Cleaning apparatus, coating apparatus, and cleaning method

Abstract

To provide a cleaning apparatus capable of reducing the amount of cleaning liquid to be used with a simple configuration.SOLUTION: A cleaning apparatus according to an aspect of the present disclosure includes a first liquid path, a second liquid path having a shorter distance than the first liquid path, a first head provided in the first liquid path and configured to discharge liquid from a first nozzle, and a second head provided in the second liquid path and configured to discharge liquid from a second nozzle, and causes cleaning liquid to flow through the first liquid path and the second liquid path in a state where the second nozzle is closed and the first nozzle is opened.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a cleaning device, a coating device, and a cleaning method.

Background Art

[0002] A cleaning device for cleaning a liquid path through which a liquid flows, and a coating device having the cleaning device are known.

[0003] For example, Patent Document 1 discloses a configuration in which the thickness of a liquid path is made different for each liquid path in order to evenly flow a cleaning liquid through a plurality of liquid paths having different lengths.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration of Patent Document 1, the adjustment and control of pressure become complicated, and the amount of cleaning liquid used may increase.

[0005] An object of the present invention is to reduce the amount of cleaning liquid used with a simple configuration.

Means for Solving the Problems

[0006] A cleaning device according to an aspect of the present invention includes a first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging a liquid from a first nozzle, and a second head provided in the second liquid path for discharging a liquid from a second nozzle. With the first nozzle closed and the second nozzle open, a cleaning liquid is caused to flow through the first liquid path and the second liquid path.

Effects of the Invention

[0007] According to the present invention, the amount of cleaning liquid used can be reduced with a simple configuration.

Brief Description of the Drawings

[0008]

Figure 1

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Figure 14A

Figure 14B

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Figure 17B

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Modes for Carrying Out the Invention

[0009] A cleaning device, a coating device, and a cleaning method according to an embodiment of the present invention will be described in detail with reference to the drawings. However, the following embodiments exemplify a cleaning device, a coating device, and a cleaning method for embodying the technical idea of the embodiment of the present invention, and are not limited thereto.

[0010] In addition, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments of the present invention are not intended to limit the scope of the embodiments of the present invention only to those, but are merely illustrative examples, unless otherwise specifically described. Note that the sizes, positional relationships, etc. of the members shown in each drawing may be exaggerated for clarity of explanation. Also, in the following description, the same names and reference numerals indicate the same or similar members, and detailed descriptions will be omitted as appropriate.

[0011] In this specification, the liquid shall include a coating liquid used for coating and a cleaning liquid used for cleaning the head that discharges the coating liquid. Also, in this specification, the liquid path shall include at least one of a supply path for supplying liquid to the head provided in the coating apparatus according to the embodiment and a discharge path for discharging liquid from the head provided in the coating apparatus according to the embodiment. Note that, although it will be described in detail, the liquid path, head, nozzle, etc. shall be used in common so that both the coating liquid and the cleaning liquid can flow. Also, some of the functions of the liquid path, head, nozzle, etc. of the coating apparatus and the cleaning apparatus shall be common to each other.

[0012] [Embodiment] <Overall Configuration of Coating Apparatus According to Embodiment of the Present Invention> First, based on FIG. 1, the overall configuration of the coating apparatus according to the embodiment of the present invention will be described. FIG. 1 is a diagram showing an example of the overall configuration of the coating apparatus according to the embodiment of the present invention.

[0013] Here, a coating apparatus 100 that coats a coating liquid on the body of an automobile as the object 200 to perform body coating will be exemplified. Note that the object 200 may be, in addition to the body of an automobile, the body of an aircraft, the hull of a ship, or other three-dimensional structures.

[0014] As shown in FIG. 1, the coating apparatus 100 according to the embodiment of the present invention includes four coating robots 2.

[0015] Each painting robot 2 has a base portion 10 installed on the floor surface or the like, a first arm 11 provided on the base portion 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 that are rotatably and swingably connected via joints, and function as a moving mechanism that moves the head unit 13 to a desired position by rotational drive or swing drive. Note that the moving mechanism for moving the head unit 13 may be a linear actuator or the like that linearly moves the head unit 13 in one direction, two directions orthogonal to each other, or three directions, in addition to the robot arm.

[0016] Specifically, the first arm 11 is provided so as to be rotatable in the direction of arrow A in FIG. 1 with respect to the base portion 10 and swingable in the direction of arrow B. Further, the second arm 12 is provided so as to be rotatable in the direction of arrow C in FIG. 1 with respect to the tip of the first arm 11 and swingable in the direction of arrow D. The head unit 13 is rotatable in the direction of arrow E in FIG. 1 with respect to the tip of the second arm 12 and is swingably attached in the direction of arrow F. The number of painting robots 2 is not limited to four, and may be one, or two, three, or five or more.

[0017] The head unit 13 has a head 1 that discharges a liquid and a position detection unit 3 that detects the position of the object 200. Further, the head 1 has a plurality of nozzles that discharge a liquid. The position detection unit 3 is integrally attached to the tip of the second arm 12 with the head 1. The position detection unit 3 includes, for example, a stereo camera or the like 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 detection unit 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.

[0018] In addition, the painting apparatus 100 according to the embodiment of the present invention includes, in addition to the painting robot 2, a liquid supply unit 4, a maintenance and recovery unit 40, and a control unit 5.

[0019] The liquid supply unit 4 includes 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 or the like that supplies air into the liquid storage unit 6. When air is supplied from the air supply unit 7 to the liquid storage unit 6, the inside of the liquid storage unit 6 is pressurized, so that the liquid 8 in the liquid storage unit 6 is supplied to the head 1 and discharged as droplets from the nozzles of the head 1. Note that the head 1 can also discharge the liquid in a filamentous form in addition to droplets. In FIG. 1, only the path for supplying the liquid 8 from the liquid storage unit 6 to one head 1 is shown, but the liquid 8 is supplied to all the heads 1 from the liquid storage unit 6 in the same manner. Also, a plurality of liquid storage units 6 for storing different colors or types of liquids may be prepared so that the color or type of the liquid can be switched and supplied to each head 1.

[0020] The maintenance and recovery unit 40 includes capping means, cleaning means, etc. for maintaining and recovering the functions of the head 1. The maintenance and recovery unit 40 is provided for each painting robot 2. When the next painting is not performed for a while after the painting, or when the painting is performed by switching the painting liquid to a different color or type, after the completion of the previous painting, the maintenance and recovery operation by the maintenance and recovery unit 40 is performed. Specifically, the nozzle surface of the head 1 is capped, and the residual liquid adhering to the head 1 is washed away by the cleaning liquid. Thereby, it is possible to prevent the nozzles from being clogged due to the drying of the residual liquid, and it is also possible to prevent the residual liquid from adhering to the object when the painting liquid is switched and painted.

[0021] The control unit 5 controls the operations of each painting robot 2 and the discharging operations of each head 1 based on the shape data of the object 200 input in advance, the image data of the painting, etc., as well as the position information of the object 200 detected by the position detection unit 3. Thereby, the head unit 13 is moved along the shape of the object 200, and the coating liquid is applied from the head 1 to the surface of the object 200. Further, the control unit 5 also controls the operation of the maintenance and recovery unit 40. In FIG. 1, only the signal lines from the control unit 5 to one painting robot 2, one head 1, and one maintenance and recovery unit 40, and the signal line from one position detection unit 3 to the control unit 5 are shown, but the control unit 5 controls the operations of all the painting robots 2, all the heads 1, and all the maintenance and recovery units 40, and receives the detection signals from all the position detection units 3.

[0022] In addition, a cleaning device 150 is connected to each of the four painting robots 2. In FIG. 1, for the sake of convenience, the state of being connected to one painting robot 2 is shown. And the cleaning device 150 may be connected to the painting robot 2 only during cleaning, or may be connected during painting. Details of the cleaning device 150 will be described later.

[0023] FIG. 2 is a diagram showing an example of a more specific configuration of the liquid supply unit 4 provided in the painting apparatus 100 according to the embodiment of the present invention.

[0024] As shown in FIG. 2, the liquid supply unit 4 includes 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. Further, the plurality of liquid storage units 6 are individually connected to each head 1 via an air flow path 112. For this reason, when the inside of each liquid storage unit 6 is pressurized, the liquid 8 is supplied from each liquid storage unit 6 to each head 1. Note that the liquid storage unit 6 may be one liquid storage unit provided in common for all the heads 1, rather than being provided for each head 1.

[0025] <Configuration of Head 1> Next, while referring to FIGS. 3 and 4, the configuration of the head 1 included in the coating apparatus 100 according to an embodiment of the present invention will be described. FIG. 3 is a perspective view of an example of the head 1 included in the coating apparatus 100 according to an embodiment of the present invention, and FIG. 4 is a cross-sectional view including a plurality of nozzles 24 of an example of the head 1 included in the coating apparatus 100 according to an embodiment of the present invention.

[0026] As shown in FIG. 3, the head 1 has a housing 20, a supply port 21 provided in the housing 20, and a recovery port 22.

[0027] As shown in FIG. 4, a plurality of ejection modules 23 are arranged side by side in one or a plurality of rows inside the housing 20. Each ejection module 23 has a nozzle plate 25, a nozzle valve 26, a piezoelectric element 27, and a liquid flow path 28. Nozzles 24 for ejecting liquid are provided for each ejection module 23 on the nozzle plate 25. 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, and drives the nozzle valve 26 to open and close. The liquid flow paths 28 communicate with each other between the respective ejection modules 23 and constitute a common flow path. Further, the liquid flow path 28 also communicates with the supply port 21 and the recovery port 22.

[0028] When liquid is supplied from the supply port 21 into the housing 20 with the valve of the recovery port 22 closed, the liquid flows into the liquid flow path 28 and is pressurized. At this time, when no voltage is applied to the piezoelectric element 27, since the nozzle 24 is closed by the nozzle valve 26, no liquid is ejected from the nozzle 24. Note that even if the nozzle 24 is closed, the liquid can flow through the liquid flow path 28. On the other hand, when a voltage is applied to the piezoelectric element 27, the nozzle valve 26 is driven and the nozzle 24 is opened, so that liquid is ejected from the nozzle 24. Further, the liquid that has not been ejected from the nozzle 24 is discharged to the outside through the recovery port 22.

[0029] <Hardware Configuration of Coating Apparatus 100> FIG. 5A is a block diagram showing an example of the hardware configuration of a coating apparatus 100 according to an embodiment of the present invention.

[0030] As shown in FIG. 5A, the coating apparatus 100 includes a plurality of coating robots 2, an input device 700A, a computer 300, a controller 400, a head control device 500, and a robot control device 600. Here, only two coating robots 2 are shown, and the remaining coating robots 2 are omitted.

[0031] Each coating robot 2 has an encoder sensor 16 and a robot drive unit 17. The encoder sensor 16 is an optical sensor or the like that optically detects the slits of encoders provided at the connecting portions of the base portion 10 and the first arm 11 of the coating robot 2, the connecting portion of the first arm 11 and the second arm 12, and the connecting portion of the second arm 12 and the head unit 13. Since the rotation amount and the swing amount of each of the first arm 11, the second arm 12, and the head unit 13 can be grasped by the detection of the encoder sensor 16, the three-dimensional position information of the head unit 13 can be obtained. The robot drive unit 17 is a drive unit that performs the rotational operation and the swing operation of the first arm 11, the second arm 12, and the head unit 13.

[0032] The input device 700A is a device into which information regarding the shape data of the object 200, the image data of the coating, the coordinate data, the coating mode, the coating range (coating start position, coating end position), the coating instruction, etc. is input. The input device 700A has a keyboard, a mouse, a touch panel, etc. for a user or the like to perform an input operation. Various information input in the input device 700A is sent to the computer 300.

[0033] The computer 300 includes a RIP (Raster Image Processor) unit 301 that performs image processing on the image data received from the input device 700A, and a rendering unit 302 that decomposes the image data into painting data for each scan of the head unit 13. Further, when the computer 300 receives the shape data of the object 200 from the input device 700A, it acquires the actual position information of the object 200 detected by the position detection unit 3, and generates a painting route for the painting robot 2 based on the shape data and the actual position information of the object 200. Further, the computer 300 calculates the incident angle α of the droplets with respect to the object 200 in the generated painting route. The incident angle α is calculated using any one of the shape data of the object 200 received from the input device 700A, the position information of the object 200 detected by the position detection unit 3, and the three-dimensional position information of the head unit 13 detected by the encoder sensor 16, or a plurality of these pieces of information.

[0034] The controller 400, the head control device 500, and the robot control device 600 function as the control unit 5 shown in FIG. 1 to control the operations of each painting robot 2 and the ejection operations of each head 1. In this case, one head control device 500 and one robot control device 600 are provided, but the head control device 500 and the robot control device 600 may be provided individually for each painting robot 2.

[0035] The controller 400 receives the painting data and command signals from the computer 300 and controls the overall operation of the painting apparatus 100.

[0036] The controller 400 includes a CPU (Central Processing Unit) 401, a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, an HDD / SSD (Hard Disk Drive / Solid State Drive) 404, and an I / F 405. These are connected to be communicable with each other via a system bus S.

[0037] The CPU 401 executes control processing including various arithmetic operations. The ROM 402 stores programs used for driving the CPU 401 such as the IPL (Initial Program Loader). The RAM 403 is used as a work area for the CPU 401. The HDD / SSD 404 stores various information such as programs, captured images acquired by the stereo camera, detection information from various sensors such as the encoder sensor 16, etc.

[0038] The I / F 405 is an interface for connecting the controller 400 to various external devices. The external devices here are the head control device 500, the robot control device 600, etc.

[0039] Note that at least a part of the functions realized by the CPU 401 may be realized by an electric circuit or an electronic circuit.

[0040] The head control device 500 receives a control signal and a discharge period signal from the controller 400, and controls the discharge amount and discharge timing of the head 1 based on the received control signal and discharge period signal. At this time, by controlling the discharge amount and discharge timing of the head 1 based on the incident angle α, the amount of droplets discharged and the landing interval Px in the movement direction X are controlled to the amount of droplets and the landing interval corresponding to the incident angle α.

[0041] The robot control device 600 receives a control signal from the controller 400, and controls the drive of the robot drive unit 17 based on the received synchronization control signal. At this time, by controlling the robot drive unit 17 based on the incident angle α, the inclination β of the nozzle row of the head 1 is controlled, and the landing interval Py in the direction perpendicular to the movement is controlled to the landing interval corresponding to the incident angle α.

[0042] The liquid path P is a path through which the coating liquid or the cleaning liquid flows in the coating apparatus 100. The liquid path P can be configured to include, for example, a plurality of paths each capable of flowing a liquid, and switching means for individually or collectively switching whether or not to flow the liquid through the plurality of paths. Resin tubes or the like can be used for each of the plurality of paths. A valve can be used as the switching means.

[0043] <Functional configuration of the controller 400> FIG. 5B is a block diagram showing an example of the functional configuration of a controller 400 provided in the coating apparatus according to an embodiment of the present invention. This will be described with appropriate reference to FIG. 5A as well.

[0044] The controller 400 includes a system control unit 411, a nozzle valve drive control unit 412, a discharge cycle signal generation unit 413, a memory control unit 414, a data storage unit 415, a robot control signal generation unit 416, a liquid path control unit 417, and a maintenance recovery control unit 418.

[0045] The functions of the system control unit 411, the nozzle valve drive control unit 412, the discharge cycle signal generation unit 413, the memory control unit 414, the robot control signal generation unit 416, the liquid path control unit 417, and the maintenance recovery control unit 418 are realized by a processor such as the CPU 401 executing processes defined in a program stored in a non-volatile memory such as the ROM 402. The function of the data storage unit 415 is realized by a non-volatile memory such as the HDD / SSD 404.

[0046] The system control unit 411 receives coating data and command signals from the computer 300 and controls the overall operation of the coating system 1000. Further, the system control unit 411 may include the functions of the RIP unit 301 and the rendering unit 302 included in the computer 300.

[0047] The nozzle valve drive control unit 412 generates a control signal for controlling the opening and closing drive of the nozzle valve 26 based on the painting data received from the computer 300 and the incident angle α. The discharge cycle signal generation unit 413 generates a discharge cycle signal for the head 1 based on the output signal from the encoder sensor 16, the painting data received from the computer 300, and the incident angle α. The memory control unit 414 controls the data storage unit 415. The data storage unit 415 stores the painting data, the painting range data, etc. received from the computer 300. The robot control signal generation unit 416 generates a synchronization control signal for coordinating the drive of each painting robot 2 and the droplet discharge operation based on the painting data from the computer 300 and the information on the painting route. Further, the robot control signal generation unit 416 generates a control signal for determining the inclination β of the nozzle row of the head 1 based on the incident angle α calculated by the computer 300.

[0048] The liquid path control unit 417 can individually switch whether or not to flow liquid through the plurality of paths by controlling a plurality of valves connected to the plurality of paths constituting the liquid path P. The maintenance and recovery control unit 418 controls the operation of the maintenance and recovery unit 40.

[0049] [First Embodiment] <Configuration of the cleaning device 150> FIG. 6 is a diagram showing an example of the configuration of a cleaning device 150 included in the painting device 100 according to the first embodiment of the present invention. Note that the cleaning device 150 described below also refers to a configuration including a liquid path, a head, nozzles, etc. when connected to the painting robot 2.

[0050] As shown in FIG. 6, in the head 1, a second head 1B is supported by the second arm 12 of the painting robot 2. And the first head 1A is supported by the second head 1B via the support member 30.

[0051] As shown in FIG. 6, the cleaning device 150 has a first liquid path Ba and a second liquid path Bb that is shorter in distance than the first liquid path Ba. The cleaning device 150 also has a first head 1A provided in the first liquid path Ba and discharging liquid from a first nozzle, and a second head 1B provided in the second liquid path Bb and discharging liquid from a second nozzle.

[0052] The first nozzle is, for example, a nozzle 24 as shown in FIG. 4 and corresponds to that provided in the first head 1A. The second nozzle is, for example, a nozzle 24 as shown in FIG. 4 and corresponds to that provided in the second head 1B. The liquid path P includes the first liquid path Ba and the second liquid path Bb. In FIG. 6, for the purpose of showing that the liquid path P includes the first liquid path Ba and the second liquid path Bb, the reference signs of the liquid path P and the first liquid path Ba are shown together, and the reference signs of the liquid path P and the second liquid path Bb are shown together. In the figures shown hereinafter, there may be cases where a plurality of reference signs are shown together for the same purpose. Note that the first liquid path Ba and the second liquid path Bb will be separately described with reference to FIG. 11.

[0053] The joint J1 is a member that connects the liquid storage section 6 and a supply path that supplies liquid to the head 1. The branch sections A-2, A-3, and A-4 are portions where a supply path A that supplies liquid to the second head 1B branches. The branch sections B-2, B-3, and B-4 are portions where a supply path B that supplies liquid to the first head 1A branches. The supply port 21 is a liquid supply port to the head 1. The recovery port 22 is a liquid recovery port from the head 1.

[0054] The first head 1A is composed of one head and can be used when applying the coating liquid to a narrow application area of the object. The second head 1B is composed of an assembly of a plurality of heads and can be used when applying the coating liquid to a wide application area of the object. More specifically, the first head 1A is one, and the second head 1B is twelve. That is, the number of the first heads 1A is less than the number of the second heads 1B. With this configuration, the coating device 100 can coat a narrow area of the object 200 with the first head 1A and can efficiently coat a wide area of the object 200 with the second head 1B. Thus, the cleaning device 150 can improve the cleanability of the first head 1A and the second head 1B.

[0055] When the first head 1A and the second head 1B are attached to the second arm 12, the nozzle surface 15A (the surface on the side where the arrow Z1 points in FIG. 6) and the nozzle surface 15B (the surface on the side where the arrow Z2 points in FIG. 6) are arranged so as to face different directions. In this case, each of the nozzle surface 15A and the nozzle surface 15B is arranged to face a direction orthogonal to each other. Also, a communication board for sending an electrical signal to the head 1 and a tube for supplying liquid to the head 1 can be connected to the head 1.

[0056] In the coating device 100, since the head 1 is supported by the support member 30, coating can be performed well on an object 200 having a complex structure such as a vehicle body. That is, since the head 1 is provided so as to protrude from the tip of the second arm 12 via the plate-like support member 30, even for an object 200 having a complex structure, the head 1 can enter a narrow portion, and the head 1 can be brought close to the object 200 while avoiding interference with the object 200. Therefore, coating can be performed well even in a portion where coating is difficult.

[0057] <Configuration of the maintenance and recovery unit 40> With reference to FIGS. 7 to 10, the maintenance and recovery unit 40 included in the coating apparatus 100 according to the first embodiment of the present invention will be described. FIG. 7 is a diagram showing an example of the configuration of the maintenance and recovery unit 40 included in the coating apparatus 100 according to the first embodiment of the present invention. In FIG. 7, the arrow X direction indicates the horizontal direction, and the arrow Z direction indicates the vertical direction. FIG. 8 is a diagram showing an example of the state of the head 1 during the maintenance and recovery operation in the coating apparatus 100 according to the first embodiment of the present invention. FIG. 9 is a diagram showing an example of the state of the maintenance and recovery unit 40 during the maintenance and recovery operation in the coating apparatus 100 according to the first embodiment of the present invention. FIG. 10 is a flowchart showing an example of the maintenance and recovery operation of the coating apparatus 100 according to the first embodiment of the present invention.

[0058] As shown in FIG. 7, the maintenance and recovery unit 40 includes a cap member 41, a cleaning means 42, a drying means 43, and the like. The cap member 41 has 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 inside the cap body 50. The cleaning means 42 has a cleaning nozzle 52 that discharges a cleaning liquid. Further, the drying means 43 has a drying nozzle 53 that blows drying air such as warm air. The drying air may be cold air in addition to warm air. Further, a waste liquid flow path 54 for discharging the cleaning liquid from inside the cap body 50 to the waste liquid tank is provided at the bottom of the cap body 50.

[0059] The maintenance and recovery unit 40 has a maintenance and recovery unit 40A for use with the small first head 1A and a maintenance and recovery unit 40B for use with the large second head 1B. In the example shown in FIG. 7, in order to show that the maintenance and recovery unit 40 has the maintenance and recovery unit 40A and the maintenance and recovery unit 40B, the reference numerals of the maintenance and recovery unit 40, the maintenance and recovery unit 40A, and the maintenance and recovery unit 40B are all noted. The maintenance and recovery unit 40A and the maintenance and recovery unit 40B may have substantially the same configuration. Further, in this specification, the maintenance and recovery unit 40A and the maintenance and recovery unit 40B may be collectively referred to as the maintenance and recovery unit 40.

[0060] When attempting to maintain and restore the functionality of the head 1 using the maintenance and restoration unit 40, first, the painting apparatus 100 drives the painting robot 2 to move the second head 1B to a position facing the large second cap member 41B as shown in FIG. 8. Subsequently, the painting apparatus 100 presses and contacts the nozzle surface 15B of the second head 1B against the large second cap member 41B. As a result, the nozzle surface 15B of the second head 1B is covered by the second cap member 41B. Furthermore, the second cap member 41B is pressed against the second head 1B, and the seal portion of the second cap member 41B adheres closely to the nozzle surface 15B. Thereby, the space between the nozzle surface 15B and the second cap member 41B is sealed. At this time, the first head 1A is positioned facing the first cap member 41A.

[0061] Next, as shown in FIG. 9, the first cap member 41A is raised and pressed against and contacted with the nozzle surface 15A of the first head 1A. Furthermore, the first cap member 41A is pressed against the first head 1A, and the seal portion 51A of the first cap member 41A adheres closely to the nozzle surface 15A. Thereby, the space between the nozzle surface 15A and the first cap member 41A is sealed. And in this state, the painting apparatus 100 can perform the maintenance and restoration operation according to the flow shown in FIG. 10. This will be described with appropriate reference to FIG. 9 as well.

[0062] In the example shown in FIG. 10, first, in step S11, the painting apparatus 100 receives a maintenance and restoration start signal.

[0063] Subsequently, in step S12, the painting apparatus 100 sprays cleaning liquid from the cleaning nozzle 52, and the nozzle surface 15 and the nozzle 24 are cleaned.

[0064] Subsequently, in step S13, the painting apparatus 100 blows drying air from the drying nozzle 53, and drying treatment of the nozzle surface 15 and the nozzle 24 is performed.

[0065] Subsequently, in step S14, the coating apparatus 100 determines whether to end the cleaning. If it is determined in step S14 that the cleaning is not to be ended (step S14, N), the coating apparatus 100 repeats the operation of step S14. On the other hand, if it is determined that the cleaning is to be ended (step S14, Y), the coating apparatus 100 ends the maintenance and recovery operation.

[0066] In this way, the coating apparatus 100 can maintain and recover the functions of the head 1. Note that the cleaning liquid in the cap member 41 is discharged to the waste liquid tank through the waste liquid flow path 54.

[0067] <Configuration of the liquid path P> With reference to FIGS. 11 and 12, the liquid path of the cleaning apparatus included in the coating apparatus according to the first embodiment of the present invention will be described. FIG. 11 is a diagram showing an example of the liquid path P of the cleaning apparatus 150 included in the coating apparatus 100 according to the first embodiment of the present invention. FIG. 12 is an enlarged view showing an example of the branch portion B-4 in FIG. 11.

[0068] In the example shown in FIG. 11, the liquid storage unit 6 stores the liquid to be supplied to each of the first head 1A and the second head 1B. Note that in FIG. 11, the liquid storage unit 6 is denoted as the tank 6. The same applies to FIGS. 13, 14A, 14B, and 17A to 17C shown hereinafter. The liquid storage unit 6 is connected to the supply path A0 and the supply path B0 via the joint J1. The supply path A0 is a path for supplying liquid to six of the twelve heads included in the second head 1B. The supply path B0 is a path for supplying liquid to six of the twelve heads included in the second head 1B and the first head 1A, respectively.

[0069] The supply path A0 branches into two paths by the branch portion A-2, and further supplies liquid to the supply ports 21 of each of the plurality of heads by the branch portions A-3 and A-4. Further, a discharge path for recovering liquid from each of the plurality of heads 1 is connected to the recovery port 22 of each of the plurality of heads 1. In the discharge path, the liquid merges by the branch portions A-5 and A-6, passes through the joint J3, merges at the branch portion C-1, and is connected to the waste liquid tank 70 downstream.

[0070] The supply path B0 branches into two paths by the branch portion B-2, and further supplies liquid to the supply ports 21 of each of the plurality of heads by the branch portions B-3 and B-4. Further, a discharge path is connected to the recovery port 22 of each of the plurality of heads. In the discharge path, the liquid merges by the branch portions B-5 and B-6, passes through the joint J4, merges at the branch portion C-1, and is connected to the waste liquid tank 70 downstream.

[0071] In the example shown in FIG. 11, the flow direction F0 is the direction in which the liquid flows from the liquid storage portion 6 to the waste liquid tank 70. In the liquid path P, the side of the liquid storage portion 6 corresponds to the upstream side in the flow direction F0, and the side of the waste liquid tank 70 corresponds to the downstream side in the flow direction F0.

[0072] In the examples shown in FIGS. 11 and 12, the branch portion B-4 branches into the first head 1A and the second head 1B. The supply path from the branch portion B-4 to the second head 1B is connected to the supply port 21 of the second head 1B. In the example shown in FIG. 11, in the discharge path connected to the recovery port 22 of the second head 1B, the liquid merges with the discharge path from the first head 1A by the branch portion C-2, and is connected to the waste liquid tank 70 downstream. The first valve 71 is provided downstream of the first head 1A in the first liquid path Ba in the flow direction of the liquid, and is a valve that opens or closes the path for flowing the waste liquid to the waste liquid tank 70.

[0073] In the example shown in FIG. 12, the paths for supplying liquid to the first head 1A and the second head 1B attached to one painting robot 2, and the paths for discharging liquid from the second head 1B and the first head 1A to the waste liquid tank are shown.

[0074] Note that, among the liquid paths P of the painting apparatus 100, in the supply path for supplying liquid, by switching the connection at the joint J1, the liquid storage unit 6 can be switched from the storage unit for storing the coating liquid to the storage unit for storing the cleaning liquid. Thereby, in the liquid supply path of the painting apparatus 100, the same supply path can be used both during painting and during cleaning.

[0075] (Discharge of coating liquid or cleaning liquid by the head 1) Next, with reference to FIGS. 13, 14A, and 14B, when painting with the small first head 1A, when painting with the large second head 1B, and when cleaning with the large second head 1B using the supply path A0 and the supply path B0, the supply state of the coating liquid and the open / closed state of the nozzle valve 26 of the head 1 will be described. FIG. 13 is a diagram showing an example of the state when liquid is discharged by the first head 1A in the painting apparatus 100 according to the first embodiment of the present invention. FIG. 14A is a diagram showing a first example of the state when liquid is discharged by the second head 1B in the painting apparatus 100 according to the first embodiment of the present invention. FIG. 14B is a diagram showing a second example of the state when liquid is discharged by the second head in the painting apparatus according to the first embodiment of the present invention. FIG. 14A shows the case where the second head 1B discharges the coating liquid, and FIG. 14B shows the case where the second head 1B discharges the cleaning liquid. Also, FIG. 14B shows a configuration corresponding to FIGS. 15 and 16 shown later.

[0076] As shown in FIG. 13, during painting, the coating liquid is supplied from the liquid storage unit 6 to each of the first head 1A and the second head 1B, and the coating liquid fills from the liquid storage unit 6 to the first valve 71. All the nozzle valves 26 of the second head 1B are in a closed state, and the coating liquid is discharged by opening and closing the nozzle valve 26 of the nozzle for discharging the coating liquid with the first head 1A.

[0077] (Painting with the second head 1B) As shown in FIG. 14A, during painting, the coating liquid is supplied from the liquid storage unit 6 to each of the first head 1A and the second head 1B, and the liquid storage unit 6 is filled with liquid up to the first valve 71. All the nozzle valves 26 of the first head 1A are in a closed state, and the coating liquid is discharged by opening and closing the nozzle valves 26 of the nozzles that discharge the coating liquid with the second head 1B.

[0078] <Cleaning of the head 1> Here, when changing the painting color for painting the object 200, it is necessary to clean the liquid path P. In the present embodiment, as shown in FIG. 11, the cleaning liquid is supplied from the liquid storage unit 6 that stores the cleaning liquid, the cleaning liquid is made to flow through the liquid path P and the liquid flow path 28 of the head 1, and the liquid path P is cleaned by discharging it to the waste liquid tank 70. At this time, the recovery port 22 of the head 1 and the first valve 71 are each open.

[0079] As shown in FIGS. 6 and 8 described above, the first head 1A is attached to the tip side of the second arm 12 rather than the second head 1B. Also, as shown in FIG. 11, the first head 1A branches from the middle of the liquid path P leading to the second head 1B by the branch portion B-4 and supplies and discharges waste liquid. Therefore, the length of the first liquid path Ba from the branch portion B-4 to reach the branch portion C-2 via the first head 1A is longer than the length of the second liquid path Bb from the branch portion B-4 to reach the branch portion C-2 via the second head 1B. In other words, the second liquid path Bb is shorter in distance than the first liquid path Ba.

[0080] Here, the first liquid path Ba and the second liquid path Bb are set to an optimal state in the supply of the coating liquid during coating, and the thickness of the liquid path P cannot be changed when cleaning the liquid path P. Also, the inner diameters of the first liquid path Ba and the second liquid path Bb are the same or substantially the same. Furthermore, since the length of the first liquid path Ba is longer than the length of the second liquid path Bb, the cleanability may deteriorate. Due to the long length of the first liquid path Ba, the wall resistance is large, and it is difficult to bring the pressure and flow rate in the first liquid path Ba to a desired state. For these reasons, in order to clean only the first liquid path Ba with poor cleanability, it is necessary to flow a large amount of cleaning liquid through the entire first liquid path Ba and the second liquid path Bb. As a result, it may be necessary to supply a larger amount of cleaning liquid and cleaning time than necessary. In the present embodiment, as described below with reference to FIGS. 15 and 16, by controlling the cleaning device 150, the supply amount of the cleaning liquid and the cleaning time can be suppressed.

[0081] <Operation of the cleaning device 150> (First example) FIG. 15 is a flowchart showing a first example of the operation of the cleaning device 150 provided in the coating device 100 according to the first embodiment of the present invention. In the operation shown in FIG. 15, after the first head 1A of the first liquid path Ba is intensively cleaned, the first liquid path Ba and the second liquid path Bb are cleaned. For example, the cleaning device 150 starts the operation of FIG. 15 when it receives an operation input instructing the start of the maintenance and recovery operation of the head 1 via the operation unit of the coating device 100.

[0082] First, in step S21, the cleaning device 150 performs capping with the cap member 41. The cleaning device 150 drives the coating robot 2 to bring the first head 1A and the second head 1B into contact with the capping of the maintenance and recovery unit 40 for capping. Note that the coating device 100 may drive the coating robot 2.

[0083] Subsequently, in step S22, the cleaning device 150 opens the first valve 71 and opens the recovery port 22. The cleaning device 150 opens the recovery ports 22 of all the heads 1. The nozzle valves 26 of the heads 1 are in a state where the nozzles are closed. The path from the liquid storage section 6 to the waste liquid tank 70 is opened, and the liquid can flow through the liquid path P.

[0084] Subsequently, in step S23, the cleaning device 150 starts supplying the cleaning liquid. When the cleaning device 150 receives a cleaning start signal, it starts supplying the cleaning liquid from the liquid storage section 6. By starting the supply, the cleaning liquid is sent to all the liquid paths P. Here, the cleaning device 150 receiving the cleaning start signal corresponds to an example of a predetermined condition. That is, when the cleaning device 150 satisfies the predetermined condition, it closes the first nozzle and the second nozzle and flows the cleaning liquid through the first liquid path Ba and the second liquid path Bb. Thereby, the cleaning device 150 can clean the liquid path P at a desired timing. Note that the start signal mentioned here includes, for example, a user pressing an operation button, or performing cleaning once before changing from a certain color coating liquid to another color coating liquid, and the start signal at the time of performing such cleaning.

[0085] Also, in the cleaning device 150, after capping the first cap member 41A and the second cap member 41B, the cleaning liquid is flowed through the first liquid path Ba and the second liquid path Bb. Thereby, the cleaning device 150 can perform a cleaning operation in a capped state.

[0086] Next, in step S24, the cleaning device 150 closes the first valve 71 and drives the nozzle valve 26 of the first head 1A to open the nozzle. That is, the cleaning device 150 closes the second nozzle of the second head 1B and opens the first nozzle of the first head 1A, and causes the cleaning liquid to flow through the first liquid path Ba and the second liquid path Bb. As described above, although the second nozzle is closed, the cleaning liquid can flow through the second liquid path Bb. By opening the nozzle 24 of the first head 1A, pressure escapes from the nozzle 24. The pressure of the first liquid path Ba drops slightly, but as a result, the resistance of the first liquid path Ba drops. The drop in resistance makes it possible to increase the flow rate of the first liquid path Ba. The first head 1A has only one head 1, and the drop in pressure caused by opening the nozzle 24 is slight, while the flow rate increases, so the cleaning device 150 can improve the overall cleaning performance. Furthermore, in the cleaning device 150, the width of the liquid path P is not different between the first liquid path Ba and the second liquid path Bb, so the configuration of the device is not complicated. Moreover, the nozzle 24 of the second head 1B is not opened to clean the first liquid path Ba, so the amount of cleaning liquid used can be reduced. As described above, in the embodiment of the present invention, it is possible to provide a cleaning device 150 that has a simple configuration and can reduce the amount of cleaning liquid used.

[0087] The cleaning device 150 may keep the nozzle valve 26 open or may repeatedly open and close it. In other words, in the cleaning device 150, when the cleaning liquid is flowing through the first liquid path Ba and the second liquid path Bb, the first nozzle can repeatedly open and close. By repeatedly opening and closing the first nozzle, the flow of the cleaning liquid into the first liquid path Ba becomes intermittent, and a force when the cleaning liquid flows into the first liquid path Ba acts on the first liquid path Ba. This force allows the cleaning device 150 to further improve the cleaning performance of the first liquid path Ba. The cleaning device 150 can close the liquid path P from the first valve 71 to the waste liquid tank 70, so that the liquid path P upstream of the first valve 71 in the liquid flow direction is filled with the cleaning liquid and pressurized.

[0088] Subsequently, in step S25, the cleaning device 150 determines whether the dirt has fallen off. For example, if the supply time of the cleaning liquid has exceeded a predetermined second cleaning time t2, the cleaning device 150 can consider that the dirt on the first head 1A has fallen off. The second cleaning time t2 is stored in the memory in advance.

[0089] If it is determined in step S25 that the dirt has not fallen off (step S25, N), the cleaning device 150 repeats the operation of step S25. On the other hand, if it is determined that the dirt has fallen off (step S25, Y), the cleaning device 150 opens the first valve 71 in step S26.

[0090] Subsequently, in step S27, the cleaning device 150 determines whether the dirt has fallen off. For example, if the liquid feeding time of the cleaning liquid has exceeded a predetermined first cleaning time t1, the cleaning device 150 can consider that the dirt on the second head 1B has fallen off. The first cleaning time t1 is stored in the memory in advance.

[0091] If it is determined in step S27 that the dirt has not fallen off (step S27, N), the cleaning device 150 repeats the operation of step S27. On the other hand, if it is determined that the dirt has fallen off (step S27, Y), the cleaning device 150 stops the supply of the cleaning liquid in step S28.

[0092] Subsequently, in step S29, the cleaning device 150 drives the air supply unit 7 to discharge the cleaning liquid in all the liquid supply paths to the waste liquid tank 70 by air.

[0093] Subsequently, in step S30, the cleaning device 150 closes the first valve 71.

[0094] Subsequently, in step S31, the cleaning device 150 releases the capping by the cap member 41.

[0095] As described above, the cleaning device 150 can clean the head 1.

[0096] (Second example) FIG. 16 is a flowchart showing a second example of the operation of the cleaning device 150 included in the coating device 100 according to the first embodiment of the present invention. In the operation shown in FIG. 16, after cleaning the first liquid path Ba and the second liquid path Bb, the first head 1A of the first liquid path Ba is intensively cleaned. Then, in the operation shown in FIG. 16, the first liquid path Ba and the second liquid path Bb are cleaned again. In the initial cleaning of the first liquid path Ba and the second liquid path Bb, since both paths are cleaned for the same period of time, there is a possibility that the longer first liquid path Ba is not sufficiently cleaned. Therefore, from the viewpoint of preventing this, in the operation shown in FIG. 16, the first liquid path Ba and the second liquid path Bb are cleaned again. And in the present embodiment, for example, the cleaning device 150 starts the operation of FIG. 16 when the coating device 100 receives an operation input instructing the start of the maintenance and recovery operation of the head 1 via the operation unit. Note that the same operations as those shown in FIG. 15 will be omitted as appropriate.

[0097] In step S44, the cleaning device 150 determines whether dirt has fallen off. If it is determined that dirt has fallen off (step S44, Y), in step S45, the first valve 71 is closed and the nozzle valve 26 of the first head 1A is driven to open the nozzle 24. The cleaning device 150 may keep the nozzle valve 26 open or may repeat opening and closing. By opening the nozzle 24 of the first head 1A, the pressure escapes from the nozzle 24. The pressure in the first liquid path Ba slightly decreases, but as a result, the resistance of the first liquid path Ba decreases. By decreasing the resistance, the flow rate of the first liquid path Ba can be increased. Since the first head 1A is only one head and the pressure drop due to opening the nozzle 24 is minute while the flow rate increases, the cleaning device 150 can improve the overall cleaning performance. The cleaning device 150 closes the liquid path P from the first valve 71 to the waste liquid tank 70, so that the liquid path P upstream of the first valve 71 is filled with the cleaning liquid and is in a pressurized state.

[0098] In step S48, the cleaning device 150 opens the recovery port 22.

[0099] Subsequently, in step S49, the cleaning device 150 starts supplying the cleaning liquid. The operations after step S50 are the same as the operations after step S27 in FIG. 15.

[0100] In the above manner, the cleaning device 150 can clean the head 1.

[0101] [Second Embodiment] Next, the coating device according to the second embodiment will be described. Note that the same names and reference numerals as those in the embodiments of the present invention already described indicate the same or similar members or configurations, and detailed descriptions will be omitted as appropriate. This also applies to the embodiments of the present invention shown hereinafter.

[0102] [Configuration of Liquid Path P] With reference to FIGS. 17A to 17C, the configuration of the liquid path P will be described. FIG. 17A is a diagram showing a first example of the liquid path P of the cleaning device 150 included in the coating device 100 according to the second embodiment of the present invention. FIG. 17B is a diagram showing a second example of the liquid path P. FIG. 17C is a diagram showing a third example of the liquid path P. FIG. 17B shows the flow of the cleaning liquid when the second valve 72 is closed in the operation of the cleaning device 150 shown in FIGS. 18 to 20 hereinafter. FIG. 17C shows the flow of the cleaning liquid when the second valve 72 is open in the operation of the cleaning device 150 shown in FIGS. 18 to 20 hereinafter.

[0103] As shown in FIGS. 17A to 17C, in the second embodiment of the present invention, the difference from the first embodiment of the present invention is that a second valve 72 is arranged between the branch portion C-1 and the branch portion C-2 of the cleaning device 150. In other words, the cleaning device 150 includes a first valve 71 provided downstream of the first head 1A in the first liquid path Ba in the flow direction F0, and upstream of the first valve 71 in the flow direction F0, and also upstream of the position where the first liquid path Ba and the second liquid path Bb merge in the flow direction F0. A second valve 72 is provided. The position where the first liquid path Ba and the second liquid path Bb merge corresponds to the position where the branch portion C-2 is arranged. In addition, in other respects, the configuration is the same as that of the first embodiment. In the second embodiment of the present invention, as described below with reference to FIGS. 18 to 20, when the cleaning device 150 closes the second valve 72 and opens the first valve 71, and flows the cleaning liquid through the first liquid path Ba and the second liquid path Bb, the same effects as those of the first embodiment of the present invention can be obtained.

[0104] <Operation of the cleaning device 150> (First example) FIG. 18 is a flowchart showing a first example of the operation of the cleaning device 150 included in the coating device 100 according to the second embodiment of the present invention. In the operation shown in FIG. 18, after cleaning the first liquid path Ba and the second liquid path Bb, the first head 1A of the first liquid path Ba is intensively cleaned. For example, the cleaning device 150 starts the operation of FIG. 18 when it receives an operation input instructing the start of the maintenance and recovery operation of the head 1 via the operation unit of the coating device 100. Regarding the same operations as those shown in FIG. 15, the description will be omitted as appropriate.

[0105] In step S62, the cleaning device 150 opens the first valve 71, opens the second valve 72, and also opens the recovery port 22.

[0106] Subsequently, in step S63, the cleaning device 150 starts supplying the cleaning liquid. When the cleaning device 150 receives a cleaning start signal, it starts supplying the cleaning liquid from the liquid storage unit 6. As a result, the cleaning liquid is sent through all the liquid paths P. The cleaning device 150 receiving the cleaning start signal corresponds to an example of a predetermined condition. That is, when the cleaning device 150 satisfies the predetermined condition, it closes the first nozzle and the second nozzle and flows the cleaning liquid through the first liquid path Ba and the second liquid path Bb. Thereby, the cleaning device 150 can clean the liquid path P at a desired timing. Here, the start signal mentioned here includes, for example, the user pressing an operation button, or performing cleaning once before changing from a certain color coating liquid to another color coating liquid, and the start signal when performing such cleaning.

[0107] In step S64, the cleaning device 150 determines whether the dirt has fallen off. If it is determined that the dirt has fallen off (step S64, Y), in step S65, the second valve 72 is closed. By closing the second valve 72, the flow of the cleaning liquid in the second liquid path Bb stops, while the cleaning liquid flows through the first liquid path Ba with poor cleanability. Thereby, the first head 1A can be cleaned. At this time, the nozzles 24 in the first head 1A and the second head 1B are closed.

[0108] Subsequently, in step S66, the cleaning device 150 determines whether the dirt has fallen off. If it is determined in step S66 that the dirt has not fallen off (step S66, N), the cleaning device 150 repeats the operation of step S66. On the other hand, if it is determined that the dirt has fallen off (step S66, Y), the cleaning device 150 opens the second valve 72 in step S67.

[0109] In step S70, the cleaning device 150 closes the first valve 71 and also closes the second valve 72. The operation in step S71 is the same as the operation in step S31 of FIG. 15.

[0110] In the above manner, the cleaning device 150 can clean the head 1.

[0111] (Second Example) FIG. 19 is a flowchart showing a second example of the operation of the cleaning device 150 included in the coating device 100 according to the second embodiment of the present invention. In the operation shown in FIG. 19, after cleaning the first liquid path Ba and the second liquid path Bb, the first head 1A of the first liquid path Ba is intensively cleaned. For example, the cleaning device 150 starts the operation of FIG. 19 when the coating device 100 receives an operation input instructing the start of the maintenance and recovery operation of the head 1 via the operation unit. Note that the same operations as those shown in FIG. 18 will be appropriately omitted from the description.

[0112] In step S74, the cleaning device 150 determines whether dirt has fallen off. If it is determined that the dirt has fallen off (step S74, Y), in step S75, the second valve 72 is closed, and the nozzle valve 26 of the first head 1A is driven to open the nozzle 24. By closing the second valve 72, the flow of the cleaning liquid stops in the second liquid path Bb, while the cleaning liquid circulates through the first liquid path Ba with poor cleanability. Thereby, the first head 1A can be cleaned. At this time, the nozzles 24 of the first head 1A and the second head 1B are closed respectively. The operations after step S76 are the same as the operations after step S66 in FIG. 18.

[0113] In the above manner, the cleaning device 150 can clean the head 1.

[0114] (Third Example) FIG. 20 is a flowchart showing a third example of the operation of the cleaning device 150 included in the coating device 100 according to the second embodiment of the present invention. In the operation shown in FIG. 20, after the first head 1A of the first liquid path Ba is intensively cleaned, the first liquid path Ba and the second liquid path Bb are cleaned. For example, the cleaning device 150 starts the operation of FIG. 20 when it receives an operation input instructing the start of the maintenance and recovery operation of the head 1 via the operation unit of the coating device 100. Note that the same operations as those shown in FIG. 18 will be appropriately omitted from the description.

[0115] The cleaning device 150 opens the second valve 72 in step S92, starts the supply of the cleaning liquid in step S93, and then closes the second valve 72 in step S94. By closing the second valve 72, the flow of the cleaning liquid stops in the second liquid path Bb, while the cleaning liquid flows through the first liquid path Ba with poor cleanability. Thereby, the first head 1A can be cleaned. At this time, the nozzles 24 of the first head 1A and the second head 1B are each closed.

[0116] Also, the cleaning device 150 determines in step S95 whether the dirt has fallen off. If it is determined that the dirt has fallen off (step S95, Y), the second valve 72 is opened in step S96.

[0117] Thereafter, the cleaning device 150 determines in step S97 whether the dirt has fallen off. If it is determined that the dirt has fallen off (step S97, Y), the supply of the cleaning liquid is stopped in step S98. The operations after step S99 are the same as the operations after step S69 in FIG. 18.

[0118] In the example of the operation flow of the cleaning device 150 described above, a configuration for supplying the cleaning liquid to the first liquid path Ba and the second liquid path Bb was shown. However, the present invention is not limited to this, and the air supply unit 7 may be driven to generate air, and the cleaning liquid and air may be alternately supplied to the first liquid path Ba and the second liquid path Bb. In the case of the configuration in which the cleaning liquid and air are alternately supplied, the amount of the cleaning liquid used can be suppressed as compared with the configuration in which only the cleaning liquid is supplied.

[0119] [Third Embodiment] Next, with reference to FIG. 21, a third embodiment of the present invention will be described. FIG. 21 is a diagram showing an example of a configuration for switching the feeding of the coating liquid and the cleaning liquid in the coating device according to the third embodiment of the present invention.

[0120] As shown in FIG. 21, the liquid storage unit 6 shown in FIGS. 11 and 17 can include both a coating liquid storage unit 61 for storing the coating liquid and a cleaning liquid storage unit 62 for storing the cleaning liquid. From another perspective, the coating device according to the third embodiment has a coating liquid storage unit 61 for storing the coating liquid to be supplied to the first liquid path Ba and the second liquid path Bb.

[0121] In FIG. 21, for the purpose of showing that the liquid storage unit 6 includes the coating liquid storage unit 61 and the cleaning liquid storage unit 62, the reference numerals of the liquid storage unit 6 and the coating liquid storage unit 61 are shown together, and the reference numerals of the liquid storage unit 6 and the cleaning liquid storage unit 62 are shown together.

[0122] In the example shown in FIG. 21, the coating device according to the third embodiment of the present invention can switch the liquid supplied from the liquid storage unit 6 to either the coating liquid or the cleaning liquid by the switching unit a. When coating the object 200, the coating device according to the third embodiment of the present invention supplies the coating liquid from the coating liquid storage unit 61, and when cleaning the liquid path P, it supplies the cleaning liquid from the cleaning liquid storage unit 62. With this configuration, the switching between the supply of the coating liquid and the supply of the cleaning liquid becomes easy.

[0123] The paint liquid storage unit 61 may include storage units that individually store each of the paint liquids of a plurality of colors, and may be capable of switching the supply of the paint liquid from the storage unit for each color. With this configuration, the operation of switching the painting color becomes easier.

[0124] The coating apparatus according to the third embodiment of the present invention has a coating liquid storage unit 61 that stores the coating liquid to be supplied to the first liquid path Ba and the second liquid path Bb. Thereby, in the third embodiment of the present invention, coating can be performed using both the first head 1A and the second head 1B.

[0125] [Fourth Embodiment] Next, with reference to FIG. 22, the control unit 5 included in the cleaning apparatus according to the fourth embodiment of the present invention will be described. FIG. 22 is a block diagram showing an example of the functional configuration of the control unit 5 included in the cleaning apparatus according to the fourth embodiment of the present invention. Note that the control unit 5 may further include a functional configuration other than the functional configuration shown in FIG. 22.

[0126] The control unit 5 shown in FIG. 22 includes a data storage unit 85, a learning unit 86, and an estimation unit 87. The functions of the data storage unit 85, the learning unit 86, and the estimation unit 87 may be realized by a machine learning program installed in the control unit 5.

[0127] (Example of updating the immersion time T by machine learning) The data storage unit 85 stores data including at least the number of cleaning times (α1, α2, ···), the first cleaning time t1 and the second cleaning time t2, and the paint content of the cleaning liquid (a state in which the cleaning liquid and the dissolved paint are mixed) discharged from the capping corresponding to each filling into the waste liquid tank.

[0128] The learning unit 86 learns the relationship between the number of times (α1, α2, ···) the cleaning liquid flows through the supply paths Ba and Bb and the paint content β of the discharged cleaning liquid after each filling, based on the data stored in the data storage unit 85.

[0129] The learning unit 86 may generate a learned model 88 that learns the relationship between the filling times (α1, α2, ···) and the paint content β using, as teacher data, for example, a data set in which the washing times (α1, α2, ···) stored in the data storage unit 85 are associated with the paint content β, and cause the estimation unit 87 to hold the learned model 88.

[0130] The algorithm used in the learning unit 86 is not particularly limited, and deep learning using a neural network, an unsupervised learning model, a supervised learning model, a reinforcement learning model, etc. can be applied.

[0131] The estimation unit 87 estimates a predetermined value of the filling times (α1, α2, ···) based on the learning of the learning unit 86. For example, when a value indicating an acceptable filling time (α1, α2, ···) is input, the estimation unit 87 inputs the input value to the learned model 88 and estimates a predetermined value of the washing time T output from the learned model 88.

[0132] The control unit 5 controls the time for supplying the cleaning liquid based on the predetermined values of the first cleaning time t1 and the second cleaning time t2 estimated by the estimation unit 87.

[0133] By including the control unit 5 shown in FIG. 22, the head cleaning apparatus according to the present embodiment can adjust the cleaning time T using a learned model by machine learning.

[0134] Also, in the above-described embodiment, the nozzle surfaces 15A and 15B are arranged so as to face different directions. Specifically, the nozzle surfaces 15A and 15B are arranged to face directions orthogonal to each other. On the other hand, the present invention is not limited to this. For example, the present invention is applicable even when both nozzle surfaces face the same direction.

[0135] The numbers such as ordinal numbers and quantities used in the description of the embodiments of the present invention are all exemplified for specifically describing the technology of the present invention, and the present invention is not limited to the exemplified numbers. Also, the connection relationships between components are exemplified for specifically describing the technology of the present invention, and the connection relationships for realizing the functions of the present invention are not limited thereto.

[0136] Aspects of the present invention are, for example, as follows. <1> A cleaning device having a first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging liquid from a first nozzle, and a second head provided in the second liquid path for discharging liquid from a second nozzle, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path with the second nozzle closed and the first nozzle open. <2> The cleaning device according to <1>, wherein the first nozzle repeats opening and closing while the cleaning liquid is flowing through the first liquid path and the second liquid path. <3> The cleaning device according to <1> or <2>, wherein, when predetermined conditions are satisfied, the cleaning liquid is caused to flow through the first liquid path and the second liquid path with the first nozzle and the second nozzle closed. <4> The cleaning device according to <2>, further having a first valve provided downstream of the first head in the first liquid path in the liquid flow direction, and the first nozzle repeats opening and closing with the first valve closed. <5> The cleaning device according to <3>, further having a first valve provided downstream of the first head in the first liquid path in the liquid flow direction, and the cleaning liquid is caused to flow through the first liquid path and the second liquid path with the first valve open. <6> A first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging liquid from a first nozzle, and a second head provided in the second liquid path for discharging liquid from a second nozzle, and a first valve provided downstream of the first head in the first liquid path in the flow direction of the liquid, and upstream of the first valve in the flow direction and upstream of the position where the first liquid path and the second liquid path merge, a second valve provided in the flow direction, and a cleaning device that flows a cleaning liquid through the first liquid path and the second liquid path with the second valve closed and the first valve open. <7> The cleaning device according to <6>, wherein the first nozzle is opened when a cleaning liquid is flowing through the first liquid path and the second liquid path. <8> The cleaning device according to <6> or <7>, wherein when a predetermined condition is satisfied, a cleaning liquid is flowed through the first liquid path and the second liquid path with the first valve and the second valve open. <9> The cleaning device according to any one of <1> to <8>, wherein the number of the first heads is less than the number of the second heads. <10> A first cap member for capping the first head and a second cap member for capping the second head, and after capping the first cap member and the second cap member, a cleaning liquid is flowed through the first liquid path and the second liquid path, the cleaning device according to any one of <1> to <9>. <11> The cleaning device according to any one of <1> to <10>, wherein the inner diameter of the first liquid path and the inner diameter of the second liquid path are substantially the same. <12> A coating device having the cleaning device according to any one of <1> to <11> and a coating liquid storage unit for storing a coating liquid supplied to the first liquid path and the second liquid path. <13>A cleaning method by a cleaning device having a first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging liquid from a first nozzle, and a second head provided in the second liquid path for discharging liquid from a second nozzle, the cleaning method being such that the cleaning device flows a cleaning liquid through the first liquid path and the second liquid path with the second nozzle closed and the first nozzle open.

Explanation of Signs

[0137] 1 Head 1A First Head 1B Second Head 2 Painting Robot 3 Position Detection Unit 4 Liquid Supply Unit 5 Control Unit 6 Liquid Storage Unit 61 Painting Liquid Storage Unit 62 Cleaning Liquid Storage Unit 7 Air Supply Unit 8 Liquid 9 Air Regulator 10 Base Unit 11 First Arm 12 Second Arm 13 Head Unit 15, 15A, 15B Nozzle Surfaces 16 Encoder Sensor 17 Robot Drive Unit 20 Housing 21 Supply Port 22 Recovery Port 23 Discharge Module 24 Nozzle 25 Nozzle Plate 26 Nozzle Valve 27 Piezoelectric Element 28 Liquid Flow Path 30 Support Member 40, 40A, 40B Maintenance and Recovery Unit 41 Cap Member 41A First Cap Member 41B Second Cap Member 42 Cleaning means 43 Drying means 50 Cap body 50a Opening 51 Sealing part 52 Cleaning nozzle 53 Drying nozzle 54 Waste liquid flow path 70 Waste liquid tank 71 First valve 72 Second valve 85 Data storage unit 86 Learning unit 87 Estimation unit 88 Trained model 100 Coating device 111, 112 Air flow path 150 Cleaning device 200 Object 300 Computer 301 RIP unit 302 Rendering unit 400 Controller 401 CPU 402 ROM 403 RAM 404 HDD / SSD 405 I / F 411 System control unit 412 Nozzle valve drive control unit 413 Discharge cycle signal generation unit 414 Memory control unit 415 Data storage part 416 Robot control signal generation unit 417 Liquid path control unit 418 Maintenance and recovery control unit 500 Head control device 600 Robot control device 700A Input device Arrows A~F A-2, A-3, A-4, A-5, A-6, A-7 Branch parts B-2, B-3, B-4, B-5, B-6, B-7 Branch parts A0, B0 Supply paths First liquid path of Ba Second liquid path of Bb Branching parts C-1 and C-2 Flow direction F0 Joints J1, J3, and J4 Liquid path P System bus S Arrows Z1 and Z2

Prior art documents

Patent documents

[0138]

Patent Document 1

Claims

1. A first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging liquid from a first nozzle, and a second head provided in the second liquid path for discharging liquid from a second nozzle, and a cleaning device that flows a cleaning liquid through the first liquid path and the second liquid path with the second nozzle closed and the first nozzle open.

2. The cleaning device according to claim 1, wherein the first nozzle repeatedly opens and closes while the cleaning liquid is flowing through the first liquid path and the second liquid path.

3. The cleaning device according to claim 1, wherein when a predetermined condition is satisfied, the cleaning liquid is flowed through the first liquid path and the second liquid path with the first nozzle and the second nozzle closed.

4. Further comprising a first valve provided downstream of the first head in the first liquid path in the liquid flow direction, The cleaning device according to claim 2, wherein the first nozzle repeatedly opens and closes with the first valve closed.

5. Further comprising a first valve provided downstream of the first head in the first liquid path in the liquid flow direction, The cleaning device according to claim 3, wherein the cleaning liquid is flowed through the first liquid path and the second liquid path with the first valve open.

6. A first liquid path, a second liquid path shorter in distance than the first liquid path, a first head provided in the first liquid path for discharging liquid from a first nozzle, and a second head provided in the second liquid path for discharging liquid from a second nozzle, and a first valve provided downstream of the first head in the first liquid path in the liquid flow direction, and a second valve provided upstream of the first valve in the flow direction and upstream of the position where the first liquid path and the second liquid path merge, and a cleaning device that flows a cleaning liquid through the first liquid path and the second liquid path with the second valve closed and the first valve open.

7. The cleaning device according to claim 6, wherein the first nozzle is opened while the cleaning liquid is flowing through the first liquid path and the second liquid path.

8. When the predetermined conditions are satisfied, with the first valve and the second valve open, a cleaning liquid is caused to flow through the first liquid path and the second liquid path, the cleaning device according to claim 6 or claim 7.

9. The number of the first heads is less than the number of the second heads. The cleaning device according to claim 1 or claim 6.

10. A first cap member for capping the first head; A second cap member for capping the second head, and after capping the first cap member and the second cap member, a cleaning liquid is caused to flow through the first liquid path and the second liquid path, the cleaning device according to claim 1 or claim 6.

11. The inner diameter size of the first liquid path and the inner diameter size of the second liquid path are substantially the same, the cleaning device according to claim 1 or claim 6.

12. A coating device having the cleaning device according to any one of claims 1 to 7, and a coating liquid storage unit for storing a coating liquid to be supplied to the first liquid path and the second liquid path.

13. A first liquid path; A second liquid path that is shorter in distance from the first liquid path; A first head provided in the first liquid path and discharging liquid from a first nozzle; A second head provided in the second liquid path and discharging liquid from a second nozzle, a cleaning method using a cleaning device, wherein the cleaning device closes the second nozzle and opens the first nozzle, and causes a cleaning liquid to flow through the first liquid path and the second liquid path.

18. ​ ​

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