Painting system and painting method

Abstract

To reduce contamination of a detector due to mist.SOLUTION: A painting system according to one embodiment of the present invention comprises a head that discharges a liquid, a detector for detecting information necessary for the head to paint an object, including position and shape of the object, and a movement mechanism that moves the object and the head relative to each other, wherein the object is painted with the liquid discharged from the head, and the detector is positioned above the head in a gravity direction.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a painting system and a painting method. [Background technology]

[0002] 2. Description of the Related Art A coating system is known that coats an object with a liquid ejected from a head.

[0003] For example, Patent Document 1 discloses a liquid ejection device that paints by moving a head that ejects liquid and a position measurement device for the object relative to an object using a robot arm on which the head and position measurement device are mounted. Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the device described in Patent Document 1, mist generated when liquid is ejected from the head may adhere to a detection unit such as a position measurement device, contaminating the detection unit, and there is room for improvement.

[0005] An object of the present invention is to suppress contamination of the detection unit by mist. [Means for solving the problem]

[0006] A painting system according to one aspect of the present invention comprises a head that ejects liquid, a detection unit that detects information necessary for the head to paint the object, including the position and shape of the object, and a movement mechanism that moves the object and the head relative to each other, and paints the object with the liquid ejected from the head, and the detection unit is located above the head in the direction of gravity. [Effects of the Invention]

[0007] According to the present invention, contamination of the detection unit by mist can be suppressed. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing the overall configuration of a painting system according to a first embodiment of the present invention. [Figure 2] 1 is a perspective view showing a configuration of a head provided in a coating system according to a first embodiment of the present invention. [Figure 3] FIG. 3 is a cross-sectional view of the head taken along plane S1 in FIG. 2. [Figure 4] 1 is a diagram showing the configuration of a supply unit included in a coating system according to a first embodiment of the present invention. [Figure 5] 1 is a block diagram showing the hardware configuration of a painting system according to a first embodiment of the present invention. [Figure 6] 2 is a block diagram showing the functional configuration of a controller provided in the painting system according to the first embodiment of the present invention. FIG. [Figure 7] 2 is a diagram showing an example of a relative movement path of a head provided in the coating system according to the first embodiment of the present invention with respect to an object. FIG. [Figure 8] 1 is a perspective view showing a head held by a moving mechanism and a detection unit included in a coating system according to a first embodiment of the present invention. FIG. [Figure 9] 1 is a diagram for explaining a painting system according to a first embodiment of the present invention. [Figure 10] 2 is a diagram showing the positional relationship between a head and a detection unit provided in the coating system according to the first embodiment of the present invention. FIG. [Figure 11] 1 is a diagram showing a state in which a head and a detection unit provided in a coating system according to a first embodiment of the present invention are arranged relative to an object. [Figure 12] 3 is a diagram showing the positional relationship between the head and the detection unit when the head and the detection unit provided in the coating system according to the first embodiment of the present invention move. FIG. [Figure 13] FIG. 6 is a diagram showing the configuration of an airflow generating mechanism included in a coating system according to a second embodiment of the present invention. [Figure 14] FIG. 6 is a diagram showing an airflow generated by an airflow generating mechanism included in a coating system according to a second embodiment of the present invention. [Figure 15]10 is a diagram showing airflow between a head and a detection unit provided in a coating system according to a second embodiment of the present invention and an object. FIG. [Figure 16] FIG. 6 is a diagram showing a partition member provided in a coating system according to a second embodiment of the present invention. [Figure 17] FIG. 10 is a diagram showing an example of the overall configuration of a painting system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] A coating system and a coating method according to an embodiment of the present invention will be described in detail with reference to the drawings. However, the following embodiments are merely illustrative of a coating system and a coating method for embodying the technical concept of the present embodiment, and are not limited thereto. Furthermore, unless otherwise specified, the dimensions, materials, shapes, relative positions, etc. of the components described in the embodiments are merely illustrative examples and are not intended to limit the scope of the present invention. Note that the size, positional relationship, etc. of components shown in each drawing may be exaggerated for clarity. Furthermore, in the following description, the same names and symbols indicate the same or similar components, and detailed description will be omitted as appropriate.

[0010] In the figures shown below, an XYZ Cartesian coordinate system may be used for ease of explanation. The three axes in the XYZ Cartesian coordinate system are mutually orthogonal. In the XYZ Cartesian coordinate system, the direction in which the X axis extends is referred to as the "X direction," the direction in which the Y axis extends is referred to as the "Y direction," and the direction in which the Z axis extends is referred to as the "Z direction." The direction in which the arrow indicating the X axis points is referred to as the +X direction, and the direction opposite to the +X direction is referred to as the -X direction. The direction in which the arrow indicating the Y axis points is referred to as the +Y direction, and the direction opposite to the +Y direction is referred to as the -Y direction. The direction in which the arrow indicating the Z axis points is referred to as the +Z direction, and the direction opposite to the +Z direction is referred to as the -Z direction. In this specification, the Y direction is the direction of gravity. The +Y direction is the upward direction in the direction of gravity, and the -Y direction is the downward direction in the direction of gravity.

[0011] [First embodiment] <Configuration of the painting system according to the first embodiment of the present invention> (Overall composition) Fig. 1 is a diagram showing an example of the overall configuration of a coating system 100 according to a first embodiment. In Fig. 1, the coating system 100 includes a head 11 that ejects a liquid, a detection unit 12 that detects information necessary for the head 11 to coat an object 200, including the position and shape of the object 200, and a movement mechanism 13 that moves the object 200 and the head 11 relative to each other. In the example shown in Fig. 1, the coating system 100 also includes a control unit 20 that controls the operations of the head 11 and the movement mechanism 13.

[0012] Four heads 11 (11-1, 11-2, 11-3, 11-4) and four detection units 12 (12-1, 12-2, 12-3, 12-4) are arranged around an object 200 located at a painting position. The painting system 100 paints the object 200 by applying liquid ejected from the four heads 11 to the object 200. The liquid is, for example, paint. The object 200 is, for example, the body of a vehicle. Vehicles include automobiles, trucks, etc. In the example shown in this specification, the object 200 is a vehicle.

[0013] The heads 11 (11-1, 11-2, 11-3, 11-4) include a nozzle surface on which a plurality of nozzles for ejecting liquid are formed, and are attached to the tip of the movement mechanism 13. The heads 11 shown in FIG. 1 are moved by the movement mechanism 13 and apply the ejected liquid to the target object 200. The number of heads 11 is not limited to four, and may be one or three or more.

[0014] The detection unit 12 (12-1, 12-2, 12-3, 12-4) is attached to the tip of the moving mechanism 13 together with the head 11. The detection unit 12 functions as the eyes of the moving mechanism 13 and acquires information necessary for the painting operation, such as three-dimensional (XYZ) coordinate data of the head 11 relative to the object 200, detection of the painting operation start position, and detection of the size of the object to be painted. The detection unit 12 may include a 3D camera such as a stereo camera, or a 3D sensor or laser displacement meter other than a stereo camera. For example, the detection unit 12 measures the position and inclination in the XY directions using a 3D sensor or 3D camera, and detects the work start position and the size of the object to be painted. The detection unit 12 also measures the Z direction using a laser displacement meter, and detects the roof height and curvature of the object. By using the detection results from the detection unit 12, the painting system 100 can eject liquid from the head 11 toward the object 200 while maintaining a constant distance (spacing) between the object 200 and the head 11.

[0015] In the example shown in FIG. 1 , the detection unit 12 includes a stereo camera, which measures the position and tilt in the X and Y directions, detects the painting start position, and detects the size of the object to be painted. The stereo camera has multiple cameras, and acquires a distance image of the object 200 by triangulation based on the parallax between the images captured by each of the multiple cameras. The stereo camera also outputs the distance image to the control unit 20 as feature point information. The detection unit 12 may also include a laser displacement meter, which may measure the height of the roof of the object 200 or detect the curvature of the object 200. The number of detection units 12 is not limited to four, and may be one or three or more, depending on the number of heads 11.

[0016] The moving mechanism 13 moves the head 11 relative to the object 200 by moving the head 11 along the surface of the object 200. The moving mechanism 13 is, for example, a robot arm that holds and moves the head 11. However, the moving mechanism 13 is not limited to a robot arm and may be configured with multiple linear motion mechanisms, multiple rotation mechanisms, or a combination of linear motion mechanisms and rotation mechanisms. The moving mechanisms 13 (13-1, 13-2, 13-3, 13-4) shown in FIG. 1 have links and joints. The moving mechanism 13 rotates or displaces the links and joints to change the relative position and relative inclination between the head 11 and the object 200, thereby causing the nozzle surface of the head 11 to face the object 200. In the example shown in FIG. 1, the moving mechanism 13 moves the detection unit 12 together with the head 11 relative to the object. The number of moving mechanisms 13 is not limited to four and may be one or three or more depending on the number of heads 11.

[0017] The control unit 20 controls the ejection of liquid by the head 11 and the relative movement of the head 11 and the detection unit 12 by the movement mechanism 13 with respect to the target object 200. For example, the control unit 20 drives the movement mechanism 13 that holds the four heads 11 based on shape data such as CAD (Computer Aided Design) data of the target object 200 and feature point information related to the three-dimensional positions of three or more feature points output from each of the four detection units 12.

[0018] In the painting system 100, the object 200 is transported to a painting position, and the head 11 is moved relative to the stopped object 200 by the movement mechanism 13 to paint the object 200. After painting is complete, the object 200 is transported out of the painting position, and the next object 200 is transported to the painting position.

[0019] (Head 11) The configuration of the head 11 provided in the coating system 100 will be described with reference to Figures 2 and 3. Figure 2 is a diagram showing an example of the configuration of the head 11 according to the first embodiment of the present invention. Figure 3 is a cross-sectional view of the head 11 according to the first embodiment of the present invention, taken along plane S1 in Figure 2. In Figures 2 and 3, the head 11 has a supply port 111, a recovery port 112, and a discharge module 340.

[0020] The supply port 111 supplies pressurized liquid from the outside to the discharge module 340. The recovery port 112 discharges liquid that has not been discharged to the outside when a valve of a nozzle 311, which will be described later, is opened.

[0021] The ejection module 340 includes a housing 110 , a nozzle plate 321 having nozzles 311 , a liquid flow path 322 , a valve 310 , and a piezoelectric element 324 .

[0022] Nozzle plate 321 is joined to housing 110, and ejects liquid supplied from supply port 111 from nozzle 311. Flow path 322 is a flow path common to multiple (eight in FIG. 2) ejection modules 340 provided in housing 110.

[0023] The valve 310 is an example of a needle-shaped valve element. The valve 310 is driven by a piezoelectric element 324 and moves back and forth in the direction of discharging liquid within the housing 110, thereby opening and closing the nozzle 311. The head 11 supplies pressurized liquid from the supply port 111 through the flow path 322, with the valve of the recovery port 112 closed. When the valve 310 is in a position that closes the nozzle 311, the nozzle 311 does not discharge liquid. On the other hand, when the piezoelectric element 324 is driven to raise the valve 310, the valve of the nozzle 311 opens, and liquid is discharged from the nozzle 311.

[0024] (Supply section 14) Fig. 4 is a diagram showing an example of the configuration of the supply unit 14 included in the coating system 100. The supply unit 14 supplies the liquid to be discharged onto the target object 200 to each of the four heads 11. In Fig. 4, the supply unit 14 includes a liquid tank 330 as a sealed container that contains the liquid 325 to be discharged from the head 11. The liquid tank 330 and the inlet (supply port 111) of the head 11 are connected via tubes 333 so that the liquid can flow therethrough.

[0025] The liquid tank 330 is connected to the compressor 230 via a pipe 331 including an air regulator 332, and the compressor 230 supplies pressurized air. As a result, pressurized liquid 325 is supplied to the inlet of the head 11, and the coating system 100 discharges the liquid 325 from the nozzle of the head 11. Instead of providing a liquid tank 330 for each head 11, it is also possible to supply liquid to all heads 11 from one liquid tank 330.

[0026] The coating system 100 may further include a maintenance unit that removes thickened liquid or foreign matter adhering to the nozzle surface of the head 11 or that is present inside the head 11. The coating system 100 uses the maintenance unit to reduce ejection abnormalities in the head 11, such as non-ejection, deflected ejection, and ejection speed fluctuations, and can maintain the ejection state of the head 11 in a normal state.

[0027] (Control unit 20) (Hardware configuration) 5 is a block diagram showing an example of the hardware configuration of a coating system 100 according to a first embodiment of the present invention. The coating system 100 includes a controller 901, a head control device 902, a moving mechanism control device 904, a moving mechanism 13-1, a moving mechanism 13-2, and a PC (Personal Computer) 903. The controller 901, the head control device 902, and the moving mechanism control device 904 constitute a control unit 20. The head 11 and the detection unit 12 constitute a head unit 103. The moving mechanism 13-1 and the moving mechanism 13-2 are two of the four moving mechanisms 13 shown in FIG. 1.

[0028] The controller 901 includes a CPU (Central Processing Unit) 9001, a ROM (Read Only Memory) 9002, a RAM (Random Access Memory) 9003, and an I / F (Interface) 9004.

[0029] The PC 903 includes a RIP (Raster Image Processor) unit 9031 that performs image processing according to the color profile and user settings, and a rendering unit 9032 that breaks down the paint data to be applied to the object 200 into image data. The painting system 100 paints by moving the head 11 in both the main scanning direction and the sub-scanning direction perpendicular to the main scanning direction. The image data is the paint data used in painting for each movement in the main scanning direction.

[0030] The PC 903 is also connected to an input device 9033 that sets image data and coordinate data for the paint to be applied to the object 200, selects a paint mode, sets the paint range (painting start position, painting end position), and issues paint instructions. The input device 9033 is composed of a keyboard, mouse, touch panel, etc., and accepts input from the user. The PC 903 also acquires position data from the detection unit 12 included in the movement mechanism 13, and generates a paint route, which is the path along which the head 11 will move using the movement mechanism 13.

[0031] The controller 901 is connected to a PC 903. The CPU 9001 is a computing device that reads programs or data stored in a ROM 9002 or the like onto a RAM 9003 and executes processing to realize each function of the painting robot 1000. The controller 901 may further include a hard disk drive (HDD), a solid state drive (SSD), or the like.

[0032] The CPU 9001 controls the overall operation of the painting system 100 using image data and commands received from the PC 903. The ROM 9002 is a non-volatile memory that can retain programs or data even when the power is turned off. The RAM 9003 is a volatile memory used as a work area for the CPU 9001. The I / F 9004 is an interface for inputting and outputting characters, numbers, various instructions, etc., to and from various external devices. The I / F 9004 is an interface that allows communication between the controller 901 and external devices such as the PC 903.

[0033] The movement mechanism 13 includes a head unit 103, an encoder sensor 109, and a drive unit 72. The head unit 103 further includes a head 11 and a detection unit 12. The head 11 ejects liquid in response to a drive signal from a head control device 902. The detection unit 12 transmits the detection result of the target object 200 to a PC 903.

[0034] The encoder sensor 109 optically detects each slit of the encoder provided in, for example, the first joint 104, the second joint 105, and the third joint 106. Then, the encoder sensor 109 detects the positions of the moving mechanisms 13-1 and 13-2 from the amount of rotation of these mechanisms, and obtains three-dimensional position information of the head unit 103.

[0035] The drive unit 72 moves the head unit 103 held by the moving mechanism 13 to a desired position in response to a drive signal from the moving mechanism control device 904. Note that the head control device 902 and the moving mechanism control device 904 are common to the moving mechanisms 13-1 and 13-2, but the moving mechanisms 13-1 and 13-2 may each be equipped with the head control device 902 and the moving mechanism control device 904. Also, the RIP unit 9031 and the rendering unit 9032 may be provided in the controller 901 instead of in the PC 903.

[0036] The head control device 902 receives a discharge period signal from the controller 901 and controls the liquid discharge operation of the head 11 based on the discharge period signal. The movement mechanism control device 904 receives a synchronization control signal from the period control unit 9015 of the controller 901 and controls the driving of the drive unit 72 based on the synchronization control signal. By controlling the driving of this drive unit 72, the movement mechanism 13 and head unit 103 move to desired positions.

[0037] (Functional configuration) 6 is a block diagram showing an example of the functional configuration of the controller 901 included in the coating system 100 according to the first embodiment of the present invention. The controller 901 includes a system control unit 9011, a data storage unit 9012, a memory control unit 9013, a discharge period signal generation unit 9014, and a period control unit 9015.

[0038] The system control unit 9011 controls the overall operation of the painting system 100 using image data and commands received from the PC 903. The data storage unit 9012 stores painting data and the like received from the computer 300. The memory control unit 9013 controls the data storage unit 9012. The discharge period signal generation unit 9014 generates a liquid discharge period signal from the output signal of the encoder sensor 109 and information indicating the resolution of the image data received from the PC 903. The period control unit 9015 coordinates the movements of the moving mechanisms 13-1 and 13-2 with the liquid discharge operations of the heads 11-1 and 11-2 based on the image data, painting commands, and the like received from the PC 903.

[0039] <Relative movement path of head 11 with respect to object 200> FIG. 7 is a diagram showing an example of a relative movement path of the head 11 with respect to the target object 200 provided in the coating system 100 according to the first embodiment of the present invention.

[0040] 7, the object 200 is an automobile, and the coating area 211 (211-1, 211-2, 211-3, 211-4) is the roof of the automobile. The coating area 211 is the area where each of the four movement mechanisms 13 shown in FIG. 1 moves the head 11 relative to the object 200 to paint. The coating area 211 and the relative movement path T1 (T1-1, T1-2, T1-3, T1-4) are different for each of the four heads 11.

[0041] The coating range 211-1 is a range in which coating is performed by moving the head 11-1 by the movement mechanism 13-1 relative to the object 200. The relative movement path T1-1 is a path along which the head 11-1 moves relative to the object 200.

[0042] The coating range 211-2 is a range in which coating is performed by moving the head 11-2 by the movement mechanism 13-2 relative to the object 200. The relative movement path T1-2 is a path along which the head 11-2 moves relative to the object 200.

[0043] The coating range 211-3 is a range in which coating is performed by moving the head 11-3 by the movement mechanism 13-3 relative to the object 200. The relative movement path T1-3 is a path along which the head 11-3 moves relative to the object 200.

[0044] The coating range 211-4 is a range in which coating is performed by moving the head 11-4 by the movement mechanism 13-4 relative to the object 200. The relative movement path T1-4 is a path along which the head 11-4 moves relative to the object 200.

[0045] As described above, the painting system 100 can use the four movement mechanisms 13 to move the four heads 11 relative to the roof of the automobile as the target object 200, thereby discharging the liquid and painting the object.

[0046] <Positional Relationship Between Head 11 and Detector 12> 8 to 12, the positional relationship between the head 11 and the detection unit 12 included in the coating system 100 according to the first embodiment of the present invention will be described in detail. FIG. 8 is a perspective view showing an example of the head 11 and the detection unit 12 held by the moving mechanism 13 included in the coating system 100 according to the first embodiment of the present invention. FIG. 9 is a diagram showing an example of the positional relationship between the head 11 and the detection unit 12 included in the coating system 100 according to the first embodiment of the present invention. FIG. 9 is a diagram for explaining an example of the coating system according to the first embodiment of the present invention. FIG. 10 is a side view showing an example of the head 11 and the detection unit 12 viewed from a direction perpendicular to the direction in which the nozzle of the head 11 faces. FIG. 11 is a diagram showing an example of how the head 11 and the detection unit 12 included in the coating system 100 according to the first embodiment of the present invention are arranged relative to the target object 200. FIG. 12 is a diagram showing an example of the positional relationship between the head 11 and the detection unit 12 included in the coating system 100 according to the first embodiment of the present invention when the head 11 and the detection unit 12 move.

[0047] 8, a head unit 103 including a head 11 and a detection unit 12 is supported by a movement mechanism 13. A communication board that sends electrical signals to the head 11 and a tube that supplies liquid to the head 11 can be connected to the head 11.

[0048] In the example shown in Fig. 8, the head 11 is configured as an aggregate of multiple heads. More specifically, the number of heads in the aggregate of multiple heads is 12. The head 11 configured as an aggregate of multiple heads is suitable, for example, when painting a large painting area on the object 200. However, this is just one example, and the number of heads included in the head 11 may be any number equal to or greater than one.

[0049] In the painting system 100 according to the first embodiment of the present invention, the detection unit 12 is located above the head 11 in the direction of gravity. In this embodiment, as shown in Fig. 9, when painting a car body, which is the target object 200, the head 11 and the detection unit 12 are located in region R1 (i.e., located on the -Z direction side of the target object 200 in Fig. 9) will be described as an example. In the example shown in Figs. 8 and 10, when the normal to the nozzle plate 321 of the head 11 shown in Fig. 3 is oriented in the Z direction, the detection unit 12 is located directly above the head 11.

[0050] For example, when the detection unit 12 is located below the head 11 in the direction of gravity, mist generated by the ejection of liquid from the head 11 may move downward in the direction of gravity due to the action of gravity and adhere to the detection unit 12. When the mist adheres to the detection unit 12, a shadow of the mist may appear in an image captured by, for example, a stereo camera, and an area may appear in the captured image where at least one of the position and shape of the object 200 cannot be detected, or where the detection accuracy is low.

[0051] In the coating system 100, the detection unit 12 is located above the head 11 in the direction of gravity, and therefore mist that is generated when liquid is ejected from the head 11 and moves downward in the direction of gravity due to the action of gravity is less likely to reach the detection unit 12. As a result, in the first embodiment of the present invention, adhesion of mist to the detection unit 12 is reduced compared to when the detection unit 12 is located below the head 11 in the direction of gravity, and contamination of the detection unit 12 by mist can be suppressed.

[0052] The detection unit 12 does not necessarily have to be located directly above the head 11 as long as it is located above the head 11 in the direction of gravity. Here, FIG. 11 is a diagram showing the case in which the head 11 and the detection unit 12 are located in region R2 in FIG. 9. The detection unit 12 may be located diagonally above the head 11, for example, as shown in FIG. 11. From another perspective, in the coating system 100, the detection unit 12 may be located above the head 11 with respect to the coating surface of the object 200 in a direction intersecting the horizontal direction orthogonal to the direction of gravity. Even in this case, the mist generated from the head 11 moves downward in the direction of gravity due to the action of gravity, thereby preventing contamination of the detection unit 12 by the mist.

[0053] The configuration in which the detection unit 12 is positioned above the head 11 with respect to the painted surface of the object 200 in a direction intersecting the horizontal direction orthogonal to the direction of gravity also includes a configuration in which the head 11 and detection unit 12 are positioned near the edge of the object 200, as shown in Figure 11. Even in the configuration in which the head 11 and detection unit 12 are positioned near the edge of the object 200, the mist generated from the head 11 moves downward in the direction of gravity due to the action of gravity, thereby preventing contamination of the detection unit 12 by the mist.

[0054] 10, in the coating system 100, a first distance h1 between the target object 200 and the detection unit 12 is longer than a second distance h2 between the target object 200 and the head 11. As a result, compared to when the first distance h1 is shorter than the second distance h2, the detection unit 12 is further back, and therefore mist generated by ejecting liquid from the head 11 onto the target object 200 is less likely to adhere to the detection unit 12. Since the mist is less likely to adhere to the detection unit 12, contamination of the detection unit 12 by the mist can be suppressed.

[0055] As shown in FIGS. 8 and 10 , the detection unit 12 includes a light-transmitting member 121 and a holding member 122 that holds the light-transmitting member 121. In the example shown in FIGS. 8 and 10 , the detection unit 12 also includes a stereo camera 123 that captures images based on light transmitted through the light-transmitting member 121. In the coating system 100, the outer surface 1220 of the holding member 122 protrudes outward from the outer surface 1210 of the light-transmitting member 121 by a distance h3. That is, in this embodiment, the head 11, the outer surface 1220 of the holding member 122, and the outer surface 1210 of the light-transmitting member 121 are arranged in this order as viewed from the target 200. As a result, because the outer surface 1210 of the light-transmitting member 121 is recessed from the outer surface 1220 of the holding member 122, mist generated by discharging liquid from the head 11 onto the target 200 is less likely to adhere to the detection unit 12. By making it difficult for the mist to adhere to the detection unit 12, contamination of the detection unit 12 by the mist can be suppressed.

[0056] 12, the object 200 is located in the +Z direction of the head 11 and the detection unit 12. Fig. 12 shows the head 11 and the detection unit 12 viewed from the opposite side to the side on which the object 200 is located.

[0057] For example, when the head 11 and the detection unit 12 are moved by the movement mechanism 13, if the detection unit 12 is located downstream of the head 11 in the movement direction, mist generated when the head 11 ejects liquid will flow toward the detection unit 12 due to inertia. When the mist flows toward the detection unit 12, it may adhere to the detection unit 12 and contaminate it.

[0058] In the coating system 100, the movement mechanism 13 moves the object 200 and the detection unit 12 back and forth relative to each other in a direction intersecting the direction of gravity, and also moves them relative to each other in one direction along the direction of gravity. In the example shown in FIG. 12, the direction intersecting the direction of gravity corresponds to the X direction, which is the main scanning direction. The sub-scanning direction corresponds to the Y direction. In the example shown in FIG. 12, the main scanning direction coincides with the horizontal direction, and the sub-scanning direction coincides with the direction of gravity (vertical direction). In the example shown in FIG. 12, one direction in the sub-scanning direction corresponds to the -Y direction. The detection unit 12 is located upstream of the head 11 in the direction in which the head 11 moves relative to each other in one of the sub-scanning directions.

[0059] 12, the head 11 and detection unit 12 move a predetermined main scanning distance in the +X direction, and after moving the main scanning distance in the +X direction, move a predetermined sub-scanning distance in the -Y direction. After moving the sub-scanning distance in the -Y direction, the head 11 and detection unit 12 move the main scanning distance in the -X direction, move the main scanning distance in the -X direction, and then move the sub-scanning distance in the -Y direction. The head 11 and detection unit 12 then move the main scanning distance in the +X direction, the sub-scanning distance in the -Y direction, and then the main scanning distance in the -X direction.

[0060] The detection unit 12 is located upstream of the head 11 in one direction in the sub-scanning direction (direction of gravity), and is therefore located in the opposite direction to the direction in which the mist flows due to the inertia of the movement. This makes it possible in the coating system 100 to prevent the mist flowing due to the inertia of the movement from adhering to the detection unit 12 and contaminating the detection unit 12.

[0061] [Second embodiment] Next, a coating system according to a second embodiment of the present invention will be described with reference to Figures 13 to 16. Note that the same names and symbols as those in the already described embodiments indicate the same or similar members or configurations, and detailed descriptions thereof will be omitted as appropriate.

[0062] Fig. 13 is a diagram showing an example of the configuration of an airflow generating mechanism 400 included in the coating system 100 according to the second embodiment of the present invention. Fig. 14 is a diagram showing an example of an airflow 440 generated by the airflow generating mechanism 400 included in the coating system 100 according to the second embodiment of the present invention. Fig. 15 is a diagram showing an example of an airflow 440 between the target object 200 and the head 11 and detection unit 12 included in the coating system 100 according to the second embodiment of the present invention. Fig. 16 is a diagram showing an example of a partition member 450 included in the coating system 100 according to the second embodiment of the present invention.

[0063] The coating system 100 according to the second embodiment of the present invention is different from the coating system 100 according to the first embodiment of the present invention mainly in that it includes an airflow generating mechanism 400 .

[0064] As shown in Figure 13, the airflow generating mechanism 400 has an air supply unit 410 that supplies air into a painting chamber 430 in which the target object 200 is placed, a ceiling filter 435 that is placed on the ceiling of the painting chamber 430 and filters the air supplied to the painting chamber 430 by the air supply unit 410, and an exhaust unit 420 that exhausts the air inside the painting chamber 430 to the outside of the painting chamber 430.

[0065] The air supply unit 410 includes an air supply duct 411, a sirocco fan 412, a timing belt 413, and a motor 414. The air supply unit 410 supplies air from outside the painting chamber 430 into the painting chamber 430 through the air supply duct 411 by driving the sirocco fan 412 with the motor 414 via the timing belt 413.

[0066] The exhaust unit 420 includes an exhaust duct 421, a sirocco fan 422, a timing belt 423, and a motor 424. The exhaust unit 420 drives the sirocco fan 422 by the motor 424 via the timing belt 423, thereby exhausting the air inside the coating chamber 430 to the outside of the coating chamber 430 through the exhaust duct 421.

[0067] In the examples shown in FIGS. 13 and 14, the airflow generating mechanism 400 generates an airflow 440. The airflow 440 passes around the target object 200 arranged in the coating chamber 430. When the airflow 440 hits the target object 200 or the moving mechanism 13, it splits into all directions. However, some of the airflow 440 does not hit the target object 200. The airflow 440 that does not hit the target object 200 flows from above to below. For ease of explanation, FIG. 14 simply shows a case in which the airflow 440 hits the target object 200 and splits into two. The split airflows 440 flow from above the target object 200 along the side and downward.

[0068] 15, airflow 440 flows between each of head 11 and detection unit 12 and target 200, from the position of detection unit 12 to the position of head 11. This makes it difficult for mist generated by ejection of liquid by head 11 to reach detection unit 12, which is disposed downstream of airflow 440, thereby making it possible to suppress contamination of detection unit 12 by mist. Note that while FIG. 15 shows the positional relationship between one set of head 11 and detection unit 12 and target 200, the positional relationship between other sets of head 11 and detection unit 12 and target 200 is also the same as FIG. 15.

[0069] 16, the airflow generating mechanism 400 may include an opening 455 above in the direction of gravity and a partition member 450 inside which at least the target object 200 and the moving mechanism 13 are disposed. The airflow generating mechanism 400 generates an airflow that flows from above to below in the direction of gravity through the opening 455. The partition member 450 shown in FIG. 16 is sized to include the target object 200 and four moving mechanisms 13.

[0070] For example, if there is a worker working in the coating chamber 430, the worker may inhale mist that is generated when liquid is discharged from the head 11 and floats in the coating chamber 430. In the coating system 100 according to the second embodiment of the present invention, the worker works outside the partition member 450, thereby preventing the worker from inhaling the mist that floats in the coating chamber 430.

[0071] [Third embodiment] A coating system according to a third embodiment will be described with reference to Fig. 17. Fig. 17 is a diagram showing an example of the overall configuration of a coating system 100 according to the third embodiment. The coating system 100 differs from the previous embodiments in that the head 11 and the detection unit 12 are fixed, and the target object 200 is moved to coat the target object.

[0072] 17, a moving mechanism 13 holds an object 200 and moves it to a fixed head 11. The moving mechanism 13 then moves the object 200 to a liquid ejection position of the head 11 and paints it. The coating system 100 of this embodiment is preferably applied when the object 200 is light or small enough to be movable by the moving mechanism 13 or the like. Note that the liquid ejection method of this embodiment can be the same as that of the above embodiment.

[0073] Although the embodiments have been described above, the present invention is not limited to the above-described embodiments, and various modifications and improvements are possible within the scope of the present invention.

[0074] In the embodiment, the liquid ejected from the head 11 may be a solution, suspension, emulsion, or the like containing a solvent such as water or an organic solvent, a colorant such as a dye or pigment, a functionalizing material such as a polymerizable compound, a resin, or a surfactant, a biocompatible material such as DNA, amino acids, proteins, or calcium, an edible material such as a natural colorant, etc. These can be used, for example, in inkjet inks, coating materials, surface treatment solutions, liquids for forming components of electronic elements or light-emitting elements, liquids for forming electronic circuit resist patterns, and material liquids for 3D modeling.

[0075] Each function of the embodiments can be realized by one or more processing circuits. Here, the term "processing circuit" in this specification includes a processor programmed to perform each function by software, such as a processor implemented by an electronic circuit, as well as devices such as an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and conventional circuit modules designed to perform each function described above.

[0076] The present invention is also applicable to painting processes performed for purposes other than applying color and design to vehicle bodies such as automobiles. For example, the painting process for an automobile body includes a primer coat, which aims to ensure adhesion and rust resistance of the paint film to the vehicle body substrate; a middle coat, which aims to ensure impact resistance and durability; and a top coat, which applies color and design. The painting apparatus of the present invention may be used for the primer coat or middle coat in addition to the top coat. Furthermore, if a protective layer, such as a clear coat, is applied after the top coat process for the purposes of gloss and paint film protection, the painting apparatus of the present invention may be used in the protective layer application process. Furthermore, if a peelable protective layer is applied to protect the painted surface after the automobile is shipped or in the factory, the painting apparatus of the present invention can also be used to apply the protective layer. The peelable protective layer may be any material that adheres to the painted surface of the vehicle body and chemically or physically protects the painted area from dust, metal powder, oil, salt, acid, ultraviolet light, etc., and is preferably formed from a material primarily composed of an acrylic copolymer, for example.

[0077] The present invention is also applicable to droplet ejection devices that eject droplets for purposes other than painting, such as marking devices that eject droplets onto an object to mark a specific location.

[0078] For example, aspects of the present invention are as follows. <1> This painting system has a head that ejects liquid, a detection unit that detects information necessary for the head to paint the object, including the position and shape of the object, and a movement mechanism that moves the object and the head relative to each other, and the object is painted with the liquid ejected from the head, and the detection unit is located above the head in the direction of gravity. <2> a first distance between the object and the detection unit is longer than a second distance between the object and the head; <1> 1 is a coating system according to the present invention. <3> the movement mechanism moves the object and the detection unit relative to each other in a reciprocating manner in a direction intersecting the direction of gravity, and moves the object and the detection unit relative to each other in one direction along the direction of gravity, the detection unit is located upstream of the head in a direction along the direction of gravity, the direction in which the head moves relatively; <1> or the above <2> 1 is a coating system according to the present invention. <4> the detecting unit has a light transmitting member and a holding member that holds the light transmitting member, and an outer surface of the holding member protrudes outward beyond an outer surface of the light transmitting member; <1> From claims <3> 10. A coating system according to claim 9, wherein the coating system is a coating system for coating a surface of a substrate. <5> an airflow generating mechanism, and the airflow generated by the airflow generating mechanism flows between the head and the object and between the detection unit and the object, from the position of the detection unit to the position of the head; <1> From the above <4> 10. A coating system according to claim 9, wherein the coating system is a coating system for coating a surface of a substrate. <6> the airflow generating mechanism includes an opening above the direction of gravity, has a partition member inside which at least the object and the movement mechanism are disposed, and generates an airflow that flows from above to below in the direction of gravity through the opening; <5> 1 is a coating system according to the present invention. <7> A painting method using a painting system that paints an object with liquid ejected from a head, wherein the painting system ejects the liquid using the head, detects at least one of the position and shape of the object using a detection unit, moves the object and the head relative to each other using a movement mechanism, and the detection unit is positioned above the head in the direction of gravity. [Explanation of symbols]

[0079] 11 heads 11-1, 11-2, 11-3, 11-4 Head 12, 12-1, 12-2, 12-3, 12-4 Detector 121 Light-transmitting material 1210 External surface 122 Retaining member 1220 External surface 123 Stereo Camera 13, 13-1, 13-2, 13-3, 13-4 Movement mechanism 14 Supply section 20 Control Unit 72 Drive unit 9001 CPU 9002 ROM 9003 RAM 9004 Interface 901 Controller 9011 System Control Unit 9012 Data storage unit 9013 Memory control unit 9014 Discharge cycle signal generation section 9015 Cycle control section 902 Head control device 903 PC 904 Mobile mechanism control device 9031 RIP section 9032 Rendering Department 9033 Input Device 100 Painting System 103 Head Unit 109 Encoder Sensor 110 Housing 111 Supply Port 112 Collection Port 113 Connector 200 objects 201 Roof 211, 211-1, 211-2, 211-3, 211-4 Paint range 230 Compressor 311 Nozzle 321 Nozzle plate 322 Channel 324 Piezoelectric element 325 Liquid 330 Liquid Tank 331 Pipe 332 Air regulator 333 Tube 340 Dispensing Module 400 Airflow generating mechanism 410 Air Supply Unit 411 Air supply duct 412 Sirocco fan 413 Timing Belt 414 Motor 420 Exhaust Unit 421 Exhaust Duct 422 Sirocco Fan 423 Timing Belt 424 Motor 430 Paint Room 435 Ceiling Filter 440 Airflow 450 Partition material 455 Aperture h1 First spacing h2 Second spacing h3 distance T1, T1-1, T1-2, T1-3, T1-4 Relative movement path information [Prior art documents] [Patent documents]

[0080] [Patent Document 1] Japanese Patent Publication No. 2023-088745

Claims

1. a head that ejects liquid; a detection unit that detects information necessary for the head to paint the object, including the position and shape of the object; a movement mechanism that moves the object and the head relative to each other, coating the object with the liquid ejected from the head; A painting system, wherein the detection unit is located above the head in the direction of gravity.

2. The painting system according to claim 1 , wherein a first distance between the object and the detector is longer than a second distance between the object and the head.

3. the movement mechanism moves the object and the detection unit relative to each other in a reciprocating manner in a direction intersecting the direction of gravity, and moves the object and the detection unit relative to each other in one direction along the direction of gravity, The coating system according to claim 1 , wherein the detection unit is located upstream of the head in a direction along the direction of gravity, in which the head moves relatively.

4. the detection unit includes a light-transmitting member and a holding member that holds the light-transmitting member, The coating system according to claim 1 , wherein an outer surface of the holding member protrudes outward beyond an outer surface of the light-transmitting member.

5. Equipped with an airflow generating mechanism, 3. The coating system according to claim 1, wherein the airflow generated by the airflow generating mechanism flows between the head and the object and between the detection unit and the object and from the position of the detection unit to the position of the head.

6. 6. The coating system according to claim 5, wherein the airflow generating mechanism includes an opening above the direction of gravity, has a partition member inside which at least the object and the moving mechanism are disposed, and generates an airflow that flows from above to below in the direction of gravity through the opening.

7. A coating method using a coating system that coats an object with a liquid discharged from a head, the coating system comprising: The head ejects the liquid, a detection unit detecting at least one of a position and a shape of the object; a moving mechanism for moving the object and the head relative to each other; A coating method, wherein the detection unit is positioned above the head in the direction of gravity.

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