greater than the target difference time tdg, the target opening Vg and target air pressure Pg are further adjusted in the second adjustment control C2, so that the difference between the required movement times tm1, tm2 and the movement target times tg1, tg2 can be made smaller than the target difference time tdg. This makes it possible to stabilize the thickness of the coating film formed on the workpiece 65.

[0088] The control unit 80 may correct the multiple required movement time tables Tb based on the difference between the target opening degree Vg and the target air pressure Pg determined in the first adjustment control C1 and the target opening degree Vg and the target air pressure Pg determined in the second adjustment control C2. This allows the required movement time table Tb to be corrected according to the state of the air cylinders 32, 42 after a long period of operation, etc., so that the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 at the target opening degree Vg and the target air pressure Pg determined in the first adjustment control C1 can be reduced. Therefore, the opportunity to execute the second adjustment control C2 can be reduced, so that the adjustment time of the coating device 10 can be more appropriately prevented from increasing. Therefore, the productivity of the coating device 10 can be more appropriately prevented from decreasing.

[0089] According to this embodiment, the multiple movement time required tables Tb include a first required time table Tb1 that defines the relationship of the movement time tm1 of the first moving device 30 to the opening degree Va and air pressure Pa at different device temperatures Td, and a second required time table Tb2 that defines the relationship of the movement time tm2 of the second moving device 40 to the opening degree Va and air pressure Pa at different device temperatures Td. The weight of the coating section 60 moved by the first moving device 30 is different from the weight of the workpiece 65 moved by the second moving device 40. In addition, since the first direction D1 and the second direction D2 are mutually intersecting directions, the relationship of the gravitational direction of the coating section 60 to the first direction D1 in which the first moving device 30 moves the coating section 60 is different from the relationship of the gravitational direction of the workpiece 65 to the second direction D2 in which the second moving device 40 moves the workpiece 65. Therefore, when the target opening degree Vg and the target air pressure Pg of the first moving device 30 and the second moving device 40 are determined based on the same required movement time table Tb, there is a risk that the required movement times tm1 and tm2 of the first moving device 30 and the second moving device 40 may differ. In contrast, in this embodiment, the target opening degree Vg and the target air pressure Pg of the first moving device 30 can be determined based on the first required time table Tb1 optimized for the first moving device 30, and the target opening degree Vg and the target air pressure Pg of the second moving device 40 can be determined based on the second required time table Tb2 optimized for the second moving device 40. Therefore, the difference between the required movement times tm1 and tm2 of the coating section 60 and the workpiece 65 and the target movement times tg1 and tg2 can be reduced, so that the thickness of the coating film formed on the workpiece 65 can be more suitably stabilized.

[0090] According to this embodiment, the second direction D2 is oriented in a horizontal direction perpendicular to the vertical direction (Z-axis direction), the first direction D1 is oriented in a direction inclined from the horizontal direction, and the first required time table Tb1 has a first table Tba that defines a relationship of the required movement time tm1+ with respect to the opening degree Va and the air pressure Pa when moving the coating unit 60 toward one side (+D1 side) of the first direction D1, and a second table Tbb that defines a relationship of the required movement time tm1- with respect to the opening degree Va and the air pressure Pa when moving the coating unit 60 toward the other side (-D1 side) of the first direction D1. The relationship of the gravity direction of the coating unit 60 with respect to the moving direction of the coating unit 60 when the first moving device 30 moves the coating unit 60 to one side of the first direction is different from the relationship of the gravity direction of the coating unit 60 with respect to the moving direction of the coating unit 60 when the first moving device 30 moves the coating unit 60 to the other side of the first direction D1. Therefore, if the target opening degree Vg and the target air pressure Pg when the first moving device 30 moves the coating unit 60 to one side in the first direction D1 and when the first moving device 30 moves the coating unit 60 to the other side in the first direction D1 are determined based on the same first required time table Tb1, the required movement time tm1+ when moving the coating unit 60 to one side in the first direction D1 and the required movement time tm1- when moving the coating unit 60 to the other side in the first direction D1 may differ from each other. In contrast, in this embodiment, the target opening degree Vg and the target air pressure Pg of the first moving device 30 can be determined based on the first table Tba optimized when the first moving device 30 moves the coating unit 60 to one side in the first direction D1 and the second table Tbb optimized when the first moving device 30 moves the coating unit 60 to the other side in the first direction D1. Therefore, the difference between the required movement times tm1+, tm1- and the target movement times tg1+, tg1- can be more suitably reduced regardless of the direction in which the first moving device 30 moves the coating unit 60. Therefore, the thickness of the coating film formed on the workpiece 65 can be more suitably stabilized.

[0091] According to this embodiment, the control method of the coating device 10 is a control method of a coating device in which the moving device 25 has the air cylinders 32, 42 that reciprocate the object 28 by the air pressure, the pressure adjusting units 35b, 45b that adjust the air pressure Pa, and the flow rate adjusting units 38, 48 that adjust the air flow rate Fa, and the control unit 80 adjusts the air flow rate Fa by the flow rate adjusting units 38, 48 and adjusts the air pressure Pa by the pressure adjusting units 35b, 45b based on the device temperature Td. Therefore, as described above, in this embodiment, in addition to adjusting the air flow rate Fa by the flow rate adjusting units 38, 48, the air pressure Pa can be adjusted by the pressure adjusting units 35b, 45b. This makes it easy to suppress a sudden change in the difference between the air pressure in the first space 33a, 43a and the air pressure in the second space 33b, 43b, and therefore makes it easy to stabilize the moving speed of the object 28. Therefore, even if the temperatures of the air cylinders 32, 42 fluctuate, the thickness of the coating film formed on the workpiece 65 can be stabilized.

[0092] According to this embodiment, the control method for the coating device 10 includes a first adjustment control C1 in which the control unit 80 adjusts the opening degree Va and the air pressure Pa based on a plurality of required movement time tables Tb. In the first adjustment control C1, the control unit 80 determines the target opening degree Vg and the target air pressure Pg based on the movement target times tg1, tg2, respectively, using the required movement time table Tb for the device temperature Td having the smallest difference from the device temperature Td detected by the temperature sensor 85. Therefore, as described above, the control unit 80 can determine the target opening degree Vg and the target air pressure Pg so that the difference between the required movement times tm1, tm2 of the object 28 and the movement target times tg1, tg2 is small, based on the required movement time table Tb at the device temperature Td closest to the temperature of the air cylinders 32, 42. Therefore, even if the temperature of the air cylinders 32, 42 fluctuates, the movement speed of the object 28 can be stabilized, and therefore the thickness of the coating film formed on the workpiece 65 can be stabilized.

[0093] According to this embodiment, the control method for the coating device 10 includes a second adjustment control C2 for further adjusting the target opening Vg and the target air pressure Pg when the difference between the movement required time tm1, tm2 and the movement target time tg1, tg2 when the control unit 80 adjusts the air flow rate Fa and the air pressure Pa based on the target opening Vg and the target air pressure Pg set in the first adjustment control C1 is larger than the target difference time tdg. As described above, when the operation time of the air cylinders 32, 42 increases or when the coating device 10 has not been operated for a long period since it was last operated, the movement speed of the object 28 fluctuates, and the movement required time tm1, tm2 may significantly deviate from the movement target time tg1, tg2 even if the target opening Vg and the target air pressure Pg are determined based on the movement required time table Tb in the first adjustment control C1. In contrast, in this embodiment, the second adjustment control C2 further adjusts the target opening degree Vg and the target air pressure Pg, so that the difference between the required movement times tm1, tm2 and the target movement times tg1, tg2 can be made smaller than the target difference time tdg. This makes it possible to stabilize the thickness of the coating film formed on the workpiece 65.

[0094] The present invention is not limited to the above-described embodiment, and other configurations and methods may be adopted within the scope of the technical concept of the present invention. For example, the coating device may have a first moving device that reciprocates the workpiece in a first direction, and a second moving device that reciprocates the coating unit in a second direction. The first direction D1 may be parallel to the vertical direction. The first direction may be a horizontal direction, and the second direction may be inclined from the horizontal direction. The coating device may not have either the first moving device or the second moving device. In this case, the thickness of the coating film formed on the workpiece may be stabilized by reciprocating either the coating unit or the workpiece.

[0095] The movement required time table may be a table that defines the relationship between both the air flow rate and the air pressure and the movement required time, in which case the control unit adjusts the opening degree of the flow rate adjustment unit based on the target air flow rate. Also, the multiple required time tables may not have, for example, a second required time table, in which case the control unit determines the target opening degree and target air pressure of each of the first moving device and the second moving device based on the first required time table. Also, the first required time table may not have, for example, a second table, in which case the control unit determines the target opening degree and target air pressure of the first moving device based on the first table, regardless of the movement direction of the coating unit.

[0096] Furthermore, the number of position detection sensors that the moving device has, the arrangement of the position detection sensors, and the like are not limited to those in this embodiment. For example, the moving device may have three or more position detection sensors. [Explanation of symbols]

[0097] 10 Painting equipment 25 Mobile Devices 28 Objects 30 1st mobile device 32,42 Air cylinder 35b,45b Pressure regulating part 38,48 Flow rate adjustment part 38a,48a Speed ​​controller 38b,48b Opening adjustment part 38d,48d motor 40 Second mobile device 60 Painting Department 65 Object to be coated 80 Control section 85 Temperature Sensor CA Adjustment Control C1 First adjustment control C2 Second adjustment control D1 1st direction D2 2nd direction Fa Air flow rate Air pressure (Pa) Pg Target air pressure Tb Travel time table Tb1 First travel time table Tb2 Second required time table Tba Table 1 Tbb Table 2 Tc Adjustment control execution temperature Td device temperature tdg Target differential time tg1,tg2 Travel target time tm1,tm2 Travel time required Va opening Vg Target opening

Claims

1. A coating section that coats the object to be coated; A moving device that moves at least one of the object to be coated and the coating portion back and forth; a temperature sensor for measuring a device temperature, which is at least one of a temperature of the moving device and a temperature of an atmosphere around the moving device; A control unit; Equipped with The moving device is an air cylinder that reciprocates the object by air pressure; a pressure adjusting unit that adjusts the air pressure, which is the pressure of the air supplied to the air cylinder; a flow rate adjusting unit that adjusts an air flow rate, which is a flow rate of at least one of the air supplied to the air cylinder and the air discharged from the air cylinder; having The control unit is capable of executing adjustment control to adjust the air flow rate by the flow rate adjustment unit and adjust the air pressure by the pressure adjustment unit, based on the apparatus temperature.

2. The coating device according to claim 1 , wherein the control unit executes the adjustment control when a difference between the device temperature when the adjustment control was executed last time and the device temperature measured by the temperature sensor is equal to or greater than an adjustment control execution temperature.

3. 2. The coating apparatus according to claim 1, wherein the control unit causes the moving device to perform a reciprocating motion to move the object back and forth, and performs the adjustment control when a required movement time, which is a time required for the reciprocating motion, deviates from a target movement time, which is a target time required for the reciprocating motion, by a target difference time or more.

4. 2. The coating apparatus according to claim 1, wherein the control unit is capable of executing a first adjustment control in the adjustment control, which controls the flow rate adjustment unit and the pressure regulating unit so that a first control amount for adjusting the air flow rate by the flow rate adjustment unit is minimized.

5. the control unit executes the adjustment control based on a plurality of required movement time tables that define a relationship between both the opening degree of the flow rate adjustment unit and the air pressure, which are correlated with the air flow rate, and a required movement time, which is a time required for a reciprocating motion to reciprocate the object; each of the plurality of required movement time tables is a table that defines a relationship between the opening degree and the air pressure and the required movement time at each of the device temperatures that are different from each other; 5. The coating device according to claim 1, wherein in the adjustment control, the control unit executes a first adjustment control to determine a target opening degree, which is a target opening degree, and a target air pressure, which is a target air pressure, based on a target movement time, which is a target time required for the reciprocating movement, using the movement required time table for the device temperature having the smallest difference from the device temperature detected by the temperature sensor.

6. 6. The coating device according to claim 5, wherein the adjustment control includes a second adjustment control that further adjusts the target opening and the target air pressure when a difference between the required movement time and the target movement time when the air flow rate and the air pressure are adjusted based on the target opening and the target air pressure set in the first adjustment control is larger than a target difference time.

7. A plurality of the moving devices are provided, The coating apparatus according to claim 5, wherein the plurality of moving devices include a first moving device that reciprocates the coating section in a first direction, and a second moving device that reciprocates the workpiece in a second direction that intersects with the first direction.

8. The plurality of travel time tables include a first required time table that defines a relationship between the opening degree and the air pressure at different device temperatures and the required movement time of the first moving device; a second required time table that defines a relationship between the opening degree and the air pressure at different device temperatures and the required movement time of the second movement device; The coating apparatus of claim 7 .

9. the second direction is oriented in a horizontal direction perpendicular to a vertical direction, and the first direction is oriented in a direction inclined from the horizontal direction; 9. The coating device according to claim 8, wherein the first required time table has a first table that defines a relationship between the opening and the air pressure when moving the coating unit toward one side in the first direction and the required movement time, and a second table that defines a relationship between the opening and the air pressure when moving the coating unit toward the other side in the first direction and the required movement time.

10. The flow rate adjusting unit has a speed controller and a motor, The coating device according to claim 1 , wherein the control unit drives an opening adjustment unit of the speed controller by the motor to adjust the opening of the speed controller.

11. The coating apparatus of claim 10, wherein the motor is one of a stepping motor and a servo motor.

12. A method for controlling a coating apparatus comprising: a coating section which coats a workpiece, a moving device which moves at least one of the workpiece and the coating section back and forth, a temperature sensor which measures an apparatus temperature which is at least one of the temperature of the moving device and the temperature of an atmosphere around the moving device, and a control section, wherein the moving device has an air cylinder which moves the workpiece back and forth by air pressure, a pressure regulating section which adjusts an air pressure which is the pressure of the air supplied to the air cylinder, and a flow rate regulating section which adjusts an air flow rate which is the flow rate of at least one of the air supplied to the air cylinder and the air discharged from the air cylinder, The control unit adjusts the air flow rate by the flow rate adjustment unit and adjusts the air pressure by the pressure adjustment unit based on the apparatus temperature.

13. the control unit includes a first adjustment control that adjusts the opening degree and the air pressure based on a plurality of required movement time tables that define a relationship between both the opening degree of the flow rate adjustment unit and the air pressure, which are correlated with the air flow rate, and a required movement time that is a time required for a reciprocating motion to reciprocate the object, each of the plurality of required movement time tables is a table that defines a relationship between the opening degree and the air pressure and the required movement time at each of the device temperatures that are different from each other; 13. The control method for a coating device according to claim 12, wherein in the first adjustment control, the control unit determines the target opening, which is the target opening, and the target air pressure, which is the target air pressure, based on a target movement time, which is a target time required for the reciprocating movement, using the movement required time table for the device temperature having the smallest difference from the device temperature detected by the temperature sensor.

14. 14. The control method for a coating apparatus according to claim 13, further comprising a second adjustment control in which the control unit further adjusts the target opening and the target air pressure when a difference between the required movement time and the target movement time when adjusting the air flow rate and the air pressure based on the target opening and the target air pressure set in the first adjustment control is larger than a target difference time.

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