Liquid coating device and capping method

Abstract

To suppress generation of a gap between a coating part and a cap member.SOLUTION: A liquid coating device includes: a coating part 1 which is supported in a cantilevered manner through a support member 30, and coats a liquid onto an object; a cap member 41 for covering at least a part of the coating part 1; a pushing member 46 for pushing the coating part 1 against the cap member 41 in a direction crossing an extension direction of the support member 30; and a driving mechanism for driving the pushing member.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to a liquid application apparatus and a capping method. [Background technology]

[0002] In a liquid application device that applies liquid to an object, at least a portion of the application section to which the liquid is supplied is covered with a cap member for the purpose of preventing the application section from drying out and for the purpose of protecting or cleaning the application section.

[0003] For example, Patent Document 1 (JP 2022-137548 A) discloses a configuration in which a head fixed to the tip of a robot arm is moved above the cap portion and capped by bringing the head close to the cap portion in the normal direction to the nozzle surface.

[0004] In the case where the application part is supported in a cantilever manner via a support member, when the application part is pressed against the cap member during capping, the support member may bend due to the pressing force or reaction force at that time. In such a case, a gap may be generated between the application part and the cap member due to the bending of the support member, and it may be difficult to achieve good adhesion between the application part and the cap member. Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to suppress the occurrence of a gap between the application part and the cap member. [Means for solving the problem]

[0006] In order to solve the above problems, the liquid application device of the present invention is characterized in that it comprises an application section that is cantilevered via a support member and applies liquid to an object, a cap member that covers at least a portion of the application section, a pressing member that presses the application section against the cap member in a direction intersecting the extension direction of the support member, and a drive mechanism that drives the pressing member. Effect of the Invention

[0007] According to the present invention, the occurrence of a gap between the application part and the cap member can be suppressed. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an overall configuration of a liquid application apparatus according to a first embodiment of the present invention. [Diagram 2] 5A and 5B are diagrams showing a more specific configuration of a liquid supply unit according to the first embodiment of the present invention. [Diagram 3] FIG. 2 is a perspective view of an application unit according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a cross-sectional view of an application part according to the first embodiment of the present invention. [Diagram 5] 3A to 3C are diagrams showing a support structure of the application unit according to the first embodiment of the present invention. [Figure 6] FIG. 2 is a diagram showing a schematic configuration of a maintenance and recovery unit according to the first embodiment of the present invention. [Figure 7] FIG. 4 is a diagram illustrating a maintenance recovery operation according to the first embodiment of the present invention. [Figure 8] FIG. 4 is a diagram illustrating a maintenance recovery operation according to the first embodiment of the present invention. [Figure 9] FIG. 13 is a reference diagram for explaining problems that may arise during capping. [Figure 10] FIG. 2 is a perspective view of a maintenance and recovery unit according to the first embodiment of the present invention. [Figure 11] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 12] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 13] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 14] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 15] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 16] 5A and 5B are diagrams illustrating a capping operation of a maintenance recovery unit according to the first embodiment of the present invention. [Figure 17] 13A and 13B are diagrams illustrating an example in which a pressing member is pressed against an application portion. [Figure 18] FIG. 11 is a diagram showing a configuration of a maintenance and recovery unit according to a second embodiment of the present invention. [Figure 19] 13A and 13B are diagrams illustrating a capping operation of a maintenance recovery unit according to a second embodiment of the present invention. [Figure 20] FIG. 13 is a diagram showing a configuration of a maintenance and recovery unit according to a third embodiment of the present invention. [Figure 21] FIG. 13 is a diagram showing a configuration of a maintenance and recovery unit according to a fourth embodiment of the present invention. [Figure 22] FIG. 13 is a diagram showing a configuration of a maintenance and recovery unit according to a fifth embodiment of the present invention. [Figure 23] FIG. 13 is a diagram showing a configuration of a maintenance and recovery unit according to a sixth embodiment of the present invention. [Figure 24] 13A and 13B are diagrams showing an example in which the applicator rotates during capping. [Diagram 25] 25 is a diagram showing a state in which the applicator part is pressed against the cap member by a pressing member in the example of FIG. 24. FIG. [Figure 26] 13A and 13B are diagrams illustrating an example in which a plurality of application units are provided on a support member. [Figure 27] 27 is a diagram showing a state in which the applicator part is pressed against the cap member by a pressing member in the example of FIG. 26. FIG. [Figure 28] 13A and 13B are diagrams illustrating an example in which a cap member is cantilevered via a support member. [Figure 29]29 is a diagram showing a state in which the cap member is pressed against the applicator by a pressing member in the example of FIG. 28. FIG. [Diagram 30] FIG. 2 is a diagram showing an example of a coating device having a small first coating unit and a large second coating unit. [Diagram 31] 31 is a plan view showing a state in which the second application part is capped in the example of FIG. 30. FIG. [Diagram 32] 31 is a side view showing a state in which the second applicator part is capped in the example of FIG. 30. FIG. [Diagram 33] 13A and 13B are diagrams illustrating an example in which the support member extends in the vertical direction and the application part and the cap member are pressed in the horizontal direction. [Diagram 34] FIG. 13 is a diagram showing an example in which the application unit is an application roller. [Diagram 35] FIG. 4 is a perspective view of a maintenance recovery unit that caps the application roller. [Diagram 36] 11A and 11B are diagrams illustrating a state in which the applying roller is pressed against the cap member by the pressing member. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The present invention will be described below with reference to the accompanying drawings. In each drawing for explaining the present invention, components such as members and components having the same function or shape are given the same reference numerals as far as they can be distinguished, and the description thereof will be omitted after it has been described once.

[0010] <Overall configuration of liquid application device> First, the overall configuration of a liquid application apparatus according to a first embodiment of the present invention will be described with reference to FIG.

[0011] Here, as an example of the liquid application device, a coating device 100 that applies liquid to the body of an automobile, which is an object 200, to paint the body is shown. Note that the object 200 may be an aircraft body, a ship hull, or any other three-dimensional structure, in addition to the body of an automobile.

[0012] As shown in FIG. 1, a painting apparatus 100 according to a first embodiment of the present invention includes four painting robots 2.

[0013] Each painting robot 2 has a base 10 placed on a floor or the like, a first arm 11 provided on the base 10, a second arm 12 connected to the first arm 11, and a head unit 13 provided at the tip of the second arm 12. The first arm 11 and the second arm 12 of the painting robot 2 are robot arms rotatably and swingably connected via a joint, and function as a moving mechanism that moves the head unit 13 to a desired position by rotating or swinging the arms. Note that the moving mechanism that moves the head unit 13 may be a linear actuator that moves the head unit 13 linearly in one direction or in two or three directions perpendicular to each other, in addition to the robot arm.

[0014] Specifically, the first arm 11 is provided to be rotatable in the direction of arrow A in Fig. 1 relative to the base part 10 and swingable in the direction of arrow B. The second arm 12 is provided to be rotatable in the direction of arrow C in Fig. 1 relative to the tip of the first arm 11 and swingable in the direction of arrow D. The head unit 13 is attached to be rotatable in the direction of arrow E in Fig. 1 relative to the tip of the second arm 12 and swingable in the direction of arrow F. The number of painting robots 2 is not limited to four, and may be one, two, three, five or more.

[0015] The head unit 13 has an applicator 1 that applies liquid, and a position detector 3 that detects the position of the object 200. The applicator 1 also has a plurality of nozzles that eject the liquid. The position detector 3 is attached to the tip of the second arm 12 integrally with the applicator 1. The position detector 3 includes, for example, a stereo camera that detects three-dimensional position information of three or more feature points on the object 200. The stereo camera has a plurality of cameras. The position detector 3 acquires a distance image of the object 200 by a triangulation method based on the parallax between images captured by the plurality of cameras.

[0016] Moreover, the coating apparatus 100 according to the first embodiment of the present invention includes a liquid supply unit 4, a maintenance and recovery unit 40, and a control unit 5 in addition to the coating robot 2.

[0017] The liquid supply unit 4 has a liquid storage unit 6 and an air supply unit 7. The liquid storage unit 6 is, for example, a tank that stores a liquid 8 such as paint inside. The air supply unit 7 is a compressor that supplies air to the liquid storage unit 6. When air is supplied from the air supply unit 7 to the liquid storage unit 6, the liquid storage unit 6 is pressurized, and the liquid 8 in the liquid storage unit 6 is supplied to the application unit 1 and is discharged from the nozzle of the application unit 1 as droplets. In addition to droplets, the application unit 1 can also discharge the liquid in a filament shape. In FIG. 1, only a path for supplying the liquid 8 from the liquid storage unit 6 to one application unit 1 is shown, but the liquid 8 is supplied from the liquid storage unit 6 to all application units 1 in the same way. In addition, a plurality of liquid storage units 6 that store liquids of different colors or types may be prepared so that the color or type of liquid can be switched and supplied to each application unit 1.

[0018] The maintenance and recovery unit 40 has a capping means and a cleaning means for maintaining and recovering the function of the application unit 1. The maintenance and recovery unit 40 is provided for each painting robot 2. If the next painting is not performed for a while after painting, or if the liquid is switched to a different color or type for painting, the maintenance and recovery operation is performed by the maintenance and recovery unit 40 after the previous painting is completed. Specifically, the nozzle surface of the application unit 1 is capped, and the residual liquid adhering to the application unit 1 is washed away with a cleaning liquid. This makes it possible to prevent the nozzle from clogging due to the drying of the residual liquid, and also makes it possible to prevent the residual liquid from adhering to the target object when the liquid is switched for painting.

[0019] The control unit 5 controls the operation of each painting robot 2 and the discharge operation of each application unit 1 based on the shape data of the object 200 and the image data of the painting, which are input in advance, as well as the position information of the object 200 detected by the position detection unit 3. As a result, the head unit 13 is moved along the shape of the object 200, and the liquid is applied from the application unit 1 to the surface of the object 200. The control unit 5 also controls the operation of the maintenance and recovery unit 40. Note that, although FIG. 1 shows only a signal line from the control unit 5 to one painting robot 2, one application unit 1, and one maintenance and recovery unit 40, and a signal line from one position detection unit 3 to the control unit 5, the control unit 5 controls the operation of all painting robots 2, all application units 1, and all maintenance and recovery units 40, and receives detection signals from all position detection units 3.

[0020] FIG. 2 is a diagram showing a more specific configuration of the liquid supply section 4 according to the first embodiment of the present invention.

[0021] As shown in FIG. 2, the liquid supply unit 4 has a liquid storage unit 6, an air supply unit 7, and a plurality of air regulators 9. The air regulator 9 is provided in an air flow path 111 that connects the air supply unit 7 and the plurality of liquid storage units 6. The air regulator 9 adjusts the air pressure sent from the air supply unit 7 to each liquid storage unit 6. In addition, the plurality of liquid storage units 6 are individually connected to each application unit 1 via an air flow path 112. Therefore, when the inside of each liquid storage unit 6 is pressurized, the liquid 8 is supplied from each liquid storage unit 6 to each application unit 1. Note that the liquid storage unit 6 does not have to be provided for each application unit 1, and may be a single liquid storage unit provided in common to all application units 1.

[0022] <Configuration of application unit> Next, the configuration of the applicator 1 according to the first embodiment of the present invention will be described with reference to Fig. 3 and Fig. 4. Fig. 3 is a perspective view of the applicator 1 according to the first embodiment of the present invention, and Fig. 4 is a cross-sectional view of the applicator 1 according to the first embodiment of the present invention.

[0023] As shown in FIG. 3, the applicator unit 1 has a housing 20, and a supply port 21 and a recovery port 22 provided in the housing 20.

[0024] As shown in FIG. 4, a plurality of discharge modules 23 are arranged in one or more rows inside the housing 20. Each discharge module 23 has a nozzle plate 25, a nozzle valve 26, a piezoelectric element 27, and a liquid flow path 28. The nozzle plate 25 is provided with a nozzle 24 for discharging liquid for each discharge module 23. The nozzle 24 is configured to be openable and closable by the nozzle valve 26. The piezoelectric element 27 is a driving means that expands and contracts when a voltage is applied to drive the nozzle valve 26 to open and close. The liquid flow paths 28 communicate with each other between the discharge modules 23, forming a common flow path. The liquid flow path 28 also communicates with the supply port 21 and the recovery port 22.

[0025] When liquid is supplied from supply port 21 into housing 20 with the valve of recovery port 22 closed, the liquid flows into liquid flow path 28 and is pressurized. At this time, if no voltage is applied to piezoelectric element 27, nozzle 24 is closed by nozzle valve 26, so no liquid is ejected from nozzle 24. On the other hand, when voltage is applied to piezoelectric element 27, nozzle valve 26 is driven to open nozzle 24, causing liquid to be ejected from nozzle 24. Furthermore, liquid not ejected from nozzle 24 is discharged to the outside via recovery port 22.

[0026] <Support structure of application part> FIG. 5 shows a support structure of the applicator part 1 according to the first embodiment of the present invention.

[0027] As shown in FIG. 5, the coating unit 1 is supported in a cantilever manner on the tip of the second arm 12 of the painting robot 2 via a support member 30. The term "cantilever support" as used herein refers to a state in which one end 30a of the support member 30 is fixed to the second arm 12, and the coating unit 1 is held by a free end 30b opposite to the one end 30a of the support member 30. The support member 30 is a plate-like member formed in a rectangular shape or the like, and is provided so as to extend from the one end 30a fixed to the second arm 12 toward the free end 30b. The support member 30 may have a shape other than a plate shape, such as a rod shape. In addition, a communication board 31 that sends an electric signal to the coating unit 1 and a tube 32 that supplies liquid to the coating unit 1 are connected to the coating unit 1.

[0028] In this way, in the first embodiment of the present invention, since the applicator 1 is supported by the support member 30, painting can be performed well on an object 200 having a complex structure, such as a vehicle body. That is, since the applicator 1 is provided so as to protrude from the tip of the second arm 12 via the plate-shaped support member 30, even if the object 200 has a complex structure, the applicator 1 can enter a narrow place, and the applicator 1 can approach the object 200 while avoiding interference with the object 200. Therefore, painting can be performed well even in places where it is difficult to paint.

[0029] <Maintenance and Recovery Department Structure> Fig. 6 shows a schematic configuration of a maintenance and recovery unit 40 according to a first embodiment of the present invention. In Fig. 6, the direction of the arrow X indicates the horizontal direction, and the direction of the arrow Z indicates the vertical direction.

[0030] As shown in FIG. 6, the maintenance recovery unit 40 includes a cap member 41, a cleaning means 42, a drying means 43, and the like. The cap member 41 includes a cap body 50 formed in a concave shape, and a seal portion 51 provided over the entire edge of the opening 50a of the cap body 50. The seal portion 51 is made of an elastic body such as rubber. The cleaning means 42 and the drying means 43 are disposed within the cap body 50. The cleaning means 42 includes a cleaning nozzle 52 for discharging a cleaning liquid. The drying means 43 includes a drying nozzle 53 for blowing dry air such as hot air. The dry air may be cold air as well as hot air. A waste liquid flow path 54 for discharging the cleaning liquid from the cap body 50 to a waste liquid tank is provided at the bottom of the cap body 50.

[0031] When the function of the application unit 1 is maintained and restored by the maintenance and recovery unit 40, first, the coating robot 2 is driven to move the application unit 1 above the cap member 41 as shown in FIG. 7. As a result, the nozzle surface 15 (nozzle plate 25 in FIG. 4) of the application unit 1 is disposed so as to face the opening 50a of the cap member 41. In this case, eight nozzles 24 are arranged on the nozzle surface 15 in the direction perpendicular to the paper surface of FIG. 7, and two rows of nozzles 24 (nozzle rows) arranged in the direction perpendicular to the paper surface are provided on the left and right. Next, as shown in FIG. 8, the application unit 1 and the cap member 41 are brought relatively close to each other, and the cap member 41 is brought into contact with the nozzle surface 15. As a result, at least a part of the nozzle surface 15 is covered by the cap member 41. Furthermore, the cap member 41 is pressed against the application unit 1, and the seal portion 51 of the cap member 41 is brought into close contact with the nozzle surface 15. As a result, the gap between the nozzle surface 15 and the cap member 41 is sealed. In this state, a cleaning liquid is sprayed from the cleaning nozzle 52 to clean the nozzle surface 15 and the nozzle 24. After that, drying air is blown from the drying nozzle 53 to dry the nozzle surface 15 and the nozzle 24. In this way, the function of the application part 1 is maintained and restored. The cleaning liquid in the cap member 41 is discharged to a waste liquid tank through a waste liquid flow path 54.

[0032] <Issues when capping> Incidentally, in the configuration in which the applicator 1 is cantilevered via the support member 30 as in the first embodiment of the present invention, while the applicator 1 can be brought close to the target object 200 to perform good coating, there is a problem in that the support member 30 is easily deflected in a direction intersecting its longitudinal direction. For this reason, as shown in Fig. 9, when the applicator 1 is pressed against the cap member 41, the support member 30 is deflected in the direction of the arrow K in the figure due to the reaction force when the applicator 1 is pressed against it or the pressing force of the cap member 41 against the applicator 1. As a result, if a gap is generated between the applicator 1 and the cap member 41, there is a risk that the cleaning liquid will leak out when the cleaning liquid is sprayed from the cleaning nozzle 52.

[0033] Furthermore, the occurrence of such a gap between the application part 1 and the cap member 41 is also a problem in a configuration in which cleaning liquid is not sprayed. For example, in a configuration in which the nozzle surface 15 and the nozzle 24 are moisturized by the cap member 41, if a gap occurs between the application part 1 and the cap member 41, the nozzle surface 15 or the nozzle 24 becomes more likely to dry out, and there is a risk that liquid such as paint remaining in the nozzle surface 15 and the nozzle 24 will harden, causing poor liquid ejection.

[0034] Therefore, in the present invention, the following capping structure and capping method are proposed to suppress the gap occurring between the application part 1 and the cap member 41 and to achieve good adhesion between the application part 1 and the cap member 41. Hereinafter, the capping structure and capping method according to the first embodiment of the present invention will be described.

[0035] <Capping structure according to the first embodiment of the present invention> Fig. 10 is a perspective view of the maintenance and recovery unit 40 according to the first embodiment of the present invention. In Fig. 10, the arrow X direction and the arrow Y direction indicate arbitrary horizontal directions perpendicular to each other, and the arrow Z direction indicates a vertical direction perpendicular to each of the horizontal directions X and Y.

[0036] As shown in FIG. 10, the maintenance recovery unit 40 includes, in addition to the cap member 41, a cap holder 44, a support base 45, a pressing member 46, a drive mechanism 47, and the like.

[0037] The cap holder 44 has a plate-shaped portion 44a to which the cap holder 44 is attached, and a housing portion 44b that is provided integrally with the plate-shaped portion 44a. In this case, the cap member 41 is attached to the plate-shaped portion 44a via a pair of elastic members 48 such as springs. Therefore, the cap member 41 is held so as to be elastically displaceable in the direction of arrow P in Fig. 10 relative to the cap holder 44. In addition, various tubes that send cleaning liquid and drying air to the cleaning nozzle 52 and drying nozzle 53 in the cap member 41 are housed in the housing portion 44b.

[0038] The support base 45 has a housing portion 45a in which the housing portion 44 of the cap holder 44 is housed, and a columnar portion 45b that is provided integrally with the housing portion 45a. A pressing member 46 is attached to the columnar portion 45b.

[0039] The pressing member 46 is an arm-like or elongated member formed to be bent at a predetermined angle. Here, the pressing member 46 is formed to be bent, but the pressing member 46 does not have to be bent. The pressing member 46 is attached so as to be rotatable in the direction of arrow Q in FIG. 10 around a rotating shaft 60 supported by the columnar portion 45b of the support base 45. In detail, a portion 460 of the pressing member 46 on one end side from the center in the longitudinal direction is fixed to the rotating shaft 60, and a portion 461 of the pressing member 46 on the other end side from the center in the longitudinal direction is configured to be swingable around the rotating shaft 60.

[0040] In addition to the pressing member 46, the cap holder 44 is also attached to the rotating shaft 60. More specifically, a portion 440 on one end side of the longitudinal center of the plate-shaped portion 44a of the cap holder 44 is fixed to the rotating shaft 60. Therefore, a portion 441 on the other end side of the longitudinal center of the cap holder 44 is configured to be swingable around the rotating shaft 60 in the direction of arrow R in FIG.

[0041] The driving mechanism 47 has a rotating shaft 60 that rotatably supports the pressing member 46 and the cap holder 44. In the first embodiment of the present invention, a rotary actuator that is rotationally driven by air pressure is used as the driving mechanism 47. Note that, when using a liquid that is not flammable due to electric sparks, etc., it is also possible to use an electric actuator as the driving mechanism 47.

[0042] The driving mechanism 47 has a rotating shaft 60 and a housing part 47a that rotatably holds the rotating shaft 60. The housing part 47a of the driving mechanism 47 is fixed to the columnar part 45b of the support base 45. Meanwhile, the rotating shaft 60 is supported by the housing part 47a so as to be freely rotatable with respect to the columnar part 45b. The rotating shaft 60 is composed of two shafts that separately hold the pressing member 46 and the cap holder 44 and can be rotated in opposite directions. Therefore, the pressing member 46 and the cap member 41 are configured to be rotatable in opposite directions.

[0043] A return spring 61 for returning the pressing member 46 to its original position is attached to one end of the rotating shaft 60. Furthermore, a stopper portion 62 for stopping the returned pressing member 46 at its original position is provided on the columnar portion 45b of the support base 45.

[0044] <Capping direction according to the first embodiment of the present invention> Next, the capping operation of the maintenance and recovery unit 40 according to the first embodiment of the present invention will be described.

[0045] When capping the application part 1, first, as shown in FIG. 11, the application part 1 is moved above the cap member 41, and the nozzle surface 15 of the application part 1 is positioned opposite the opening 50a of the cap member 41.

[0046] 12, in a state in which the applicator 1 is disposed above the cap member 41, the tip (the other end portion 461) of the pressing member 46 is located above the applicator 1 and waits at a position away from the movement paths of the applicator 1 and the support member 30 so as not to interfere with the applicator 1 and the support member 30. In addition, the cap holder 44 is held in a state inclined obliquely downward with respect to the horizontal direction due to its own weight.

[0047] When the driving mechanism 47 is driven from the state shown in FIG. 12, the pressing member 46 rotates counterclockwise as shown in FIG. 13, and the tip (the other end part 461) of the pressing member 46 approaches the support member 30. Here, the driving mechanism 47 rotates not only the pressing member 46 but also the cap holder 44. In this case, the cap holder 44 rotates in the opposite direction to the rotation direction of the pressing member 46, so that the tip (the other end part 441) of the cap holder 44 rotates so as to be lifted upward. However, since the rotating shaft 60 supporting the cap holder 44 is provided so as to be freely rotatable with respect to the columnar part 45b of the support base 45, even if the tip of the cap holder 44 tries to be lifted, it rotates downward due to the weight of the cap holder 44. Therefore, the cap holder 44 does not rotate in appearance and is held in its original position. Therefore, only the pressing member 46 operates to rotate.

[0048] 14, when the tip (other end portion 461) of the pressing member 46 comes into contact with the upper surface of the support member 30, the tip (other end portion 441) of the cap holder 44 operates to be lifted. That is, when the pressing member 46 comes into contact with the support member 30, the cap holder 44 is temporarily supported by the support member 30 via the pressing member 46, and the cap holder 44 is lifted by the driving force of the drive mechanism 47.

[0049] 15, the cap member 41 comes into contact with the nozzle surface 15 of the applicator 1. Then, after the cap member 41 comes into contact with the nozzle surface 15, the pressing member 46 further presses the support member 30 downward, thereby pressing the applicator 1 against the cap member 41. Furthermore, since the pressing force of the pressing member 46 is set to be greater than the elastic force of the elastic member 48 that biases the cap member 41, the applicator 1 is pressed against the cap member 41 against the elastic force of the elastic member 48. As a result, the applicator 1 and the cap member 41 come into close contact with each other, and the nozzle surface 15 is capped by the cap member 41.

[0050] Thereafter, the driving of the driving mechanism 47 is stopped, so that the nozzle surface 15 is held in the capped state, and the capping operation is completed. Note that while the pressing member 46 drives the coating part 1 to press it against the cap member 41, and while the cap member 41 is driven to be pressed against the coating part 1, the first arm 11 and the second arm 12 of the coating robot 2, which is a moving mechanism for moving the coating part 1, are not driven and are held stationary. Therefore, the coating part 1 does not shift in position relative to the cap member 41, and the capping operation is stably performed.

[0051] As described above, in the first embodiment of the present invention, when the applicator 1 is capped, the applicator 1 is pressed against the cap member 41 by the pressing member 46. This makes it possible to ensure good adhesion between the applicator 1 and the cap member 41. That is, in the first embodiment of the present invention, as shown in Fig. 16, even if the support member 30 is deflected by the pressing between the applicator 1 and the cap member 41, the applicator 1 is pressed against the cap member 41 in a direction intersecting the extension direction (longitudinal direction) of the support member 30 by the pressing member 46, so that the occurrence of a gap between the applicator 1 and the cap member 41 can be suppressed.

[0052] In particular, in the first embodiment of the present invention, as shown in FIG. 11, since the support member 30 is formed in a plate shape that is smaller in the thickness direction (arrow T direction) than in the length direction (arrow L direction) and the width direction (arrow W direction) (T < W < L), when the cap member 41 is pressed against the coating portion 1 in the thickness direction of the support member 30, the support member 30 tends to bend easily in the thickness direction. However, according to the first embodiment of the present invention, by pressing the coating portion 1 against the support member 30 in the thickness direction by the pressing member 46, the gap between the coating portion 1 and the cap member 41 can be suppressed, and the coating portion 1 and the cap member 41 can be brought into good contact with each other. Thereby, the possibility of the cleaning liquid leaking from between the coating portion 1 and the cap member 41 can be reduced, and the reliability of the maintenance and recovery function can be improved. Further, even in the maintenance and recovery unit 40 that does not inject the cleaning liquid, by applying the present invention, the coating portion 1 and the cap member 41 can be brought into good contact with each other, so that the drying of the nozzle surface 15 and the nozzle 24 can be suppressed, and problems such as poor liquid ejection can be prevented.

[0053] The object against which the pressing member 46 is pressed is not limited to the support member 30, and as shown in FIG. 17, it may be the coating portion 1. In that case, the pressing member 46 is preferably pressed on the tip side (opposite to the support member 30 side) of the central portion m of the coating portion 1 in the longitudinal direction of the support member 30. Thereby, the generation of the gap between the coating portion 1 and the cap member 41 can be more effectively suppressed. On the other hand, when the pressing member 46 is pressed against the support member 30 as in the first embodiment of the present invention, since the pressing member 46 is not pressed against the coating portion 1, there is an advantage that damage and breakage of the coating portion 1 due to the pressing member 46 being pressed can be avoided.

[0054] In the first embodiment of the present invention, the pressing member 46 and the cap holder 44 are driven by the same drive mechanism 47. That is, since the two members are driven by one drive mechanism 47, it is possible to reduce the size and cost compared to a case where each member is driven by a separate drive mechanism. Note that the pressing member 46 and the cap holder 44 may be driven by separate drive mechanisms, not limited to a case where they are driven by one drive mechanism 47.

[0055] To release the capping state of the applicator 1, the pressing force of the pressing member 46 and the pressing force of the cap member 41 may be released, for example, by depressurizing the rotary actuator of the drive mechanism 47. When the pressing force and the pressing force are released, the pressing member 46 rotates in the opposite direction to the pressing direction due to the biasing force of the return spring 61 in FIG. 10. Furthermore, the cap member 41 rotates downward due to its own weight. As a result, the pressing member 46 and the cap member 41 move away from the applicator 1, and the capping state of the applicator 1 is released. Furthermore, the pressing member 46 hits the stopper portion 62 and is held in its original position.

[0056] The method of returning the pressing member 46 to its original position is not limited to using the return spring 61, and the driving force of the rotary actuator may be used. That is, the pressing member 46 may be returned to its original position by rotating the rotary actuator in the opposite direction to the rotation direction during capping. In this case, the return spring 61 is not necessary, so that the number of parts can be reduced, leading to lower costs.

[0057] <Configuration of other embodiments> Next, another embodiment of the present invention will be described. Below, differences from the first embodiment of the present invention will be mainly described, and descriptions of the same parts will be omitted as appropriate.

[0058] FIG. 18 is a diagram showing the configuration of a maintenance and recovery unit 40 according to the second embodiment of the present invention.

[0059] In the second embodiment of the present invention, a roller 49 is rotatably provided at the tip of the pressing member 46 .

[0060] In this case, as shown in FIG. 19, when the pressing member 46 rotates to approach the support member 30, the roller 49 at the tip is pressed against the support member 30. As a result, the application part 1 is pressed against the cap member 41, so that the gap between the application part 1 and the cap member 41 can be suppressed. In addition, since the rotatable roller 49 is pressed, the support member 30 can be prevented from being scratched or damaged, and reliability is improved. In addition, since the outer circumferential surface of the roller 49 has a predetermined width, it can be pressed over a wider range than the above-mentioned embodiment. The roller 49 may be pressed against the application part 1 instead of the support member 30.

[0061] Next, FIG. 20 shows the configuration of a maintenance and recovery unit 40 according to a third embodiment of the present invention.

[0062] In the third embodiment of the present invention, an air cylinder 64 is used as the drive mechanism 47 that drives the pressing member 46. In this manner, a linear drive mechanism such as the air cylinder 64 may be used as the drive mechanism 47.

[0063] The pressing member 46 is attached integrally to the tip of a rod 65 of an air cylinder 64. Therefore, when the rod 65 is driven in the vertical direction in FIG. 20, the pressing member 46 is pressed against or separated from the applicator 1. When the applicator 1 and the cap member 41 are opposed to each other, the pressing member 46 is pressed against the applicator 1 by driving the air cylinder 64, and the applicator 1 is pressed against the cap member 41.

[0064] In this manner, also in the third embodiment of the present invention, by pressing the applicator 1 against the cap member 41, the occurrence of a gap between the applicator 1 and the cap member 41 can be suppressed, and the applicator 1 and the cap member 41 can be well adhered to each other. Moreover, when the applicator 1 is pressed against the cap member 41, it is preferable that the air cylinder 64, the applicator 1, and the cap member 41 are arranged in a line. This allows the applicator 1 to be effectively pressed against the cap member 41. The pressing member 46 may be pressed against the support member 30.

[0065] Next, FIG. 21 shows the configuration of a maintenance and recovery unit 40 according to a fourth embodiment of the present invention.

[0066] In the fourth embodiment of the present invention, a robot arm 66 that holds the pressing member 46 is used as the driving mechanism 47. The robot arm 66 has a plurality of joints 67 that can be driven to rotate.

[0067] In this case, the robot arm 66 is driven to press the pressing member 46 against the applicator 1, thereby pressing the applicator 1 against the cap member 41. As a result, also in the fourth embodiment of the present invention, it is possible to prevent a gap from being generated between the applicator 1 and the cap member 41, and to satisfactorily bring the applicator 1 and the cap member 41 into close contact with each other. The pressing member 46 may be pressed against the support member 30.

[0068] Next, FIG. 22 shows the configuration of a maintenance and recovery unit 40 according to a fifth embodiment of the present invention.

[0069] In the fifth embodiment of the present invention, the pressing member 46 is configured by a cam member 68 that is rotationally driven by the drive mechanism 47. The cam member 68 has a cam surface 68a whose distance from the rotation center O varies.

[0070] In this case, when cam member 68 rotates, cam surface 68a is pressed against applicator 1, thereby pressing applicator 1 against cap member 41. At this time, it is preferable that cam member 68, applicator 1, and cap member 41 are arranged in a line so that applicator 1 is effectively pressed against cap member 41.

[0071] In this manner, also in the fifth embodiment of the present invention, by pressing the applicator 1 against the cap member 41, it is possible to prevent the occurrence of a gap between the applicator 1 and the cap member 41, and to satisfactorily bring the applicator 1 and the cap member 41 into close contact with each other. In addition, the cam member 68 may be pressed against the support member 30.

[0072] Next, FIG. 23 shows the configuration of a maintenance and recovery unit 40 according to a sixth embodiment of the present invention.

[0073] In the sixth embodiment of the present invention, the cap member 41 is configured to be drivable in the vertical direction by an air cylinder 69. In this manner, the air cylinder 69, which is a linear drive mechanism, may be used as the drive mechanism 47 for driving the cap member 41.

[0074] In this case, the cap member 41 is pushed upward by the rod 70 of the air cylinder 69, and thereby the cap member 41 is pressed against the application part 1. Moreover, the air cylinder 69 is preferably arranged in a line with the application part 1 and the cap member 41 so that the cap member 41 can be effectively pressed against the application part 1.

[0075] <Examples of other liquid application devices> The present invention is also applicable to a liquid application apparatus having the following configuration.

[0076] 24 is a diagram showing an example in which the applicator 1 rotates during capping. In this case, the applicator 1 rotates about a rotation axis J provided on the base end side of the support member 30, and is pressed against the cap member 41 to be capped. However, if the support member 30 is bent when the applicator 1 is pressed against the cap member 41, a gap may be generated between the applicator 1 and the cap member 41.

[0077] Therefore, even in such a configuration, it is preferable to provide a pressing member 46 that presses the applicator 1 against the cap member 41, as shown in Fig. 25. This makes it possible to prevent a gap from being generated between the applicator 1 and the cap member 41, and allows the applicator 1 to be well adhered to the cap member 41.

[0078] 26, a configuration may be adopted in which a plurality of applicators 1 are provided on support member 30. In this case, when each applicator 1 is pressed against a corresponding cap member 41, there is a risk that a gap will be generated between applicator 1 arranged on the tip side of support member 30 and cap member 41.

[0079] Therefore, even in such a configuration, it is preferable to provide a pressing member 46 that presses each application part 1 against each cap member 41, as shown in Figure 27, so as to suppress the occurrence of gaps between each application part 1 and each cap member 41.

[0080] 28, the present invention is also applicable to a configuration in which cap member 41 is cantilevered via support member 30. In this case, when applicator 1 is pressed against cap member 41, support member 30 may bend, causing a gap to form between applicator 1 and cap member 41.

[0081] Therefore, the present invention is also applicable to such a configuration, and it is preferable to provide a pressing member 46 that presses the cap member 41 against the application part 1 as shown in FIG. 29. That is, the present invention is applicable to any of the first and second members, the application part 1 and the cap member 41, as long as the configuration includes a first member that is cantilevered via a support member and a second member that is pressed against the first member. In the case of the example of FIG. 29, when the application part 1 is pressed against the cap member 41, the pressing member 46 is pressed against the cap member 41, so that the cap member 41 is pressed against the application part 1 in a direction intersecting the extension direction (longitudinal direction) of the support member 30, and the occurrence of a gap between the application part 1 and the cap member 41 can be suppressed. The pressing member 46 may be pressed against the support member 30. In addition, an elastic member 48 shown in FIG. 10 and the like may be provided, and the application part 1 may be pressed against the cap member 41 by the elastic member 48.

[0082] The present invention is also applicable to a configuration including a small first coating part 1A and a large second coating part 1B as shown in FIG. 30. In this case, the first coating part 1A is composed of one coating part 1, and the second coating part 1B is composed of a collection of multiple coating parts 1. The first coating part 1A and the second coating part 1B are integrally attached to the tip of the robot arm (second arm 12) of the coating robot 2 via a support member 30. However, the second coating part 1B is attached to a position (robot arm side) closer to the base end of the support member 30 than the first coating part 1A. In addition, when the first coating part 1A and the second coating part 1B are attached to the robot arm, the nozzle surfaces 15A and 15B are arranged so as to face in different directions. In this case, the nozzle surfaces 15A and 15B are arranged so as to face in directions perpendicular to each other. The orientation of the nozzle surfaces 15A and 15B is not limited to directions perpendicular to each other, and may be arranged in intersecting directions other than perpendicular, such as when they are inclined.

[0083] In this manner, in the configuration of FIG. 30, the nozzle faces 15A and 15B of the first coating part 1A and the second coating part 1B are arranged in a direction perpendicular or intersecting with each other, so that the capping operation of each nozzle face 15A and 15B is performed at different timings with the robot arm of the coating robot 2 stationary. First, as shown in FIG. 31, the second coating part 1B is pressed and capped by the large second cap member 41B, and then the first coating part 1A is capped by pressing another small first cap member 41A from the state of FIG. 32. At this time, the operation of capping the first coating part 1A with the small first cap member 41A is the same as the capping operation in the first embodiment of the present invention shown in FIG. 12 to FIG. 15, so the description will be omitted.

[0084] When the first coating part 1A is capped, the first coating part 1A is pressed against the first cap member 41A by the pressing member 46, so that a gap between the first coating part 1A and the first cap member 41A is suppressed, and good capping is performed. In addition, when the first coating part 1A is capped, the robot arm of the painting robot 2 is not driven but is stationary, so that the relative positions of the second coating part 1B, which has been capped earlier, and the second cap member 41B can be well maintained.

[0085] Thus, the present invention is also applicable to a configuration including a second application part 1B and a second cap member 41B that are pressed in a direction intersecting the pressing direction of the first application part 1A and the first cap member 41A. That is, the present invention is also applicable to a configuration including a third member (e.g., a second application part 1B) that is provided integrally with the first member (e.g., the first application part 1A), and a fourth member (e.g., a second cap member 41B) that is pressed against the third member in a direction intersecting the pressing direction between the first member and the second member (e.g., the first cap member 41A). In addition, the first member may be the first cap member 41A, the third member may be provided integrally as the second cap member 41B, the second member may be the first application part 1A, and the fourth member may be the second application part 1B.

[0086] 33, the present invention is also applicable to a configuration in which the support member 30 extends in the vertical direction Z, and the application part 1 and the cap member 41 are pressed in the horizontal direction X. Even in such a configuration, if the support member 30 is bent during capping, there is a risk of a gap being generated between the application part 1 and the cap member 41, and therefore it is preferable to suppress the generation of the gap by applying the present invention.

[0087] The present invention is also applicable to a configuration in which the application roller 71 is provided via a support member 30 at the tip of a robot arm 72 as shown in Fig. 34. In this case, since the application roller 71 is supported at one end by the support member 30, there is a risk that when the application roller 71 is pressed against a cap member or the like, the support member 30 will bend and a gap will be generated between the two members.

[0088] Therefore, it is preferable to apply the present invention to such a configuration. For example, as shown in FIG. 35, an upper cap member 80 that covers the application roller 71 is provided on the side of the pressing member 46. When capping the application roller 71, as shown in FIG. 36, the support member 30 is pressed by the pressing member 46, and at this time, the upper cap member 80 has a recessed portion 80a so as not to interfere with the support member 30. In addition, the application roller 71 is placed on the cap member 41, and the support frame 73 of the application roller 71 contacts the seal portion 51 of the cap member 41. Here, the support frame 73 of the application roller 71 does not cover the side and upper side of the application roller 71, but the upper cap member 80 covers the side and upper side of the application roller 71 by the movement of the pressing member 46, and the application roller 71 is capped. In this way, during capping, the pressing member 46 presses the support member 30 and the application roller 71 is pressed against the cap member 41, thereby preventing the occurrence of a gap between the support frame 73 of the application roller 71 and the cap member 41 pressed by the application roller 71, and enabling the two components to be brought into good contact with each other.

[0089] The present invention is also applicable to painting for purposes other than coloring and designing the body of an automobile. For example, the painting process of an automobile body includes undercoating for the purpose of ensuring adhesion and rust resistance of the coating film to the body substrate, intermediate coating for the purpose of ensuring impact resistance and durability, and topcoating for coloring and designing. The coating device according to the present invention may be used for undercoating or intermediate coating in addition to topcoating. In addition, if there is a coating process of a protective layer such as a clear layer applied for the purpose of gloss and protection of the coating film after the topcoating process, the coating device according to the present invention may be used in the coating process of the protective layer. Furthermore, if a peelable protective layer is applied to protect the painted surface after the shipment of the automobile or in the factory, the coating device according to the present invention can also be used for the coating of the protective layer. The peelable protective layer may be any layer that can be attached to the painted surface of the automobile body and chemically or physically protect the painted part from dust, metal powder, oil, salt, acid, ultraviolet rays, etc., and is preferably formed of a material mainly composed of an acrylic copolymer agent.

[0090] The present invention can also be applied to a liquid application device that applies liquid for purposes other than painting, such as a marking device that applies liquid to an object to mark a specific location.

[0091] Furthermore, the present invention is not limited to a liquid application device that discharges liquid onto a three-dimensional structure such as a vehicle body or building material. For example, the present invention can also be applied to a liquid application device that applies liquid to a planar object such as a plate or sheet. Furthermore, the "liquid discharge device" according to the present invention may include a means for transporting the object, a pre-treatment device, and a post-treatment device.

[0092] To summarize the above-described aspects of the present invention, the present invention includes at least the following aspects.

[0093] [First aspect] The first aspect is a liquid application device comprising an application section supported in a cantilever manner via a support member and configured to apply liquid to an object, a cap member configured to cover at least a portion of the application section, a pressing member configured to press the application section against the cap member in a direction intersecting the extension direction of the support member, and a driving mechanism configured to drive the pressing member.

[0094] [Second aspect] The second aspect is a liquid application device comprising an application section that applies liquid to an object, a cap member that is cantilevered via a support member and covers at least a portion of the application section, a pressing member that presses the cap member against the application section in a direction intersecting the extension direction of the support member, and a driving mechanism that drives the pressing member.

[0095] [Third aspect] In a third aspect, in the first aspect, an elastic member is provided that presses the cap member against the application part.

[0096] [Fourth aspect] A fourth aspect is the third aspect, wherein the pressing force of the pressing member is greater than an elastic force pressing the cap member against the application portion.

[0097] [Fifth aspect] A fifth aspect is any one of the first, third, and fourth aspects, wherein the pressing member rotates and is pressed against the application portion or the support member, thereby pressing the application portion against the cap member, and the cap member rotates and is pressed against the application portion after the pressing member is pressed against the application portion or the support member.

[0098] [Sixth aspect] A sixth aspect is any one of the first, third to fifth aspects, wherein the drive mechanism rotates the pressing member and the cap member in opposite directions so as to bring them closer to each other.

[0099] [Seventh aspect] A seventh aspect is any one of the first, third to sixth aspects, wherein while the pressing member is driven to press the application portion against the cap member, and while the cap member is driven to be pressed against the application portion, a moving mechanism that moves the application portion is not driven and is stationary.

[0100] [Eighth aspect] An eighth aspect is any one of the first, third to seventh aspects, further comprising a second application part integrally formed with the application part, and a second cap member pressed against the second application part in a direction intersecting the pressing direction between the application part and the cap member, and after the second cap is pressed against the second application part, the cap member is pressed against the application part and the application part is pressed against the cap member.

[0101] [Ninth aspect] A ninth aspect is any one of the first, third to eighth aspects, wherein the support member is a plate-shaped member, and the pressing member is pressed against the plate-shaped member to press the application portion against the cap member.

[0102] [Tenth aspect] A tenth aspect is any one of the first to ninth aspects, wherein the drive mechanism is a linear drive mechanism that drives the pressing member in a linear direction.

[0103] [Eleventh aspect] An eleventh aspect is any one of the first to ninth aspects, wherein the drive mechanism is a robot arm having a plurality of joints and holding the pressing member.

[0104] [Twelfth aspect] A twelfth aspect is any one of the first to ninth aspects, wherein the pressing member is a cam member that is rotationally driven by the drive mechanism.

[0105] [Thirteenth aspect] A thirteenth aspect is a capping method in which at least a portion of an application section that applies liquid to an object is covered with a cap member, in which the application section, which is cantilevered via a support member, is faced to the cap member, and the application section or the support member is pressed by a pressing member, thereby pressing the application section against the cap member in a direction intersecting the extension direction of the support member. [Explanation of symbols]

[0106] 1 Application section 2. Painting robot 11 First arm (movement mechanism) 12 Second arm (movement mechanism) 30 Support member 41 Cap member 46 Pressing member 47 Drive Mechanism 48 Elastic Members 64 Air cylinder (linear drive mechanism) 66 Robot Arm 68 Cam member 100 Painting equipment (liquid application equipment) 200 Objects [Prior art documents] [Patent documents]

[0107] [Patent Document 1] JP 2022-137548 A

Claims

1. an application unit that is cantilevered via a support member and applies liquid to an object; A cap member for covering at least a portion of the application unit; a pressing member that presses the application portion against the cap member in a direction intersecting an extension direction of the support member; A drive mechanism that drives the pressing member; A liquid application device comprising:

2. An application unit that applies liquid to an object; a cap member that is cantilevered via a support member and covers at least a portion of the application part; a pressing member that presses the cap member against the application portion in a direction intersecting an extension direction of the support member; A drive mechanism that drives the pressing member; A liquid application device comprising:

3. The liquid application device according to claim 1 , further comprising an elastic member that presses the cap member against the application portion.

4. 4. The liquid application device according to claim 3, wherein the pressing force of the pressing member is greater than an elastic force pressing the cap member against the application portion.

5. the pressing member is rotated and pressed against the application part or the support member to press the application part against the cap member; The liquid application device according to claim 1 , wherein the cap member is rotated and pressed against the application portion after the pressing member is pressed against the application portion or the support member.

6. The liquid application apparatus according to claim 1 , wherein the drive mechanism rotates the pressing member and the cap member in opposite directions so as to bring the pressing member and the cap member closer to each other.

7. The liquid application device according to claim 1 , wherein a moving mechanism for moving the application portion is not driven and is stationary while the pressing member is driven to press the application portion against the cap member and while the cap member is driven to be pressed against the application portion.

8. A second coating unit provided integrally with the coating unit; a second cap member that is pressed against the second application portion in a direction intersecting a pressing direction between the application portion and the cap member; Equipped with 2 . The liquid application device according to claim 1 , wherein after the second cap member is pressed against the second application portion, the cap member is pressed against the application portion and the application portion is pressed against the cap member.

9. The support member is a plate-shaped member, The liquid application device according to claim 1 , wherein the pressing member is pressed against the plate-like member to press the application part against the cap member.

10. 2. The liquid application apparatus according to claim 1, wherein the drive mechanism is a linear drive mechanism that drives the pressing member in a linear direction.

11. 2. The liquid application apparatus according to claim 1, wherein the driving mechanism is a robot arm having a plurality of joints and holding the pressing member.

12. 2. The liquid application device according to claim 1, wherein the pressing member is a cam member that is rotationally driven by the drive mechanism.

13. A capping method for covering at least a part of an application unit that applies a liquid to an object with a cap member, comprising: the application portion, which is cantilevered via a support member, is opposed to the cap member; A capping method, comprising: pressing the application part or the support member with a pressing member, thereby pressing the application part against the cap member in a direction intersecting an extension direction of the support member.

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