Painting system

Abstract

The present invention provides a painting robot that can improve painting productivity by reducing the time required for wetting and wiping the nozzle formation surface. [Solution] The painting robot 10 includes a painting head unit 50 equipped with a painting head 53 having a plurality of nozzles 54, a robot arm R1 that attaches the painting head unit 50 to its tip and moves the painting head unit 50 to a desired position, and a wiping mechanism 200 for wiping the nozzle forming surface 52 while wetting it. The wiping mechanism 200 includes a wiping member that slides while in contact with the nozzle forming surface 52, a guide mechanism 220 attached to the robot arm R1 or the painting head unit 50 that guides the sliding of the wiping member 210 against the nozzle forming surface 52, and a wiping actuator 230 that provides a driving force to slide the wiping member 210 against the nozzle forming surface 52.

Description

Technical Field

[0001] The present invention relates to a painting system including a painting robot.

Background Art

[0002] In a painting line of vehicles such as automobiles, robot painting using a robot has become mainstream. As an example of a configuration related to this robot painting, for example, Patent Document 1 describes wiping the nozzle surface (12) with a wiper (14). This Patent Document 1 discloses a configuration in which the head (10) is moved to wipe the nozzle surface (12) against the wiper (14) fixed near the robot (20) according to the degree of freedom of the arm (21).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, omitting the wiping of the nozzle surface (12) will adversely affect the formation of the coating film due to the remaining paint on the nozzle surface (12), and ultimately lead to a decrease in the coating quality. Therefore, wiping of the nozzle surface (12) is necessary. However, in the configuration disclosed in Patent Document 1, the movement time of the head (10) to the wiping device such as the wiper (14) is required, and after wiping, it is necessary to move the head (10) again to the position where painting is performed.

[0005] Therefore, when wiping is performed, it takes time for the movement of the head (10). Therefore, when the wiping process is frequently incorporated during the painting operation, the painting productivity is reduced.

[0006] Furthermore, in painting, if there is a long gap between the discharge of paint from the nozzle, the paint inside the nozzle may dry out, potentially degrading the paint discharge performance.

[0007] The present invention has been made in accordance with the above circumstances, and aims to provide a painting robot that can improve painting productivity by shortening the time required for wetting and wiping the nozzle forming surface. [Means for solving the problem]

[0008] To solve the above problems, according to a first aspect of the present invention, a painting robot for painting parts of a vehicle is provided, comprising: a painting head unit equipped with a painting head having a plurality of nozzles for discharging droplets of paint; a robot arm attached to the tip of the painting head unit and for moving the painting head unit to a desired position; and a wiping mechanism for wiping a nozzle-forming surface where the nozzles are open while wetting it, wherein the wiping mechanism comprises a wiping member that slides while in contact with the nozzle-forming surface; a guide mechanism attached to the robot arm or painting head unit that guides the sliding of the wiping member against the nozzle-forming surface; and a wiping actuator that provides a driving force for sliding the wiping member against the nozzle-forming surface. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a painting robot that can improve the productivity of painting by shortening the time required for wetting and wiping the nozzle forming surface. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing the overall configuration of a painting robot according to one embodiment of the present invention. [Figure 2] This figure shows a schematic configuration of a painting system equipped with the painting robot shown in Figure 1. [Figure 3]This figure shows a front view of the nozzle-forming surface that dispenses paint, which is part of the painting head unit of the painting robot shown in Figure 1. [Figure 4] Figure 3 is a plan view showing the configuration of the nozzle forming surface in a painting head unit different from the painting head unit shown in Figure 3. [Figure 5] This figure shows a schematic configuration of the wiping mechanism according to the first configuration example of the present invention. [Figure 6] Figure 5 shows an example of the configuration of the roller movement mechanism and the wiping actuator of the wiping mechanism shown. [Figure 7] This figure shows a schematic configuration of the wiping mechanism according to a second configuration example of the present invention. [Figure 8] This figure shows a configuration in which a wetting member is placed downstream of the wiping wiper in the direction of movement, as shown in Figure 7. [Figure 9] This figure shows a schematic configuration of the wetting mechanism according to the third configuration example of the present invention. [Figure 10] This figure shows a schematic configuration of the wetting mechanism according to the fourth configuration example of the present invention. [Figure 11] This figure shows a painting robot equipped with a wiping mechanism according to a fifth configuration example of the present invention. [Figure 12] This figure shows a painting robot equipped with a wiping mechanism according to the sixth configuration example of the present invention. [Figure 13] This figure shows a painting robot equipped with a wiping mechanism according to the seventh configuration example of the present invention. [Figure 14] This figure shows a painting system that uses two painting robots according to the eighth configuration example of the present invention to wipe the nozzle formation surface. [Figure 15] This figure shows a painting system that uses two painting robots according to the ninth configuration example of the present invention to wipe the nozzle formation surface. [Modes for carrying out the invention]

[0011] Hereinafter, the painting system 1 and the painting robot 10 according to an embodiment of the present invention will be described based on the drawings. In the following description, as necessary, the X direction is the longitudinal direction of the nozzle formation surface 52 (painting head 53), the X1 side is the right side in FIG. 3, and the X2 side is the left side in FIG. 3. Also, the Y direction is the short-side direction (width direction) of the nozzle formation surface 52 (painting head 53), the Y1 side is the upper side of the paper surface in FIG. 3, and the Y2 side is the lower side of the paper surface in FIG. 3.

[0012] (1. Regarding the outline of the painting system 1 and the painting robot 10) The painting system 1 and the painting robot 10 of the present embodiment perform "painting" on painting objects such as vehicles or vehicle parts (hereinafter, vehicle parts that are part of a vehicle will also be described as vehicles) located on a painting line in an automobile manufacturing factory, aiming to form a paint film on the surface of the painting object to provide surface protection and aesthetics. Therefore, it is necessary to perform painting on the vehicles moving along the painting line at a desired painting quality within a certain time at each predetermined time.

[0013] In addition, in the painting system 1 and the painting robot 10 of the present embodiment, not only the above-described paint film is formed, but also various designs and images can be formed on painting objects such as vehicles and vehicle parts. Note that the painting object is not limited to vehicles and vehicle parts, and any object that needs to be painted, such as various parts other than automobiles (as an example, exterior parts of airplanes and railways), may be used.

[0014] FIG. 1 is a schematic diagram showing the overall configuration of a painting robot 10 according to an embodiment of the present invention. FIG. 2 is a diagram showing a schematic configuration of a painting system 1 including the painting robot 10 shown in FIG. 1. As shown in FIG. 2, the painting system 1 includes a painting robot 10 and an image processing device 400.

[0015] As shown in Figure 1, the painting robot 10 mainly consists of a robot body 20 and a painting head unit 50. The painting robot 10 shown in Figure 1 is an example of a 6-axis vertical articulated robot, but the painting robot 10 can be any type of robot, such as a vertical articulated robot other than a 6-axis robot, a horizontal articulated robot, or a Cartesian robot.

[0016] (1-1. Regarding the robot body 20) As shown in Figure 1, the robot body 20 mainly consists of a base 21, first to sixth rotation axes 22a to 22f, legs 23, first rotating arm 24, second rotating arm 25, rotating arm 26, wrist section 27, and motors M1 to M6 (see Figure 2) that drive these components. The section from the legs 23 to the wrist section 27 corresponds to the robot arm R1, but other parts such as the base 21 may also correspond to the robot arm R1.

[0017] Of these components, the base 21 is the part that is installed on the floor or other installation site, and the base 21 may be movable relative to the installation site. The legs 23 are the parts that are erected upward from the base 21 and are rotatable relative to the base 21 via the first rotating shaft 22a driven by the motor M1 (see Figure 2). The legs 23 may be configured not to rotate relative to the base 21.

[0018] Furthermore, a first rotating arm 24 is rotatably mounted at the upper end of the leg portion 23 via a second rotating shaft 22b driven by a motor M2. In addition, a second rotating arm 25 is rotatably mounted at the tip of the first rotating arm 24 via a third rotating shaft 22c driven by a motor M3.

[0019] Furthermore, a rotating arm 26 is provided at the tip of the second rotating arm 25 so as to be rotatable around the central axis of the second rotating arm 25. This rotating arm 26 is rotatable via the fourth rotating shaft 22d by the drive of motor M4. A wrist section 27 is also provided at the tip of the rotating arm 26. This wrist section 27 is rotatable around multiple shafts with different orientations, for example, two, by the drive of motors M5 and M6. In Figure 1, the rotating shafts capable of such rotation are designated as the fifth rotating shaft 22e and the sixth rotating shaft 22f, respectively. This makes it possible to control the orientation of the painting head unit 50 with high precision. Note that the number of shafts can be any number, as long as there are two or more.

[0020] Furthermore, a painting head unit 50 is attached to the wrist section 27, but this painting head unit 50 may be detachably attached to the wrist section 27.

[0021] (1-2. Regarding the paint / cleaning solution supply unit 40) As shown in Figure 2, the painting system 1 and the painting robot 10 are provided with a paint / cleaning liquid supply unit 40. The paint / cleaning liquid supply unit 40 is the part that supplies paint or cleaning liquid to the painting head unit 50. For this reason, the paint / cleaning liquid supply unit 40 includes a supply passage 41 for supplying paint from a paint storage unit (not shown) or cleaning liquid from a cleaning liquid storage unit (not shown), a pump (not shown), a valve (not shown), and a return passage 42 for recovering paint that was not discharged or cleaning liquid that has been used for cleaning.

[0022] Here, the paint / cleaning liquid supply unit 40 is equipped with a switching control valve 45. The switching control valve 45 is a control valve for switching between supplying paint from a paint storage unit (not shown) or supplying cleaning liquid from a cleaning liquid storage unit (not shown), and is operated by control from the paint / cleaning liquid supply control unit 80, which will be described later. By providing such a switching control valve 45, the paint / cleaning liquid supply unit 40 is able to selectively supply either paint or cleaning liquid.

[0023] Furthermore, if the paint is supplied from outside the painting robot 10, the painting robot 10 does not need to have a paint storage section, and may have a paint storage section outside the painting robot 10.

[0024] (1-3. Regarding painted head units) Next, the paint head unit 50 will be described. Figure 3 shows a front view of the nozzle-forming surface 52 of the paint head unit 50, which is used to discharge paint. As shown in Figure 3, the paint head unit 50 is equipped with a head cover (not shown), and various components, including the paint head 53, are built into the head cover. The paint head 53 is provided with numerous nozzles 54 for discharging paint.

[0025] As shown in Figure 3, the paint-discharging side (nozzle-forming surface 52) of the paint head 53 has the openings of multiple nozzles 54 exposed. In the following description, the openings of the nozzles 54 will also be referred to as nozzles 54.

[0026] Furthermore, the nozzle forming surface 52 is provided with multiple nozzle rows 55 in which the nozzles 54 are arranged in a direction inclined with respect to the longitudinal direction of the painting head unit 50. In this embodiment, the nozzle row 55 includes a first nozzle row 55A located on one side (Y2 side) of the main scanning direction (Y direction) and a second nozzle row 55B located on the other side (Y1 side) of the main scanning direction.

[0027] Furthermore, when dispensing paint, the driving timing of each nozzle 54 is controlled so that droplets dispensed from nozzles 54 in the second nozzle row 55B land between droplets dispensed from adjacent nozzles 54 in the first nozzle row 55A. This improves the dot density during painting.

[0028] Furthermore, in the configuration shown in Figure 3, the arrangement of nozzles 54 in the first nozzle row 55A and the arrangement of nozzles 54 in the second nozzle row 55B are inclined with respect to the short direction (Y direction; main scanning direction) of the paint head 53. However, it is not necessary to adopt such an arrangement of nozzles 54. For example, the nozzle row 55 may be arranged along the short direction (Y direction) of the paint head 53. Also, the nozzle row 55 may be a single nozzle row 55 without being divided into the first nozzle row 55A and the second nozzle row 55B in the short direction (Y direction; main scanning direction) of the paint head 53, or it may be divided into three or more nozzle rows.

[0029] The paint head 53 described above has a flow channel for dispensing paint (not shown) inside. The paint head 53 also has a nozzle pressurizing chamber (not shown) inside, and a piezoelectric substrate 62 (see Figure 2) is placed on one of the walls of the nozzle pressurizing chamber to change the volume of the chamber and discharge paint from the nozzle 54. Therefore, by applying a voltage to the piezoelectric substrate 62 from the outside, the piezoelectric substrate 62 expands and contracts, changing the volume of the nozzle pressurizing chamber and enabling paint to be discharged from the nozzle 54.

[0030] Note that the painting head 53 is not limited to the configuration shown in Figure 3. For example, as shown in Figure 4, a nozzle row 55 may be formed by arranging multiple nozzles 54 along the shorter side (width direction; Y direction) of the painting head 53. Also, when painting a vehicle using a painting head 53 as shown in Figure 4, painting may be performed with the longitudinal direction of the painting head 53 slightly inclined with respect to the main scanning direction of the painting head 53.

[0031] For example, in the configuration of the paint head 53 shown in Figure 3, if the nozzle row 55 is inclined at an angle α with respect to the main scanning direction, then the longitudinal direction of the paint head 53 should be inclined at an angle α with respect to the main scanning direction of the paint head 53. When inclined in this way, painting equivalent to that of the paint head 53 shown in Figure 3 can be achieved simply by adjusting the timing of paint discharge from each nozzle 54.

[0032] (1-4. Controllative configuration of painting system 1) Next, the control configuration for controlling the operation of the painting system 1 will be described. The control configuration described below corresponds to the control unit. As shown in Figure 2, the painting robot 10 includes a robot arm control unit 70, a paint / cleaning liquid supply control unit 80, a head control unit 90, a wiping control unit 100, a main control unit 110, and a wiping mechanism 200. The painting robot 10 is connected to the image processing device 400 to constitute the painting system 1.

[0033] The robot arm control unit 70, paint / cleaning fluid supply control unit 80, head control unit 90, wiping control unit 100, main control unit 110, and the image processing unit 410 (described later) are composed of a CPU (Central Processing Unit), memory such as a storage unit (ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, etc.), and other elements. The image processing unit 410 may use a GPU (Graphics Processing Unit) in conjunction with a CPU that has excellent image processing performance, or in place of a CPU.

[0034] The painting robot 10 is also equipped with various sensors (not shown in the diagram), and the output from each of these sensors is input to either the robot arm control unit 70, the paint / cleaning fluid supply control unit 80, the head control unit 90, or the main control unit 110. Examples of the various sensors include acceleration sensors, angular velocity sensors, position detection sensors for detecting the position of each drive unit, and image sensors, but other sensors may also be used.

[0035] Of these components, the robot arm control unit 70 is the part that controls the driving of the motors M1 to M6 mentioned above. This robot arm control unit 70 is equipped with a memory 71, which stores the program and data created by robot teaching.

[0036] The robot arm control unit 70 controls the driving of motors M1 to M6 based on the program and data stored in the memory 71 and the image processing performed by the image processing unit 410 of the image processing device 400. This control allows the painting head unit 50 to pass through the desired position for painting at the desired speed or to stop at a predetermined position.

[0037] Memory 71 stores data related to the trajectory of the painting head 53 (trajectory data) and attitude data related to the tilt of the painting head 53, which are created by robot teaching that takes into account the paint width that can be painted by the painting head 53. Although the painting robot 10 may have memory 71, the memory 71 may be located outside the painting robot 10, and information may be sent and received to and from that memory 71 via wired or wireless communication means.

[0038] Furthermore, the paint / cleaning fluid supply control unit 80 controls the supply of paint or cleaning fluid to the painting head unit 50, and specifically controls the operation of the pumps, valves, etc., provided in the paint / cleaning fluid supply unit 40. The paint / cleaning fluid supply control unit 80 also controls the operation of the switching control valve 45 to ensure that either paint or cleaning fluid is selectively supplied from a paint storage unit (not shown) and a cleaning fluid storage unit (not shown).

[0039] Furthermore, it is preferable that the paint / cleaning solution supply control unit 80 controls the operation of the pumps and valves so that paint or cleaning solution is supplied to the painting head unit 50 at a constant pressure.

[0040] Furthermore, the head control unit 90 controls the operation of the piezoelectric substrate 62 in the painting head unit 50 based on the image processing performed by the image processing unit 410.

[0041] Furthermore, the wiping control unit 100 controls the operation of the wiping mechanism 200 (wiping actuator 230) or the wetting mechanism 300, which will be described later. The operation of the wiping mechanism 200 or the wetting mechanism 300 by this wiping control unit 100 will be described later.

[0042] Furthermore, the main control unit 110 is the part that transmits predetermined control signals to the robot arm control unit 70, paint / cleaning liquid supply control unit 80, head control unit 90, and wiping control unit 100 so that the motors M1 to M6, paint / cleaning liquid supply unit 40, and piezoelectric substrate 62 work together to perform painting on the object to be painted.

[0043] Furthermore, the painting system 1 is equipped with an image processing device 400. The image processing device 400 comprises an image processing unit 410 and a memory 420. The image processing unit 410 is the part that creates image data for each painting pass, which is the path through which the painting head 53 performs painting.

[0044] Furthermore, memory 420 is the part that stores image data for each painting pass in accordance with the painting order.

[0045] The image processing device 400 may be, for example, a computer, but this computer may be a component of the painting robot 10, or it may be provided separately from the painting robot 10. If the image processing device 400 is provided separately from the painting robot 10, data will be transmitted and received between the image processing device 400 and the painting robot 10 by wired communication or wireless communication. Even if the image processing device 400 is provided separately from the painting robot 10, it may be included in the concept of the painting robot 10, or it may not be included in the concept of the painting robot 10.

[0046] (2. Regarding the configuration of the wiping mechanism 200 and the wetting mechanism 300) Next, the configurations of the wiping mechanism 200 and the wetting mechanism 300 will be described in order. As will be described later, the wiping mechanism 200 may also have the function of a wetting mechanism, and the wetting mechanism 300 may also have the function of a wiping mechanism.

[0047] Here, the wiping mechanism 200 is a mechanism for wiping the nozzle forming surface 52, for example, when the painting of the vehicle is completed. The wetting mechanism 300 is a mechanism that has the function of wetting the nozzle 54 that opens into the nozzle forming surface 52.

[0048] First, the wiping mechanism 200 relating to the first and second configuration examples will be described. When referring to the wiping mechanisms 200 relating to the first and second configuration examples separately, they will be referred to as wiping mechanism 200A and 200B, respectively. However, when there is no need to distinguish between the wiping mechanisms 200 relating to these configuration examples, they will simply be referred to as wiping mechanism 200.

[0049] (2-1. First Configuration Example: Regarding the Wiping Mechanism 200A) Figure 5 shows a schematic configuration of the wiping mechanism 200A according to the first configuration example. As shown in Figure 5, the wiping mechanism 200A according to the first configuration example comprises a wiping roller 210, a roller moving mechanism 220, and a wiping actuator 230. This wiping mechanism 200A is attached to a painting head unit 50 having a painting head 53.

[0050] Of these, the wiping roller 210 is the part that wipes the nozzle forming surface 52. This wiping roller 210 has a roller shaft 211, a holding cylinder 212, and an absorbent member 213.

[0051] The roller shaft 211 is an axial member whose ends are rotatably supported by the roller moving mechanism 220, and is inserted into the central hole of the holding cylinder 212. This roller shaft 211 is provided so as to traverse the nozzle forming surface 52. In the configuration shown in Figure 5, the roller shaft 211 is provided so as to traverse the short direction of the nozzle forming surface 52, but the roller shaft 211 may also be provided so as to traverse the longitudinal direction of the nozzle forming surface 52.

[0052] The retaining cylinder 212 is a cylindrical member located on the outer circumference of the roller shaft 211 and supports the absorbent member 213. The absorbent member 213 is a member attached to the outer circumference of the retaining cylinder 212 and is made of a material capable of absorbing paint. For this reason, the material of the absorbent member 213 can be, for example, a sponge-like material, a cloth-like material, or a porous material.

[0053] Furthermore, the absorbent member 213 is capable of containing a wetting liquid. That is, in addition to wiping the nozzle forming surface 52, the absorbent member 213 also has the function of wetting. Therefore, when rolling along the nozzle forming surface 52, it can wet the nozzle 54 that opens into the nozzle forming surface 52, thereby preventing the paint inside the nozzle 54 from drying out. Examples of the wetting liquid contained in the absorbent member 213 include organic solvents such as thinner in the case of oil-based paints, and water in the case of water-based paints. Alternatively, a cleaning solution used to clean the nozzle forming surface 52 and the nozzle 54 may also be used as the wetting liquid.

[0054] Furthermore, the roller moving mechanism 220 is a member that guides the movement of the wiping roller 210 along the nozzle forming surface 52. An example of the configuration of such a roller moving mechanism 220 is shown in Figure 6. Note that Figure 5 shows a schematic representation of the roller moving mechanism 220, and therefore shows a configuration different from the roller moving mechanism 220 shown in Figure 6. However, the wiping mechanisms 200 and 200A, including the roller moving mechanism 220, are not limited to the configurations shown in Figures 5 and 6, and may have any configuration.

[0055] In the configuration shown in Figure 6, the roller moving mechanism 220 includes a guide plate 221, a first link arm 223, a second link arm 224, and a support arm 225.

[0056] The guide plates 221 are positioned on both ends in the width direction of the nozzle forming surface 52. That is, a pair of guide plates 221 are provided. In the configuration shown in Figure 6, the guide plates 221 are arranged in a substantially L-shape. Of these guide plates 221, the vertically extending portion 221a is provided with a drive-side guide groove 221b. The pair of drive-side guide grooves 221b are through which both ends of the pressing rod 222 are inserted, and the pressing rod 222 is also inserted into a hole on one end of the first link arm 223. That is, the pressing rod 222 and the first link arm 223 are connected.

[0057] Furthermore, the first link arm 223 and the second link arm 224 are connected in series via a connecting portion J1, and a slide pin P1 that fits into a roller guide groove 221d located in the parallel extension portion 221c is attached to the other end of the second link arm 224. In addition, one end of a support arm 225 is also connected to the connecting portion J1, and the pivot support portion 225a at the other end of the support arm 225 rotatably supports the roller shaft 211.

[0058] A spring member 227 is positioned between the pivot point 225a of the support arm 225 and the slide pin P1 of the second link arm 224. In this embodiment, the spring member 227 is a tension spring and provides a biasing force that causes the absorbing member 213 to contact the nozzle forming surface 52. The wiping actuator 230 is connected to the pressing rod 222 and provides a driving force that moves the pressing rod 222 up and down.

[0059] Furthermore, the wiping actuator 230 is a drive source that slides the pressing rod 222, such as an air cylinder. However, the wiping actuator 230 may also consist of a motor and a drive force transmission mechanism such as gears or a cam, rather than an air cylinder.

[0060] With this configuration, when the wiping actuator 230 is activated, the slide pin P1 slides along the roller guide groove 221d via the pressing rod 222, the first link arm 223, and the second link arm 224. At this time, the support arm 225 is biased toward the second link arm 224 by the spring member 227. Therefore, during the above sliding, the wiping roller 210 supported by the pivot 225a moves while rotating along the nozzle forming surface 52, pressing against the nozzle forming surface 52 due to the biasing force applied by the spring member 227. This makes it possible to remove paint droplets adhering to the nozzle forming surface 52 by absorption by the absorption member 213.

[0061] Furthermore, by impregnating the absorbent member 213 with a wetting liquid, the nozzle 54 opening into the nozzle forming surface 52 can be moistened as it rolls along the nozzle forming surface 52. This prevents the paint inside the nozzle 54 from drying out.

[0062] In the configuration shown in Figure 5, a wiping mechanism 200A is shown that moves the wiping roller 210 along the nozzle forming surface 52. However, the mechanism for moving the wiping roller 210 along the nozzle forming surface 52 is not limited to the configuration shown in Figure 5. For example, a motor and a slide crank mechanism may be used to move the wiping roller 210 along the nozzle forming surface 52.

[0063] Furthermore, in the configuration shown in Figure 6, the parallel extension portion 221c is provided to be longer than the nozzle forming surface 52, and the roller guide groove 221d is also provided to be longer than the nozzle forming surface 52. Moreover, the roller guide groove 221d is provided in a roughly L-shape, such that the portion along the horizontal direction and the portion along the vertical direction are continuous. Therefore, when the wiping actuator 230 is operated by the wiping control unit 100, it is possible to position the wiping roller 210 in a retracted position away from the nozzle forming surface 52. This prevents the wiping roller 210 from interfering (getting in the way) during painting.

[0064] Alternatively, for example, a cam mechanism, a pantograph mechanism, or a ball screw mechanism may be used to move the wiping roller 210 along the nozzle forming surface 52.

[0065] (2-2. Second Configuration Example: Regarding the Wiping Mechanism 200B) Next, as a second configuration example relating to the wiping mechanism 200 and the wetting mechanism 300, the wiping mechanism 200B will be described. Figure 7 is a diagram showing the schematic configuration of the wiping mechanism 200B according to the second configuration example. As shown in Figure 7, the wiping mechanism 200B according to the second configuration example is equipped with a wiping wiper 240 instead of the wiping roller 210 that is provided in the wiping mechanism 200A according to the first configuration example. The wiping wiper 240 is supported by a wiper support member 241.

[0066] Examples of paint-absorbing materials for this wiping wiper 240 include a flat, sponge-like material, a cloth-like material, or a porous material. It is preferable to use a configuration in which multiple paint-absorbing materials are layered, depending on the thickness of the wiping wiper 240.

[0067] Furthermore, if the wiping wiper 240 is formed from a paint-absorbing material, the wiping wiper 240 may also have a function of wetting the nozzle-forming surface 52 in addition to wiping it.

[0068] Furthermore, the wiping wiper 240 may be a spatula-shaped material made of an elastic elastomer such as rubber or resin, rather than the paint-absorbing material described above. Alternatively, the material of the wiping wiper 240 may be one that does not absorb liquids. In this case, the wiping wiper 240 can wipe the nozzle-forming surface 52, but it does not have the function of wetting the nozzle-forming surface 52. Therefore, when using a liquid agent where wetting is not a problem, wiping alone is sufficient without the need for wetting. However, as shown in Figure 8, for example, a wetting member 242 for wetting the nozzle-forming surface 52 may be placed downstream of the wiping wiper 240 in the direction of movement.

[0069] Furthermore, the wiping wiper 240 may be configured to combine both wiping and wetting functions.

[0070] Furthermore, the wiper moving mechanism 250, which slides the wiping wiper 240, differs from the roller moving mechanism 220 in that it slides the wiping wiper 240 against the nozzle forming surface 52 without rotating it, but it is possible to adopt the same configuration as the roller moving mechanism 220. Also, the wiping actuator that provides the driving force to slide the wiping wiper 240 can be the same as the wiping actuator 230. For this reason, a detailed explanation of these will be omitted.

[0071] In this second configuration example, the wiping actuator 230 is activated to slide the wiping wiper 240 via the wiper moving mechanism 250, thereby making it possible to remove paint droplets adhering to the nozzle forming surface 52 by absorption by the paint absorbing member.

[0072] Furthermore, if the wiping wiper 240 is made from a paint-absorbing material, by impregnating the wiping wiper 240 with a wetting liquid, the nozzle 54 opening into the nozzle-forming surface 52 can be wetted when the wiping wiper 240 is slid along the nozzle-forming surface 52. This prevents the paint inside the nozzle 54 from drying out.

[0073] (2-3. Third Configuration Example: Regarding Wetting Mechanism 300A) Next, as a third configuration example relating to the wiping mechanism 200 and the wetting mechanism 300, the wetting mechanism 300A will be described. In the following description, when there is no need to distinguish between the wetting mechanism 300A relating to the third configuration example and the wetting mechanism 300B relating to the fourth configuration example described later, it will simply be referred to as the wetting mechanism 300.

[0074] Figure 9 shows a schematic configuration of the wetting mechanism 300A according to the third configuration example. The wetting mechanism 300A primarily has the function of wetting the nozzle 54 that opens into the nozzle forming surface 52. This wetting mechanism 300A can also function as a wiping mechanism by sliding after coming into contact with the nozzle forming surface 52, but it may also not function as a wiping mechanism.

[0075] As shown in Figure 9, the wetting mechanism 300A according to the third configuration example includes a paint receiving section 310 for receiving the paint discharged from the nozzle 54. The paint receiving section 310 is, for example, a dish-shaped member, but it may also be configured to include a splash-prevention member at the bottom of the paint receiving section 310 that soaks in the discharged paint or absorbs the discharged paint to prevent splashing. Examples of splash-prevention members include sponge-like members, cloth-like members, porous members, etc.

[0076] Furthermore, the wetting mechanism 300A is provided with a guide mechanism 320 that guides the movement of the paint receiving section 310 between a first position for receiving paint and a second position for retracting the paint receiving section 310 when painting is performed. In addition, the wetting mechanism 300A is also provided with an actuator 330 that provides the driving force for the above movement. The guide mechanism 320 and actuator 330 are also provided in the wetting mechanism 300B, which will be described later. The actuator 330 corresponds to the wiping actuator 230 described above.

[0077] When using such a wetting mechanism 300A, paint is discharged from the nozzle 54 when a predetermined discharge timing arrives. This makes it possible to discharge paint that has become more viscous due to drying inside the nozzle 54, while retaining paint with lower viscosity that has not yet dried inside the nozzle 54. Therefore, it is possible to prevent a decrease in paint quality due to poor paint discharge from the nozzle 54 when painting a vehicle.

[0078] (2-4. Fourth Configuration Example: Regarding Wetting Mechanism 300B) Next, as a fourth configuration example relating to the wiping mechanism 200 and the wetting mechanism 300, the wetting mechanism 300B will be described. Figure 10 is a diagram showing the schematic configuration of the wetting mechanism 300B according to the fourth configuration example. As shown in Figure 10, the wetting mechanism 300B according to the fourth configuration example includes a cap member 340. This cap member 340 is a member that adheres closely to the nozzle forming surface 52 and seals the nozzle forming surface 52 from the outside. For this reason, the cap member 340 is formed from a concave member made of an elastic elastomer such as rubber. The concave portion of the cap member 340 is referred to as the cap recess 341.

[0079] A configuration may be adopted in which a suction tube (not shown) is connected to the bottom or side wall of the cap recess 341, which is connected to a suction pump (not shown). In this case, when the suction pump is operated, the inside of the cap recess 341 is vacuum-suctioned through the suction tube, and the nozzle forming surface 52 comes into close contact with the cap member 340. As a result, the space enclosed by the nozzle forming surface 52 and the cap recess 341 can be effectively sealed from the outside.

[0080] When using such a wetting mechanism 300B, if paint droplets are not discharged from the nozzle 54, the cap member 340 is tightly attached to the nozzle forming surface 52, sealing the nozzle forming surface 52 from the outside. This prevents the paint present in the nozzle 54 from drying out and increasing the viscosity of the paint. Therefore, when painting a vehicle, it is possible to prevent paint discharge failure from the nozzle 54 and the deterioration of painting quality due to increased viscosity of the paint.

[0081] (2-5. Fifth Configuration Example: Regarding Painting Robot 10A) Next, a fifth configuration example (painting robot 10) relating to the wiping mechanism 200 and the wetting mechanism 300 will be described. When referring to the painting robot 10 relating to the fifth configuration example as distinct from the painting robot 10 relating to the sixth configuration example and the painting robot 10 relating to the seventh configuration example described later, they will be referred to as painting robot 10A, painting robot 10B, and painting robot 10C, respectively. However, when there is no need to distinguish between the painting robots 10 relating to each of these configuration examples, they will simply be referred to as painting robot 10.

[0082] Figure 11 shows a painting robot 10A according to the fifth configuration example, equipped with a wiping mechanism 200. Although Figure 11 shows the painting robot 10A equipped with a wiping mechanism 200, the painting robot 10A may also be configured to be equipped with a wetting mechanism 300 instead of the wiping mechanism 200.

[0083] In Figure 11, the wiping mechanism 200 is attached to the painting head unit 50 via a support member 260A. The support member 260A also enables the wiping mechanism 200 to wipe the nozzle forming surface 52 even when the robot arm R1 is not operating, through a moving mechanism 270A such as the roller moving mechanism 220 or wiper moving mechanism 250, and a wiping actuator 230. The support member 260A may be a guide plate 221 or the like that which constitutes the roller moving mechanism 220, or it may be a separate member.

[0084] With this configuration, the overall length of the support member 260A can be made relatively short. In addition, paint droplets adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, and the nozzle 54 opening into the nozzle forming surface 52 can be moistened by the wetting mechanism 300.

[0085] (2-6. Sixth Configuration Example: Regarding Painting Robot 10B) Figure 12 shows a painting robot 10B according to the sixth configuration example, equipped with a wiping mechanism 200. Although Figure 12 shows the painting robot 10B equipped with a wiping mechanism 200, the painting robot 10B may also be configured to be equipped with a wetting mechanism 300 instead of the wiping mechanism 200.

[0086] In Figure 12, the wiping mechanism 200 is attached to the robot arm R1 via a support member 260B. The support member 260B also enables the wiping mechanism 200 to wipe the nozzle forming surface 52 even when the robot arm R1 is not operating, through a moving mechanism 270B such as the roller moving mechanism 220 or the wiper moving mechanism 250, and a wiping actuator 230. The support member 260B may be a guide plate 221 or the like that which constitutes the roller moving mechanism 220, or it may be a separate member.

[0087] In this configuration, although the overall length of the support member 260B is longer than that of the support member 260A, the moment required to move the painting head unit 50 can be reduced. In addition, paint droplets adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, and the nozzles 54 opening into the nozzle forming surface 52 can be moistened by the wetting mechanism 300.

[0088] (2-7. Example Configuration 7: Regarding Painting Robot 10C) Figure 13 shows a painting robot 10C according to the seventh configuration example, equipped with a wiping mechanism 200. Although Figure 13 shows the painting robot 10C equipped with a wiping mechanism 200, the painting robot 10C may also be configured to be equipped with a wetting mechanism 300 instead of the wiping mechanism 200.

[0089] In Figure 13, the wiping mechanism 200 is attached to the robot arm R1 via a support member 260C. However, unlike the support members 260A and 260B described above, the support member 260C is not configured to cause the wiping mechanism 200 to wipe the nozzle forming surface 52 through its own operation.

[0090] Therefore, when wiping the nozzle forming surface 52, the robot arm R1 operates so that the nozzle forming surface 52 is close to the wiping mechanism 200. The wiping mechanism 200, which is supported via the support member 260C, is also provided with a moving mechanism 270C such as a roller moving mechanism 220 or a wiper moving mechanism 250, and a wiping actuator 230, and such moving mechanisms 270C and wiping actuator 230 enable the wiping mechanism 200 to wipe the nozzle forming surface 52. The support member 260C may be a guide plate 221 or the like that which constitutes the roller moving mechanism 220, or it may be a separate member.

[0091] With this configuration, the overall length of the support member 260C can be shortened compared to the support member 260B, and the weight of the support member 260C can be reduced accordingly. In addition, compared to the case where the wiping mechanism 200 is attached to the painting head unit 50 via the support member 260A, the moment when moving the painting head unit 50 can be reduced. Furthermore, paint droplets adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, and the nozzles 54 opening into the nozzle forming surface 52 can be wetted by the wetting mechanism 300.

[0092] (2-8. Example of configuration 8: Painting system 1A that wipes the nozzle forming surface 52 using two painting robots 10) Next, an eighth configuration example (painting system 1) relating to the wiping mechanism 200 and the wetting mechanism 300 will be described. Painting system 1 is a painting system that uses two painting robots 10 to wipe the nozzle forming surface 52. When referring to this painting system 1 in distinction from the painting system 1 relating to the ninth configuration example described later, they will be referred to as painting system 1A and painting system 1B, respectively. However, when there is no need to distinguish between the painting robots 10 relating to each of these configuration examples, they will simply be referred to as painting system 1.

[0093] Furthermore, while the painting system 1A according to the eighth configuration example and the painting system 1B according to the ninth configuration example use two painting robots 10, three or more painting robots 10 may also be used.

[0094] Figure 14 shows a painting system 1A according to the eighth configuration example, in which two painting robots 10 are used to wipe the nozzle forming surface 52. In the configuration shown in Figure 14, each painting robot 10 is provided with a wiping mechanism 200. Furthermore, through the cooperation of the two painting robots 10, each painting robot 10 is positioned such that the wiping mechanism 200 of the other painting robot 10 wipes the nozzle forming surface 52 of the other painting robot 10.

[0095] In the configuration shown in Figure 14, a wiping mechanism 200 is attached to each painting head unit 50. However, a configuration in which the wiping mechanism 200 is attached to each robot arm R1 instead of each painting head unit 50 may also be adopted.

[0096] In this configuration, when the painting system 1 is instructed to wipe the nozzle forming surface 52, the robot arm control unit 70 of each painting robot 10 operates the robot arm R1 to position the nozzle forming surface 52 within a wiping range that can be wiped by the wiping mechanism 200 of each painting robot 10, based on a command from the main control unit 110.

[0097] In the painting robot 10, the robot arm control unit 70 operates the robot arm R1 to rotate the painting head unit 50 so that the nozzle forming surface 52 is in an orientation that facilitates wiping, thereby adjusting its orientation.

[0098] Subsequently, in the other painting robot 10, the wiping control unit 100 activates the wiping mechanism 200 to wipe the nozzle forming surface 52 of the other painting robot 10.

[0099] Furthermore, the same procedure can be used when wiping the nozzle forming surface 52 of the other painting robot 10. Specifically, in the other painting robot 10, the robot arm control unit 70 operates the robot arm R1 to rotate the painting head unit 50 so that the nozzle forming surface 52 is in an orientation that facilitates wiping, thereby adjusting its orientation.

[0100] Subsequently, in one of the painting robots 10, the wiping control unit 100 activates the wiping mechanism 200 to wipe the nozzle forming surface 52 of the other painting robot 10.

[0101] In this configuration, each painting robot 10 cannot wipe the nozzle forming surface 52 on its own, and in that case, it becomes possible to simplify the configuration of each painting robot 10.

[0102] (2-9. Example of Configuration 9: Painting System 1B that uses two painting robots 10 to wipe the nozzle forming surface 52) Figure 15 shows a painting system 1B according to the ninth configuration example, in which two painting robots 10 are used to wipe the nozzle forming surface 52. Unlike the painting system 1A according to the eighth configuration example shown in Figure 14, the painting head unit 50 in this painting system 1B according to the ninth configuration example shown in Figure 15 does not have a wiping mechanism 200 attached to it. Instead, the wiping mechanism 200 is attached to the tip of the robot arm R1 as a separate, independent unit from the painting head unit 50.

[0103] In this configuration, similar to the painting system 1A according to the eighth configuration example described above, it is possible to wipe the nozzle forming surface 52 of one painting robot 10 and the nozzle forming surface 52 of the other painting robot 10.

[0104] Furthermore, in the painting system 1B according to the ninth configuration example described above, the wiping mechanism 200 is separate from the painting head unit 50, making it possible to use the existing painting head unit 50 as is.

[0105] (3. Regarding the control of tilting the painting head 53) In the painting robot 10 described above, prior to wiping the nozzle forming surface 52 with the wiping mechanism 200, the robot arm control unit 70 may, based on a command from the main control unit 110, control the operation of the robot arm R1 so that the nozzle forming surface 52 is tilted by a predetermined angle with respect to the horizontal plane.

[0106] Furthermore, it is preferable that the inclination of the nozzle forming surface 52 is such that droplets of paint adhering to the nozzle forming surface 52 flow off. Therefore, the predetermined angle does not need to be a very large inclination angle; for example, it may be an angle of 15 degrees or less with respect to the horizontal plane.

[0107] When tilted in this manner, the robot arm R1 is activated by the robot arm control unit 70 before the wiping actuator 230 is activated by the wiping control unit 100 to wipe the nozzle forming surface 52. Therefore, wiping can be performed with the paint droplets having flowed down along the nozzle forming surface 52 to some extent.

[0108] Alternatively, instead of controlling the nozzle forming surface 52 to be tilted, the robot arm control unit 70 may, based on a command from the main control unit 110, control the operation of the robot arm R1 so that the nozzle forming surface 52 remains horizontal to the horizontal plane, prior to wiping the nozzle forming surface 52 with the wiping mechanism 200. In this case, when the nozzle forming surface 52 is wetted with the wetting liquid by the absorbing member 213 and the wetting mechanism 300, it becomes possible to ensure uniformity of the wet state of each nozzle 54.

[0109] (4. Note) The contents described in the above-mentioned embodiment can be understood, for example, as follows. Furthermore, if the wetting mechanism 300 has the function of the wiping mechanism 200, then in the following, it can be understood that the wetting mechanism 300 and its components apply to the wiping mechanism 200. [1] That is, a painting robot 10 for painting parts of a vehicle, comprising a painting head unit 50 equipped with a painting head 53 having a plurality of nozzles 54 for discharging droplets of paint, a robot arm R1 attached to the tip of the painting head unit 50 and for moving the painting head unit 50 to a desired position, and a wiping mechanism 200 for wiping while wetting the nozzle forming surface 52 where the nozzles 54 are open.

[0110] Furthermore, the wiping mechanism 200 includes a wiping roller 210 (wiping member) that slides while in contact with the nozzle forming surface 52, a guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A~270C, etc.) attached to the robot arm R1 or painting head unit 50 that guides the sliding of the wiping member (wiping roller 210, wiping wiper 240, etc.) against the nozzle forming surface 52, and a wiping actuator 230 that provides driving force to slide the wiping member (wiping roller 210, wiping wiper 240, etc.) against the nozzle forming surface 52.

[0111] With this configuration, when the wiping actuator 230 is driven, the wiping member (wiping roller 210, wiping wiper 240, etc.) slides over the nozzle forming surface 52 via the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A~270C, etc.), thereby wetting and wiping the nozzle forming surface 52. Here, since the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A~270C, etc.) is attached to the robot arm R1 or the painting head unit 50, the painting head unit 50 does not need to be moved outside the painting line when wiping the nozzle forming surface 52. Therefore, the time required for round-trip movement outside the painting line is eliminated, so the time required for wetting and wiping the nozzle forming surface 52 can be shortened, and the productivity of painting can be improved.

[0112] [2] In addition, in the above embodiment, in addition to the contents described in [1] above, the invention is further equipped with a head control unit 90 that controls the operation of the paint head 53 and a wiping control unit 100 that controls the operation of the wiping actuator 230, wherein the wiping control unit 100 operates the wiping actuator 230 when a predetermined wiping timing arrives and the paint head 53 stops discharging under the control of the head control unit 90, causing the wiping member (wiping roller 210, wiping wiper 240, etc.) to slide against the nozzle forming surface 52 via a guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A to 270C, etc.).

[0113] In this way, by controlling the wiping actuator 230 in the wiping control unit 100 when a predetermined wiping timing arrives, it becomes possible to wet and wipe the nozzle forming surface 52 at the appropriate timing. As a result, it becomes possible to further improve the paint quality of the vehicle.

[0114] [3] In addition, in the above embodiment, in addition to the contents described in [1] and [2] above, or a combination thereof, the painting robot 10 is equipped with a robot arm control unit 70 that controls the operation of the robot arm R1, and the robot arm control unit 70 preferably controls the movement of the painting head unit 50 by the operation of the robot arm R1 to tilt the nozzle forming surface 52 prior to the operation of the wiping actuator 230 by the wiping control unit 100.

[0115] When the nozzle forming surface 52 is tilted in this manner, the paint droplets can be wiped down to some extent while flowing along the nozzle forming surface 52. Therefore, it is possible to improve the efficiency of wiping the nozzle forming surface 52. In addition, it is possible to reduce the amount of paint droplets absorbed by the absorbent member 213, so it is possible to reduce the frequency of replacing or cleaning the absorbent member 213.

[0116] [4] In addition, in the above embodiment, in addition to the contents described in any of [1] to [3] above or a combination thereof, the wiping control unit 100 may also control the operation of the wiping actuator 230 to move the wiping member (wiping roller 210, wiping wiper 240, etc.) to a retracted position retracted from the nozzle forming surface 52 if wiping is not performed by the wiping member (wiping roller 210, wiping wiper 240, etc.).

[0117] When controlled in this manner, the wiping member can be positioned in a retracted position away from the nozzle forming surface 52, thereby preventing the wiping member from interfering (getting in the way) during painting.

[0118] [5] In addition, in the above embodiment, in addition to the contents described in any of [1] to [4] above or a combination thereof, the wiping mechanism 200 may be configured to be attached to the painting head unit 50.

[0119] In this way, by attaching the wiping mechanism 200 to the paint head unit 50, the wiping members (wiping roller 210, wiping wiper 240, etc.) held by the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A~270C, etc.) can wet and wipe the nozzle forming surface 52 at the appropriate timing. As a result, the paint quality of the vehicle can be further improved.

[0120] Furthermore, compared to the case where the guide mechanism is attached to the robot arm R1, it becomes possible to shorten the overall length of the guide mechanism, thereby reducing its weight.

[0121] [6] In addition, in the above embodiment, in addition to the contents described in any of [1] to [4] above or a combination thereof, the wiping mechanism 200 may be configured to be attached to the robot arm R1.

[0122] In this way, by attaching the wiping mechanism 200 to the robot arm R1, the wiping members of the wiping mechanism 200 (wiping roller 210, wiping wiper 240, etc.) can wet and wipe the nozzle forming surface 52 at the appropriate timing. As a result, the paint quality of the vehicle can be further improved.

[0123] Furthermore, compared to the case where a guide mechanism is attached to the painting head unit 50, although the overall length of the guide mechanism is longer, the moment when moving the painting head unit 50 can be reduced, thereby improving the motion performance of the painting head unit 50.

[0124] [7] In addition, in the above embodiment, in addition to the contents described in any of [1] to [6] above or a combination thereof, the wiping mechanism 200A may be configured to include a wiping roller 210 on the surface of the holding cylinder 212, which is provided with an absorbent member 213 capable of absorbing paint solvent.

[0125] As described above, since the wiping roller 210 is equipped with an absorbent member 213, rolling the wiping roller 210 along the nozzle forming surface 52 makes it possible to wet and wipe the nozzle forming surface 52 with solvent at the appropriate timing.

[0126] [8] In addition, in the above embodiment, in addition to the contents described in any of [1] to [6] above or a combination thereof, the wiping mechanism 200B may be configured to include a wiping wiper 240 which slides along the nozzle forming surface 52 and is formed from a liquid-absorbing member capable of absorbing the solvent of the paint.

[0127] Thus, since the wiping mechanism 200B is equipped with a wiping wiper 240, the nozzle forming surface 52 can be wetted and wiped with solvent by sliding the wiping wiper 240, which is made of a liquid-absorbing member capable of absorbing the solvent of the paint, along the nozzle forming surface 52.

[0128] [9] In addition, in the above embodiment, in addition to the contents described in any of [1] to [6] above or a combination thereof, the wiping mechanism may be a cap member 340 that shields the nozzle forming surface 52 and has a cap recess 341 between it and the nozzle forming surface 52.

[0129] Thus, since the wiping mechanism is a cap member 340 having a cap recess 341, the nozzle forming surface 52 can be sealed by the cap member 340, thereby maintaining the wet state of the nozzle forming surface 52.

[0130]

[10] In addition, in the above embodiment, in addition to the contents described in any of [1] to [9] above or a combination thereof, a robot arm control unit 70 for controlling the operation of the robot arm R1 may be provided, and one painting robot 10 has a wiping mechanism 200, and the nozzle forming surface 52 of the other painting robot 10 is wiped by the wiping mechanism 200 of the one painting robot 10, so that the robot arm control unit 70 of one painting robot 10 controls the operation of the robot arm R1, while the robot arm control unit 70 of the other painting robot 10 controls the operation of the robot arm R1.

[0131] In this way, by wiping the nozzle forming surface 52 of the other painting robot 10 with the wiping mechanism 200 of the one painting robot 10, for example, if the wiping mechanism 200 of the one painting robot 10 is within a predetermined range of the nozzle forming surface 52 of the painting head 53 of the other painting robot 10, it becomes possible to quickly wet and wipe the nozzle forming surface 52.

[0132] (5. Variant) Although one embodiment of the present invention has been described above, the present invention can be modified in various ways other than the above embodiment. Modifications are described below.

[0133] In the embodiment described above, the coating head 53 employs an inkjet method that ejects droplets from the nozzle 54 using a piezoelectric substrate 62. However, the coating head is not limited to the inkjet method, and a dispenser method may also be used.

[0134] Furthermore, in the first to ninth configuration examples of the embodiments described above, the wiping mechanism 200 or the wetting mechanism 300 may move along the longitudinal direction of the nozzle forming surface 52, or it may move along the short direction of the nozzle forming surface 52. If the wiping mechanism 200 or the wetting mechanism 300 moves along the longitudinal direction of the nozzle forming surface 52, the dimensions of the wiping roller 210 and the wiping wiper 240 can be shortened. Also, if the wiping mechanism 200 or the wetting mechanism 300 moves along the short direction of the nozzle forming surface 52, the time required for wiping or wetting can be shortened. [Explanation of Symbols]

[0135] 1, 1A, 1B…Painting system, 10, 10A, 10B, 10C…Painting robot, 20…Robot body, 21…Base, 22a…First rotation axis, 22b…Second rotation axis, 22c…Third rotation axis, 22d…Fourth rotation axis, 22e…Fifth rotation axis, 22f…Sixth rotation axis, 23…Legs, 24…First rotating arm, 25…Second rotating arm, 26…Rotating arm, 27…Wrist section, 40…Cleaning fluid supply section, 41…Supply path, 42…Return path, 45…Switching Control valve, 50... Painting head unit, 52... Nozzle forming surface, 53... Painting head, 54... Nozzle, 55... Nozzle row, 55A... First nozzle row, 55B... Second nozzle row, 62... Piezoelectric substrate, 70... Robot arm control unit, 71... Memory, 80... Cleaning fluid supply control unit, 90... Head control unit, 100... Wiping control unit, 110... Main control unit, 200, 200A, 200B... Wiping mechanism, 210... Wiping roller, 211... Roller shaft, 212... Holding cylinder ,213...Absorbing member, 220...Roller moving mechanism, 221...Guide plate, 221a...Upper and lower extension part, 221b...Drive side guide groove, 221c...Parallel extension part, 221d...Roller guide groove, 222...Pressing rod, 223...First link arm, 224...Second link arm, 225...Support arm, 225a...Axis support part, 227...Spring member, 230...Wiping actuator, 240...Wiping wiper, 241...Wiper support member, 24 2...Wetting member, 250...Wiper moving mechanism, 260A~260C...Support member, 270A~270C...Moving mechanism, 300,300A,300B...Wetting mechanism, 310...Paint receiving part, 320...Guide mechanism, 330...Actuator, 340...Cap member, 341...Cap recess, 400...Image processing device, 410...Image processing unit, 420...Memory, J1...Connecting part, M1~M6...Motor, P1...Slide pin, R1...Robot arm

Claims

1. A painting robot that paints the painted parts of a vehicle, A painting head unit comprising a painting head having multiple nozzles for dispensing paint droplets, A robotic arm, to which the aforementioned painting head unit is attached, and which moves the painting head unit to a desired position, A wiping mechanism for wiping while wetting the nozzle-forming surface through which the nozzle is open, It has, The wiping mechanism is, A wiping member that slides while contacting the nozzle forming surface, A guide mechanism attached to the robot arm or the painting head unit, which guides the sliding of the wiping member against the nozzle forming surface, A wiping actuator that provides a driving force to slide the wiping member against the nozzle forming surface, A painting robot characterized by being equipped with the following features.

2. A painting robot according to claim 1, The system includes a head control unit that controls the operation of the painting head and a wiping control unit that controls the operation of the wiping actuator, When a predetermined wiping timing arrives and the paint head stops discharging due to control by the head control unit, the wiping control unit activates the wiping actuator to slide the wiping member against the nozzle forming surface via the guide mechanism. A painting robot characterized by the following features.

3. A painting robot according to claim 2, The robot arm includes a robot arm control unit that controls the operation of the robot arm, Prior to the operation of the wiping actuator by the wiping control unit, the robot arm control unit moves the painting head unit by the operation of the robot arm and tilts the nozzle forming surface. A painting robot characterized by the following features.

4. A painting robot according to claim 2, If wiping is not performed by the wiping member, the wiping control unit will: The operation of the wiping actuator is controlled to move the wiping member to a retracted position, which is retracted from the nozzle forming surface. A painting robot characterized by the following features.

5. A painting robot according to claim 1, The wiping mechanism is attached to the painting head unit. A painting robot characterized by the following features.

6. A painting robot according to claim 1, The wiping mechanism is attached to the robot arm, A painting robot characterized by the following features.

7. A painting robot according to claim 1, The wiping mechanism comprises a wiping roller having an absorbent member on the surface of a rotatable holding cylinder that is capable of absorbing the solvent of the paint. A painting robot characterized by the following features.

8. A painting robot according to claim 1, The wiping mechanism includes a wiping wiper formed from a liquid-absorbing member capable of absorbing the solvent of the paint by sliding along the nozzle forming surface. A painting robot characterized by the following features.

9. A painting robot according to claim 1, The wiping mechanism is a cap member that shields the nozzle forming surface and has a cap recess between it and the nozzle forming surface. A painting robot characterized by the following features.

10. A painting system using a pair of painting robots, including the painting robot described in any one of claims 1 to 8, The robot arm includes a robot arm control unit that controls the operation of the robot arm, One of the painting robots has the wiping mechanism, The robot arm control unit of one painting robot controls the operation of the robot arm so that the nozzle forming surface of the other painting robot is wiped by the wiping mechanism of the other painting robot, while the robot arm control unit of the other painting robot controls the operation of the robot arm. A painting system characterized by the following features.

Images