Coating system

Abstract

Provided is a painting robot capable of shortening the time required for wetting and wiping a nozzle forming surface and improving the painting productivity. 【Solution means】The painting robot 10 includes a painting head unit 50 including a painting head 53 having a plurality of nozzles 54, a robot arm R1 attached to the tip of the painting head unit 50 and moving the painting head unit 50 to a desired position, and a wiping mechanism 200 for wiping while wetting the nozzle forming surface 52. The wiping mechanism 200 includes a wiping member that slides while contacting the nozzle forming surface 52, a guide mechanism 220 that is attached to the robot arm R1 or the painting head unit 50 and guides the sliding of the wiping member 210 with respect to the nozzle forming surface 52, and a wiping actuator 230 that applies a driving force for sliding the wiping member 210 with respect to 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 to move the head (10), so when the wiping process is frequently incorporated during the painting operation, the painting productivity is reduced.

[0006] In addition, in painting, if there is an interval in the discharge of the paint from the nozzle, the paint in the nozzle may dry out, resulting in a deterioration of the paint discharge performance.

[0007] The present invention has been made based on the above circumstances, and an object thereof is to provide a painting robot capable of shortening the time required for wetting and wiping the nozzle forming surface and improving the painting productivity.

Means for Solving the Problems

[0008] In order to solve the above problems, according to a first aspect of the present invention, there is provided a painting robot for painting a painting part of a vehicle, comprising: a painting head unit including a painting head having a plurality of nozzles for discharging paint droplets; a robot arm having the painting head unit attached to its tip and moving the painting head unit to a desired position; and a wiping mechanism for wetting and wiping a nozzle forming surface where the nozzles are open. The wiping mechanism includes a wiping member that slides while contacting the nozzle forming surface, a guide mechanism that is attached to the robot arm or the painting head unit and guides the sliding of the wiping member with respect to the nozzle forming surface, and a wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface.

Effects of the Invention

[0009] According to the present invention, it is possible to provide a painting robot capable of shortening the time required for wetting and wiping the nozzle forming surface and improving the painting productivity.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Embodiments 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 with reference to the drawings. In the following description, as necessary, the X direction is the longitudinal direction of the nozzle forming 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. Further, the Y direction is the short side direction (width direction) of the nozzle forming 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. Overview 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, and aim 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 predetermined intervals with a desired painting quality within a certain period of 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 can be formed, but also various designs and images can be formed on painting objects such as vehicles and vehicle parts. 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 (for 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 Fig. 1, the painting robot 10 mainly consists of a robot body 20 and a painting head unit 50. The painting robot 10 shown in Fig. 1 is an example of a six-axis vertical articulated robot, but the painting robot 10 can be any type of robot, such as a vertical articulated robot with more or less than six axes, a horizontal articulated robot, or a Cartesian robot.

[0016] (1-1. About the robot body 20) As shown in Fig. 1, the robot body 20 mainly consists of a base 21, first to sixth rotating shafts 22a - 22f, legs 23, a first rotating arm 24, a second rotating arm 25, a rotating arm 26, a wrist part 27, and motors M1 - M6 (see Fig. 2) for driving them. Note that the part from the legs 23 to the wrist part 27 corresponds to the robot arm R1, but other parts such as the base 21 can also be considered to correspond to the robot arm R1.

[0017] Among these, the base 21 is the part installed at the installation site such as the floor surface, but the base 21 may be able to travel with respect to the installation site. Also, the legs 23 are the parts standing upright upward from the base 21 and are rotatably provided with respect to the base 21 via the first rotating shaft 22a by the drive of the motor M1 (see Fig. 2). Note that the legs 23 may be configured not to rotate with respect to the base 21.

[0018] Also, at the upper end of the legs 23, the first rotating arm 24 is rotatably provided via the second rotating shaft 22b by the drive of the motor M2. Further, at the tip side of the first rotating arm 24, the second rotating arm 25 is rotatably provided via the third rotating shaft 22c by the drive of the motor M3.

[0019] Also, a rotary arm 26 is rotatably provided around the central axis of the second swing arm 25 on the tip side of the second swing arm 25. This rotary arm 26 is rotatable via a fourth rotary shaft 22d by driving of a motor M4. Further, a list portion 27 is provided on the tip side of the rotary arm 26. This list portion 27 enables a rotational movement around, for example, the shaft portions in two or more different directions such as two, by driving of a motor M5 and a motor M6. In FIG. 1, the rotary shafts enabling the rotational movement are respectively defined as a fifth rotary shaft 22e and a sixth rotary shaft 22f. Thereby, it becomes possible to accurately control the orientation of the painting head unit 50. Note that the number of the shaft portions may be any number as long as it is two or more.

[0020] Further, a painting head unit 50 is attached to the list portion 27, but this painting head unit 50 may be detachably provided with respect to the list portion 27.

[0021] (1-2. Regarding the paint / cleaning liquid supply unit 40) As shown in FIG. 2, a paint / cleaning liquid supply unit 40 is provided in the painting system 1 and the painting robot 10. The paint / cleaning liquid supply unit 40 is a part for supplying paint or cleaning liquid toward the painting head unit 50. For this reason, the paint / cleaning liquid supply unit 40 includes a supply path 41 for supplying paint from a paint storage portion (not shown) or supplying cleaning liquid from a cleaning liquid storage portion (not shown), a pump (not shown), a valve (not shown), etc., and a return flow path 42 for collecting the paint that has not been discharged or the cleaned cleaning liquid.

[0022] Here, a switching control valve 45 is provided in the paint / cleaning liquid supply unit 40. The switching control valve 45 is a control valve for switching whether to supply paint from a paint storage portion (not shown) or supply cleaning liquid from a cleaning liquid storage portion (not shown), and operates by control in a paint / cleaning liquid supply control unit 80 described later. By providing such a switching control valve 45, the paint / cleaning liquid supply unit 40 can selectively supply either paint or cleaning liquid.

[0023] In addition, when adopting a configuration in which the paint is supplied from the outside of the painting robot 10, the painting robot 10 may not be provided with a portion for storing the paint, or may be provided with a portion for storing the paint outside the painting robot 10.

[0024] (1-3. Regarding the painting head unit) Next, the painting head unit 50 will be described. FIG. 3 is a diagram showing a state in which the nozzle forming surface 52 for discharging the paint in the painting head unit 50 is viewed from the front. As shown in FIG. 3, the painting head unit 50 includes a head cover (not shown), and various components including the painting head 53 are built in the head cover. A number of nozzles 54 for discharging the paint are provided on the painting head 53.

[0025] As shown in FIG. 3, on the surface (nozzle forming surface 52) of the painting head 53 on the side where the paint is discharged, the opening portions of the plurality of nozzles 54 are exposed. In the following description, the opening portions of the nozzles 54 are also referred to as nozzles 54.

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

[0027] When discharging the paint, the drive timing of each nozzle 54 is controlled so that the droplets discharged from the nozzles 54 in the second nozzle row 55B land between the droplets discharged from the adjacent nozzles 54 in the first nozzle row 55A. Thereby, the dot density can be improved during painting.

[0028] In the configuration shown in FIG. 3, the arrangement of the nozzles 54 in the first nozzle row 55A and the arrangement of the nozzles 54 in the second nozzle row 55B are inclined with respect to the short side direction (Y direction; main scanning direction) of the coating head 53. However, it is not necessary to adopt such an arrangement of the nozzles 54. For example, the nozzle rows 55 may be arranged along the short side direction (Y direction) of the coating head 53. Further, the nozzle rows 55 may be a single nozzle row 55 that is not divided into the first nozzle row 55A and the second nozzle row 55B in the short side direction (Y direction; main scanning direction) of the coating head 53, or may be divided into three or more nozzle rows.

[0029] Inside the coating head 53, a flow path for flowing a paint (not shown) is provided. Further, a nozzle pressure chamber (not shown) is provided inside the coating head 53, and a piezoelectric substrate 62 (see FIG. 2) for discharging the paint from the nozzle 54 by changing the volume of the nozzle pressure chamber is disposed on any wall surface of the nozzle pressure chamber. Therefore, by applying a voltage to the piezoelectric substrate 62 from the outside, the piezoelectric substrate 62 expands and contracts, the volume of the nozzle pressure chamber changes, and the paint can be discharged from the nozzle 54.

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

[0031] For example, in the configuration of the coating head 53 shown in FIG. 3, assuming that the nozzle row 55 is inclined by an angle α with respect to the main scanning direction, the longitudinal direction of the coating head 53 may be inclined by an angle α with respect to the main scanning direction of the coating head 53. When inclined in this way, by only adjusting the paint discharge timing from each nozzle 54, painting equivalent to the coating head 53 shown in FIG. 3 can be realized.

[0032] (1-4. Control 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 Fig. 2, the painting robot 10 includes a robot arm control unit 70, a paint / washing 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. Further, the painting robot 10 is connected to the image processing device 400 to constitute the painting system 1.

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

[0034] Also, the painting robot 10 is equipped with various sensors (not shown), and the outputs from these sensors are input to any of the robot arm control unit 70, the paint / washing liquid supply control unit 80, the head control unit 90, and the main control unit 110. Examples of the various sensors include an acceleration sensor, an angular velocity sensor, a position detection sensor for detecting the position of each drive unit, an image sensor, etc., but other sensors may also be used.

[0035] Among these, the robot arm control unit 70 is the part that controls the driving of the motors M1 to M6 described above. This robot arm control unit 70 is provided with a memory 71, and the memory 71 stores programs and data created by robot teaching.

[0036] Then, based on the programs and data stored in the memory 71 and the image processing in the image processing unit 410 of the image processing apparatus 400, the robot arm control unit 70 controls the driving of the motors M1 to M6. By this control, the painting head unit 50 can pass through a desired position for executing painting at a desired speed or stop at a predetermined position.

[0037] The memory 71 stores data related to the trajectory of the painting head 53 (trajectory data) created by robot teaching considering the paintable width of the painting head 53, and posture data related to the posture such as the inclination of the painting head 53. Note that the memory 71 may be provided in the painting robot 10, or the memory 71 may exist outside the painting robot 10, and information may be transmitted and received to and from the memory 71 via wired or wireless communication means.

[0038] Also, the paint / washing liquid supply control unit 80 is a part that controls the supply of paint or washing liquid to the painting head unit 50. Specifically, it controls the operation of pumps, valves, etc. provided in the paint / washing liquid supply unit 40. Further, the paint / washing liquid supply control unit 80 controls the operation of the switching control valve 45 so that either paint or washing liquid is selectively supplied from a paint storage unit (not shown) and a washing liquid storage unit (not shown).

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

[0040] Also, the head control unit 90 is a part that controls the operation of the piezoelectric substrate 62 in the painting head unit 50 based on the image processing in the image processing unit 410.

[0041] In addition, the wiping control unit 100 is a part that controls the operation of the wiping mechanism 200 (wiping actuator 230) and the wetting mechanism 300, which will be described later. The operation of the wiping mechanism 200 or the wetting mechanism 300 by the wiping control unit 100 will be described later.

[0042] In addition, the main control unit 110 is a part that transmits predetermined control signals to the above-described robot arm control unit 70, paint / washing liquid supply control unit 80, head control unit 90, and wiping control unit 100 so that the above-described motors M1 to M6, paint / washing liquid supply unit 40, and piezoelectric substrate 62 cooperate to perform painting on the object to be painted.

[0043] In addition, an image processing device 400 is provided in the painting system 1. The image processing device 400 includes an image processing unit 410 and a memory 420. The image processing unit 410 is a part that creates image data for each painting path, which is the path along which the painting head 53 performs painting.

[0044] In addition, the memory 420 is a part that stores the image data for each painting path in correspondence with the painting order.

[0045] Note that the image processing device 400 corresponds to, for example, a computer. The computer may be a part of the painting robot 10 or may be provided separately from the painting robot 10. When the image processing device 400 is provided separately from the painting robot 10, data is transmitted and received between the image processing device 400 and the painting robot 10 by wired communication or wireless communication. Note that 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 may not be included in the concept of the painting robot 10.

[0046] (2. Configuration regarding the wiping mechanism 200 and the wetting mechanism 300) Next, the configurations of the wiping mechanism 200 and the wetting mechanism 300 will be sequentially described. Note that, as will be described later, the wiping mechanism 200 may have the function of the wetting mechanism, and the wetting mechanism 300 may have the function of the 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. Further, the wetting mechanism 300 is a mechanism having a function of wetting the nozzles 54 opening in the nozzle forming surface 52.

[0048] First, the wiping mechanism 200 according to the first configuration example and the second configuration example will be described. When distinguishing and naming the wiping mechanisms 200 according to the first configuration example and the second configuration example from each other, they are respectively named as wiping mechanisms 200A and 200B, but when it is not necessary to distinguish the wiping mechanisms 200 according to these configuration examples, they are simply named as the wiping mechanism 200.

[0049] (2-1. First configuration example: Regarding the wiping mechanism 200A) FIG. 5 is a diagram showing a schematic configuration of the wiping mechanism 200A according to the first configuration example. As shown in FIG. 5, the wiping mechanism 200A according to the first configuration example includes a wiping roller 210, a roller moving mechanism 220, and a wiping actuator 230. Note that this wiping mechanism 200A is attached to a painting head unit 50 having a painting head 53.

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

[0051] The roller shaft 211 is a shaft-shaped member whose both ends are rotatably supported by the roller movement mechanism 220, and is a member inserted into the central hole of the holding cylinder 212. This roller shaft 211 is provided so as to cross the nozzle forming surface 52. In the configuration shown in FIG. 5, the roller shaft 211 is provided so as to cross the short side direction of the nozzle forming surface 52, but the roller shaft 211 may be provided so as to cross the longitudinal direction of the nozzle forming surface 52.

[0052] The holding cylinder 212 is a cylindrical member located on the outer peripheral side of the roller shaft 211, and is a member that supports the absorption member 213. Further, the absorption member 213 is a member attached to the outer peripheral side of the holding cylinder 212, and is formed of a member capable of absorbing paint. Therefore, examples of the material of the absorption member 213 include a sponge-like member, a cloth-like member, a porous member, and the like.

[0053] Further, the absorption member 213 is capable of containing a liquid for wetting. That is, the absorption member 213 also has a function of wetting in addition to wiping the nozzle forming surface 52. Therefore, when rolling along the nozzle forming surface 52, the nozzle 54 opening on the nozzle forming surface 52 can be wetted, and it is possible to prevent the paint in the nozzle 54 from drying. Examples of the liquid for wetting contained in the absorption member 213 include organic solvents such as thinner in the case of oil-based paint, and moisture in the case of water-based paint. Also, a cleaning liquid for cleaning the nozzle forming surface 52 and the nozzle 54 may be used as the liquid for wetting.

[0054] Further, the roller movement mechanism 220 is a member that guides the movement of the wiping roller 210 along the nozzle forming surface 52. As an example of the configuration of such a roller movement mechanism 220, a configuration as shown in FIG. 6 can be cited. In FIG. 5, since the roller movement mechanism 220 is schematically shown, a configuration different from the roller movement mechanism 220 shown in FIG. 6 is shown. However, the wiping mechanisms 200, 200A including the roller movement mechanism 220 are not limited to the configurations shown in FIGS. 5 and 6, and any configuration may be used.

[0055] In the configuration shown in FIG. 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 arranged on both end sides 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 FIG. 6, the guide plates 221 are provided in a substantially L shape. In the vertical extension portion 221a along the vertical direction of the guide plate 221, a drive side guide groove 221b is provided. Both end sides of the pressing rod 222 are inserted into the pair of drive side guide grooves 221b, and the pressing rod 222 is also inserted into a hole portion on one end side of the first link arm 223. That is, the pressing rod 222 and the first link arm 223 are connected.

[0057] The first link arm 223 and the second link arm 224 are connected in series via a connecting portion J1. A slide pin P1 that enters a roller guide groove 221d existing in the parallel extension portion 221c is attached to the other end side of the second link arm 224. One end side of the support arm 225 is also connected to the connecting portion J1, and a shaft support portion 225a on the other end side of the support arm 225 rotatably supports the roller shaft 211 described above.

[0058] A spring member 227 is disposed between the shaft support portion 225a of the support arm 225 and the slide pin P1 of the second link arm 224. In the present embodiment, the spring member 227 is a tension spring and gives a biasing force for the absorbing member 213 to contact the nozzle forming surface 52. The wiping actuator 230 is connected to the pressing rod 222 and gives a driving force for moving the pressing rod 222 up and down.

[0059] The wiping actuator 230 is a drive source that slides the pressing rod 222, such as an air cylinder. Note that the wiping actuator 230 may be composed of, for example, a motor and a driving force transmission mechanism such as a gear or a cam instead of an air cylinder.

[0060] With such a configuration, when the wiping actuator 230 operates, the slide pin P1 slides in 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 slide, the wiping roller 210 supported by the shaft support portion 225a is biased by the biasing force of the spring member 227, and moves while rotating along the nozzle forming surface 52 while pressing the nozzle forming surface 52. Thereby, the droplets of the paint adhering to the nozzle forming surface 52 can be removed by absorption by the absorption member 213.

[0061] Further, by including a wetting liquid in the absorption member 213, the nozzle 54 opening to the nozzle forming surface 52 can be wetted when rolling along the nozzle forming surface 52. Thereby, it is possible to prevent the paint in the nozzle 54 from drying.

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

[0063] Also, in the configuration shown in FIG. 6, the parallel extension portion 221c is provided to be longer than the nozzle forming surface 52, and the guide groove 221d for the roller is also provided to be longer than the nozzle forming surface 52. Moreover, the guide groove 221d for the roller is provided in a substantially 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 control of the wiping control unit 100, the wiping roller 210 can be positioned at a retracted position retracted from the nozzle forming surface 52. For this reason, during painting, it is prevented that the wiping roller 210 interferes (gets in the way).

[0064] Also, for example, a configuration may be adopted in which the wiping roller 210 is moved along the nozzle forming surface 52 by using a cam mechanism, a pantograph mechanism, or a ball screw mechanism.

[0065] (2-2. Second Configuration Example: Regarding the Wiping Mechanism 200B) Next, as a second configuration example regarding the wiping mechanism 200 and the wetting mechanism 300, the wiping mechanism 200B will be described. FIG. 7 is a diagram showing a schematic configuration of the wiping mechanism 200B according to the second configuration example. As shown in FIG. 7, the wiping mechanism 200B according to the second configuration example includes a wiping wiper 240 instead of the wiping roller 210 included 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 the wiping wiper 240 include a sponge-like member provided in a flat plate shape, a cloth-like member, and a paint-absorbing member such as a porous member. It is preferable to adopt a configuration in which a plurality of paint-absorbing members are stacked according to the thickness of the wiping wiper 240.

[0067] When the wiping wiper 240 is formed of a paint-absorbing member, the wiping wiper 240 may also have a function of performing wetting in addition to wiping the nozzle forming surface 52.

[0068] Further, the wiping wiper 240 may have a spatula-like form with its material being an elastomer having elasticity such as rubber or resin member, rather than the paint absorption member as described above. Also, the material of the wiping wiper 240 may be one without liquid absorbency. In this case, the wiping wiper 240 can wipe the nozzle forming surface 52 but does not have the function of wetting the nozzle forming surface 52. Therefore, when using a liquid agent for which wetting is not a problem, wiping alone is sufficient without wetting. However, for example, as shown in FIG. 8, a configuration may be adopted in which a wetting member 242 for wetting the nozzle forming surface 52 is disposed on the downstream side in the moving direction of the wiping wiper 240.

[0069] Also, the wiping wiper 240 may adopt a configuration that combines the wiping function and the wetting function.

[0070] Also, the wiper moving mechanism 250 for sliding the wiping wiper 240 is different from the roller moving mechanism 220 in that the wiping wiper 240 is slid without being rotated with respect to the nozzle forming surface 52, but a configuration similar to that of the roller moving mechanism 220 can be adopted. Also, a wiping actuator that applies a driving force for sliding the wiping wiper 240 can also use the same one as the wiping actuator 230. Therefore, the description of these details is omitted.

[0071] In such a second configuration example, by operating the wiping actuator 230 and sliding the wiping wiper 240 via the wiper moving mechanism 250, it becomes possible to remove the paint droplets adhering to the nozzle forming surface 52 by absorption by the paint absorption member.

[0072] Also, when the wiping wiper 240 is formed from a paint absorption member, by including a wetting liquid in the wiping wiper 240, when sliding the wiping wiper 240 along the nozzle forming surface 52, the nozzles 54 opening on the nozzle forming surface 52 can be wetted. Thereby, it becomes possible to prevent the paint in the nozzles 54 from drying.

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

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

[0075] As shown in FIG. 9, the moistening mechanism 300A according to the third configuration example includes a paint receiving portion 310 for receiving the paint discharged from the nozzle 54. The paint receiving portion 310 is, for example, a dish-shaped member, but it is also possible to adopt a configuration in which a splash prevention member that soaks the discharged paint into the bottom of the paint receiving portion 310 or absorbs the discharged paint to prevent the splashing back of the discharged paint is arranged. Examples of the splash prevention member include a sponge-like member, a cloth-like member, a porous member, and the like.

[0076] Note that the moistening mechanism 300A is provided with a guide mechanism 320 for guiding the movement of the paint receiving portion 310 between a first position for receiving the paint and a second position for retracting the paint receiving portion 310 during painting. Further, the moistening mechanism 300A is also provided with an actuator 330 for applying a driving force for the above movement. Note that such a guide mechanism 320 and actuator 330 are also provided in the moistening mechanism 300B described later. Also, the actuator 330 corresponds to the above-described wiping actuator 230.

[0077] When using such a wetting mechanism 300A, when a predetermined discharge timing arrives, paint is discharged from the nozzle 54. Thereby, due to drying within the nozzle 54, it becomes possible to discharge the paint with a high viscosity and keep the paint with a lower viscosity and no drying inside the nozzle 54. For this reason, when painting a vehicle, it is possible to prevent the painting quality from deteriorating due to poor discharge of paint from the nozzle 54.

[0078] (2-4. Fourth Configuration Example: Regarding the Wetting Mechanism 300B) Next, as a fourth configuration example regarding the wiping mechanism 200 and the wetting mechanism 300, the wetting mechanism 300B will be described. FIG. 10 is a diagram showing a schematic configuration of the wetting mechanism 300B according to the fourth configuration example. As shown in FIG. 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 to the nozzle forming surface 52 and seals the nozzle forming surface 52 from the outside. Therefore, the cap member 340 is formed of a concave member made of an elastomer having elasticity such as rubber, for example. Note that the concave portion of the cap member 340 is referred to as a cap recess 341.

[0079] A configuration may be adopted in which a suction tube (not shown) connected to a suction pump (not shown) is connected to the bottom or side wall of the cap recess 341. In this case, when the suction pump is operated, the inside of the cap recess 341 is vacuum-sucked through the suction tube, and the nozzle forming surface 52 adheres to the cap member 340. For this reason, it becomes possible to satisfactorily seal the space surrounded by the nozzle forming surface 52 and the cap recess 341 from the outside.

[0080] When using such a wetting mechanism 300B, when the paint droplets do not discharge from the nozzle 54, the cap member 340 is brought into close contact with the nozzle forming surface 52 to seal the nozzle forming surface 52 from the outside. Thereby, it is possible to prevent the paint present in the nozzle 54 from drying and the viscosity of the paint from increasing. For this reason, when painting a vehicle, it is possible to prevent poor discharge of the paint from the nozzle 54 and a decrease in the painting quality due to the paint with increased viscosity.

[0081] (2-5. Fifth Configuration Example: Painting Robot 10A) Next, a fifth configuration example (painting robot 10) regarding the wiping mechanism 200 and the wetting mechanism 300 will be described. When the painting robot 10 according to the fifth configuration example is distinguished from the painting robot 10 according to the sixth configuration example described later and the painting robot 10 according to the seventh configuration example described later, they are referred to as painting robot 10A, painting robot 10B, and painting robot 10C, respectively. However, when it is not necessary to distinguish the painting robot 10 according to each of these configuration examples, it is simply referred to as the painting robot 10.

[0082] FIG. 11 is a view showing the painting robot 10A according to the fifth configuration example, to which the wiping mechanism 200 is attached. In FIG. 11, the painting robot 10A shows an aspect including the wiping mechanism 200. However, the painting robot 10A may be configured to include a wetting mechanism 300 instead of the wiping mechanism 200.

[0083] In FIG. 11, the wiping mechanism 200 is attached to the painting head unit 50 via the support member 260A. Further, in the support member 260A, even when the robot arm R1 is not operating, the wiping mechanism 200 can wipe the nozzle forming surface 52 by the moving mechanism 270A such as the roller moving mechanism 220 and the wiper moving mechanism 250, and the wiping actuator 230. Note that the support member 260A may be a guide plate 221 or the like constituting the roller moving mechanism 220 described above, or may be a separate member.

[0084] In the case of such a configuration, it is possible to make the overall length of the support member 260A relatively short. Also, droplets of paint adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, or the nozzles 54 opening to the nozzle forming surface 52 can be wetted by the wetting mechanism 300.

[0085] (2-6. Sixth Configuration Example: Regarding the Painting Robot 10B) FIG. 12 is a view showing the painting robot 10B according to the sixth configuration example, to which the wiping mechanism 200 is attached. In FIG. 12, the painting robot 10B shows an aspect including the wiping mechanism 200, but the painting robot 10B may be configured to include the wetting mechanism 300 instead of the wiping mechanism 200.

[0086] In FIG. 12, the wiping mechanism 200 is attached to the robot arm R1 via the support member 260B. Also, in the support member 260B, even when the robot arm R1 is not operating, the wiping mechanism 200 can wipe the nozzle forming surface 52 by the moving mechanism 270B such as the roller moving mechanism 220 and the wiper moving mechanism 250, and the wiping actuator 230. Note that the support member 260B may be the guide plate 221 or the like constituting the above-described roller moving mechanism 220, or may be a separate member.

[0087] In the case of such a configuration, although the overall length of the support member 260B is longer compared to the support member 260A, the moment itself when moving the painting head unit 50 can be made small. Also, droplets of paint adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, or the nozzles 54 opening to the nozzle forming surface 52 can be wetted by the wetting mechanism 300.

[0088] (2-7. Seventh Configuration Example: Regarding the Painting Robot 10C) FIG. 13 is a diagram showing a painting robot 10C according to a seventh configuration example, with a wiping mechanism 200 attached thereto. In FIG. 13, the painting robot 10C shows a mode including the wiping mechanism 200, but the painting robot 10C may be configured to include a wetting mechanism 300 instead of the wiping mechanism 200.

[0089] In FIG. 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 such that the wiping mechanism 200 wipes the nozzle forming surface 52 by its own operation.

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

[0091] With such a configuration, it is possible to shorten the overall length of the support member 260C compared to the support member 260B, and it is possible to reduce the weight of the support member 260C by the amount of shortening. Also, compared to the case where the wiping mechanism 200 is attached to the painting head unit 50 via the support member 260A, it is possible to reduce the moment when moving the painting head unit 50. Further, paint droplets adhering to the nozzle forming surface 52 can be removed by the wiping mechanism 200, or the nozzles 54 opening on the nozzle forming surface 52 can be wetted by the wetting mechanism 300.

[0092] (2-8. Eighth Configuration Example: Painting System 1A for Wiping Nozzle Forming Surface 52 Using Two Painting Robots 10) Next, an eighth configuration example (painting system 1) regarding the wiping mechanism 200 and the wetting mechanism 300 will be described. Note that the painting system 1 is a painting system 1 that wipes the nozzle forming surface 52 using two painting robots 10. However, when this painting system 1 is distinguished from the painting system 1 according to the ninth configuration example described later, they are respectively referred to as painting system 1A and painting system 1B. When it is not necessary to distinguish the painting robots 10 according to each of these configuration examples, it is simply referred to as painting system 1.

[0093] Also, 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, but three or more painting robots 10 may be used.

[0094] FIG. 14 is a diagram showing the painting system 1A according to the eighth configuration example for wiping the nozzle forming surface 52 using two painting robots 10. In the configuration shown in this FIG. 14, a wiping mechanism 200 is provided for each painting robot 10. Moreover, by the cooperation of the two painting robots 10, each painting robot 10 is installed in such a range that the nozzle forming surface 52 of one painting robot 10 can be wiped by the wiping mechanism 200 of the other painting robot 10.

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

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

[0097] Then, in one of the painting robots 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 is easy to wipe, thereby adjusting the orientation.

[0098] After that, in the other painting robot 10, the wiping control unit 100 operates the wiping mechanism 200 to wipe the nozzle forming surface 52 of one of the painting robots 10.

[0099] It should be noted that when wiping the nozzle forming surface 52 of the other painting robot 10, it can be performed in the same manner as above. That is, 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 is easy to wipe, thereby adjusting the orientation.

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

[0101] In such a configuration, it is possible to adopt a configuration in which each painting robot 10 alone cannot wipe the nozzle forming surface 52. In that case, it is possible to simplify the configuration in each painting robot 10.

[0102] (2-9. Ninth Configuration Example: Painting System 1B for Wiping Nozzle Forming Surface 52 Using Two Painting Robots 10) FIG. 15 is a diagram showing a painting system 1B according to a ninth configuration example in which a nozzle forming surface 52 is wiped using two painting robots 10. In the painting system 1B according to the ninth configuration example shown in FIG. 15, different from the painting system 1A according to the eighth configuration example shown in FIG. 14, a wiping mechanism 200 is not attached to the painting head unit 50. And, as an independent unit separate from the painting head unit 50, the wiping mechanism 200 is attached to the tip side of the robot arm R1.

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

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

[0105] (3. Control for Tilting the Painting Head 53) In the above-described painting robot 10, prior to wiping the nozzle forming surface 52 by the wiping mechanism 200, based on a command from the main control unit 110, the robot arm control unit 70 may 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] In addition, in such tilting of the nozzle forming surface 52, it is preferable that the degree is such that the paint droplets adhering to the nozzle forming surface 52 flow down. Therefore, the above-described predetermined angle does not need to be a very large tilting angle, and for example, an angle of 15 degrees or less with respect to the horizontal plane can be mentioned.

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

[0108] Note that, prior to wiping the nozzle forming surface 52 by the wiping mechanism 200 without performing the control for tilting the nozzle forming surface 52 in this way, based on a command from the main control unit 110, the robot arm control unit 70 may control the operation of the robot arm R1 so that the nozzle forming surface 52 maintains a horizontal state with respect to the horizontal plane. In this case, when the nozzle forming surface 52 is wetted with the wetting liquid by the absorption member 213 or the wetting mechanism 300, it becomes possible to make the wetting states of the respective nozzles 54 uniform.

[0109] (4. Supplementary Note) The content described in the above-described embodiment is grasped as follows, for example. Note that, in the case of a configuration in which the wetting mechanism 300 has the functions of the wiping mechanism 200, in the following, it can be understood that the wetting mechanism 300 and its components are applied to the wiping mechanism 200. [1] That is, a painting robot 10 for painting a painting part of a vehicle, including a painting head unit 50 having a painting head 53 having a plurality of nozzles 54 for discharging paint droplets, a robot arm R1 attached to the tip of the painting head unit 50 and 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] Further, the wiping mechanism 200 includes a wiping roller 210 (wiping member) that slides while contacting the nozzle forming surface 52, a guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A to 270C, etc.) that is attached to the robot arm R1 or the painting head unit 50 and guides the sliding of the wiping member (wiping roller 210, wiping wiper 240, etc.) with respect to the nozzle forming surface 52, and a wiping actuator 230 that applies a driving force to slide the wiping member (wiping roller 210, wiping wiper 240, etc.) with respect to the nozzle forming surface 52.

[0111] With such a configuration, when the wiping actuator 230 is driven, the wiping member (wiping roller 210, wiping wiper 240, etc.) slides on the nozzle forming surface 52 via the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A to 270C, etc.), whereby the nozzle forming surface 52 is wetted and wiped. Here, since the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A to 270C, etc.) is attached to the robot arm R1 or the painting head unit 50, when wiping the nozzle forming surface 52, it is not necessary to move the painting head unit 50 outside the painting line. Therefore, the time required for the round trip of moving outside the painting line is no longer necessary, 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] Further, in the above-described embodiment, in addition to the content described in the above [1], a head control unit 90 that controls the operation of the painting head 53 and a wiping control unit 100 that controls the operation of the wiping actuator 230 are provided. The wiping control unit 100 operates the wiping actuator 230 to slide the wiping member (wiping roller 210, wiping wiper 240, etc.) with respect to the nozzle forming surface 52 via the guide mechanism (roller moving mechanism 220, wiper moving mechanism 250, moving mechanisms 270A to 270C, etc.) when a predetermined wiping timing arrives and the painting head 53 stops discharging under the control of the head control unit 90. This is preferable.

[0113] In this way, when a predetermined wiping timing arrives, by controlling the wiping actuator 230 in the wiping control unit 100, it becomes possible to perform wetting and wiping of the nozzle forming surface 52 at an appropriate timing. Therefore, it becomes possible to further improve the painting quality of the vehicle.

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

[0115] When the nozzle forming surface 52 is tilted in this way, wiping can be performed to some extent with the paint droplets flowing down along the nozzle forming surface 52. Therefore, it becomes possible to improve the efficiency of wiping the nozzle forming surface 52. In addition, since it becomes possible to reduce the amount of paint droplets absorbed by the absorption member 213, it becomes possible to reduce the frequency of replacement and cleaning of the absorption member 213.

[0116] [4] Further, in the above-described embodiment, in addition to the contents described in any one of the above [1] to [3] or a combination thereof, when the wiping by the wiping member (wiping roller 210, wiping wiper 240, etc.) is not performed, the wiping control unit 100 may 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.

[0117] When controlling in this way, it becomes possible to position the wiping member at a retracted position retracted from the nozzle forming surface 52, so it becomes possible to prevent the wiping member from interfering (getting in the way) during painting.

[0118] [5] Also, in the above-described embodiment, in addition to the content described in any one 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, since the wiping mechanism 200 is attached to the painting head unit 50, it is possible to wet and wipe the nozzle forming surface 52 at an appropriate timing with the wiping members (such as the wiping roller 210 and the wiping wiper 240) held by the guide mechanism (such as the roller moving mechanism 220, the wiper moving mechanism 250, and the moving mechanisms 270A to 270C). Therefore, it is possible to further improve the painting quality of the vehicle.

[0120] Also, compared with the case where the guide mechanism is attached to the robot arm R1, it is possible to shorten the overall length of the guide mechanism, and accordingly, it is possible to reduce the weight of the guide mechanism.

[0121] [6] Also, in the above-described embodiment, in addition to the content described in any one 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, since the wiping mechanism 200 is attached to the robot arm R1, it is possible to wet and wipe the nozzle forming surface 52 at an appropriate timing with the wiping members (such as the wiping roller 210 and the wiping wiper 240) of the wiping mechanism 200. Therefore, it is possible to further improve the painting quality of the vehicle.

[0123] Also, compared with the case where the guide mechanism is attached to the painting head unit 50, although the overall length of the guide mechanism becomes longer, the moment itself when moving the painting head unit 50 can be made smaller, so that it is possible to improve the motion performance of the painting head unit 50 accordingly.

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

[0125] Thus, since the wiping roller 210 is provided with the absorption member 213, by rolling the wiping roller 210 along the nozzle forming surface 52, it becomes possible to wet and wipe the nozzle forming surface 52 with the solvent at an appropriate timing.

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

[0127] Thus, since the wiping mechanism 200B is provided with the wiping wiper 240, by sliding the wiping wiper 240 formed from a liquid absorption member capable of absorbing a solvent of the paint along the nozzle forming surface 52, it becomes possible to wet and wipe the nozzle forming surface 52 with the solvent.

[0128] [9] Further, in the above-described embodiment, in addition to the content described in any one of the above [1] to [6] 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 the cap member 340 and the nozzle forming surface 52.

[0129] Thus, since the wiping mechanism is the cap member 340 having the cap recess 341, by sealing the nozzle forming surface 52 with the cap member 340, it becomes possible to maintain the wet state of the nozzle forming surface 52.

[0130]

[10] Also, in the above-described embodiment, in addition to the content described in any one of [1] to [9] above or a combination thereof, a robot arm control unit 70 for controlling the operation of the robot arm R1 is provided. One of the painting robots 10 has a wiping mechanism 200. The robot arm control unit 70 of one of the painting robots 10 controls the operation of the robot arm R1 so that the nozzle forming surface 52 of the other painting robot 10 is wiped by the wiping mechanism 200 of one of the painting robots 10, and the robot arm control unit 70 of the other painting robot 10 may control 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 one of the painting robots 10, for example, when the wiping mechanism 200 of one of the painting robots 10 is within a predetermined range of the nozzle forming surface 52 of the painting head 53 of the other painting robot 10, rapid wetting and wiping of the nozzle forming surface 52 can be achieved.

[0132] (5. Modification Example) As described above, one embodiment of the present invention has been described. However, the present invention can be variously modified other than the above-described embodiment. Modification examples will be described below.

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

[0134] In addition, in the first to ninth configuration examples of the above-described embodiments, the wiping mechanism 200 or the wetting mechanism 300 may move along the longitudinal direction of the nozzle forming surface 52, or may move along the short-side direction of the nozzle forming surface 52. When 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. Further, when the wiping mechanism 200 or the wetting mechanism 300 moves along the short-side direction of the nozzle forming surface 52, the time required for wiping or wetting can be shortened.

Description of Signs

[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... leg, 24... first moving arm, 25... second moving arm, 26... rotating arm, 27... wrist part, 40... cleaning liquid supply unit, 41... supply path, 42... return flow 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 liquid 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... absorption member, 220... roller moving mechanism, 221... guide plate, 221a... vertically extending part, 221b... drive side guide groove, 221c... parallel extending part, 221d... roller guide groove, 222... pressing rod, 223... first link arm, 224... second link arm, 225... support arm, 225a... shaft support part, 227... spring member, 230... wiping actuator, 240... wiping wiper, 241... wiper support member, 242... 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 part, 420... memory, J1... connecting part, M1~M6... motor, P1... slide pin, R1... robot arm

Claims

1. A painting robot for painting a painted part of a vehicle, comprising: a painting head unit including a painting head having a plurality of nozzles for discharging paint droplets; a robot arm having the painting head unit attached to its tip and moving the painting head unit to a desired position; a wiping mechanism for wiping while wetting a nozzle forming surface where the nozzles are open; and having: the wiping mechanism includes: a wiping member that slides while contacting the nozzle forming surface; a guide mechanism attached to the robot arm or the painting head unit for guiding the sliding of the wiping member with respect to the nozzle forming surface; a wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface; and comprising: a head control unit for controlling the operation of the painting head and a wiping control unit for controlling the operation of the wiping actuator; a robot arm control unit for controlling the operation of the robot arm; when a predetermined wiping timing arrives and the painting head stops discharging under the control of the head control unit, the wiping control unit operates the wiping actuator to slide the wiping member with respect to the nozzle forming surface via the guide mechanism; when the predetermined wiping timing arrives, the robot arm control unit performs control to tilt the nozzle forming surface from a horizontal state to such an extent that the paint droplets flow down from the nozzle forming surface by moving the painting head unit by the operation of the robot arm prior to the operation of the wiping actuator under the control of the wiping control unit; A painting robot characterized by the above.

2. The painting robot according to Claim 1, wherein: when wiping by the wiping member is not performed, the wiping control unit controls the operation of the wiping actuator to move the wiping member to a retracted position retracted from the nozzle forming surface. A painting robot characterized by the above.

3. The painting robot according to Claim 1, wherein: the wiping mechanism is attached to the painting head unit. A painting robot characterized by the above.

4. The painting robot according to Claim 1, wherein: the wiping mechanism is attached to the robot arm. A painting robot characterized by the above.

5. A painting robot for painting a painted part of a vehicle, comprising: A painting head unit including a painting head having a plurality of nozzles for discharging paint droplets; A robot arm that mounts the painting head unit at its tip and moves the painting head unit to a desired position; A wiping mechanism for wiping while wetting a nozzle forming surface where the nozzles are open; comprising; The wiping mechanism A wiping member that slides while contacting the nozzle forming surface; A guide mechanism that is attached to the robot arm or the painting head unit and guides the sliding of the wiping member with respect to the nozzle forming surface; A wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface; comprising; The wiping mechanism includes a wiping roller provided with an absorption member capable of absorbing the solvent of the paint on the surface of a rotatable holding cylinder. A painting robot characterized by this.

6. The painting robot according to claim 5, The guide mechanism is provided with a spring member that applies a biasing force for the absorption member to contact the nozzle forming surface. A painting robot characterized by this.

7. A painting robot for painting a painting part of a vehicle, A painting head unit including a painting head having a plurality of nozzles for discharging paint droplets; A robot arm that mounts the painting head unit at its tip and moves the painting head unit to a desired position; A wiping mechanism for wiping while wetting a nozzle forming surface where the nozzles are open; comprising; The wiping mechanism A wiping member that slides while contacting the nozzle forming surface; A guide mechanism that is attached to the robot arm or the painting head unit and guides the sliding of the wiping member with respect to the nozzle forming surface; A wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface; comprising; Comprising a head control unit for controlling the operation of the painting head and a wiping control unit for controlling the operation of the wiping actuator, Comprising a robot arm control unit for controlling the operation of the robot arm, When a predetermined wiping timing arrives and the painting head stops discharging under the control of the head control unit, the wiping control unit operates the wiping actuator to slide the wiping member with respect to the nozzle forming surface via the guide mechanism. Before the wiping actuator operates under the control of the wiping control unit, the robot arm control unit performs control to move the painting head unit by the operation of the robot arm to incline the nozzle forming surface. The wiping mechanism includes a wiping roller provided with an absorption member capable of absorbing the solvent of the paint on the surface of a rotatable holding cylinder. A painting robot characterized by the above.

8. A painting robot for painting a painting part of a vehicle, A painting head unit including a painting head having a plurality of nozzles for discharging paint droplets, A robot arm that mounts the painting head unit at its tip and moves the painting head unit to a desired position, A wiping mechanism for wiping while wetting a nozzle forming surface where the nozzles are open, Having, The wiping mechanism, A wiping member that slides while contacting the nozzle forming surface, A guide mechanism that is attached to the robot arm or the painting head unit and guides the sliding of the wiping member with respect to the nozzle forming surface, A wiping actuator that applies a driving force to slide the wiping member with respect to the nozzle forming surface, Comprising, 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 are provided, A robot arm control unit that controls the operation of the robot arm is provided, When a predetermined wiping timing arrives and the painting head stops discharging under the control of the head control unit, the wiping control unit operates the wiping actuator to slide the wiping member with respect to the nozzle forming surface via the guide mechanism. Before the wiping actuator operates under the control of the wiping control unit, the robot arm control unit performs control to move the painting head unit by the operation of the robot arm to incline the nozzle forming surface. The wiping mechanism includes a wiping wiper formed of an absorption member capable of absorbing the solvent of the paint by sliding along the nozzle forming surface. A painting robot characterized by the above.

9. A painting robot for painting a painting part of a vehicle, A painting head unit including a painting head having a plurality of nozzles for discharging paint droplets, A robot arm that mounts the painting head unit at its tip and moves the painting head unit to a desired position, A wiping mechanism for wiping while wetting a nozzle forming surface where the nozzle is open, having, the wiping mechanism is, a wiping member that slides while contacting the nozzle forming surface, a guide mechanism that is attached to the robot arm or the paint head unit and guides the sliding of the wiping member with respect to the nozzle forming surface, a wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface, comprising, a head control unit that controls the operation of the paint head and a wiping control unit that controls the operation of the wiping actuator, comprising a robot arm control unit that controls the operation of the robot arm, when a predetermined wiping timing arrives and the paint head stops discharging under the control of the head control unit, the wiping control unit operates the wiping actuator to slide the wiping member with respect to the nozzle forming surface via the guide mechanism, prior to the operation of the wiping actuator under the control of the wiping control unit, the robot arm control unit performs control to move the paint head unit by the operation of the robot arm to incline the nozzle forming surface, the wiping mechanism is a cap member that shields the nozzle forming surface and has a cap recess between the cap member and the nozzle forming surface, characterized by a painting robot.

10. A painting system using a pair of painting robots including a painting robot for painting a painting part of a vehicle, the painting robot is, a paint head unit including a paint head having a plurality of nozzles for discharging paint droplets, a robot arm that mounts the paint head unit at its tip and moves the paint head unit to a desired position, a wiping mechanism for wiping while wetting a nozzle forming surface where the nozzle is open, having, the wiping mechanism is, a wiping member that slides while contacting the nozzle forming surface, a guide mechanism that is attached to the robot arm or the paint head unit and guides the sliding of the wiping member with respect to the nozzle forming surface, a wiping actuator that applies a driving force for sliding the wiping member with respect to the nozzle forming surface, comprising, a head control unit that controls the operation of the paint head and a wiping control unit that controls the operation of the wiping actuator, comprising a robot arm control unit that controls the operation of the robot arm, When a predetermined wiping timing arrives and the coating head stops discharging under the control of the head control unit, the wiping control unit activates the wiping actuator to slide the wiping member relative to the nozzle forming surface via the guide mechanism. Prior to the activation of the wiping actuator under the control of the wiping control unit, the robot arm control unit controls the movement of the robot arm to move the coating head unit and tilt the nozzle forming surface. It includes a robot arm control unit that controls the operation of the robot arm. One of the coating robots has the wiping mechanism. The robot arm control unit of one of the coating robots controls the operation of the robot arm while the robot arm control unit of the other coating robot controls the operation of the robot arm so that the nozzle forming surface of the other coating robot is wiped by the wiping mechanism of one of the coating robots. A coating system characterized by the above.

11. A coating system using a pair of coating robots including coating robots for coating a coating part of a vehicle, The coating robot includes A coating head unit including a coating head having a plurality of nozzles for discharging paint droplets, A robot arm that mounts the coating head unit at its tip and moves the coating head unit to a desired position, A wiping mechanism for wiping while wetting the nozzle forming surface where the nozzles are open, And has The wiping mechanism includes A wiping member that slides while contacting the nozzle forming surface, A guide mechanism attached to the robot arm or the coating head unit that guides the sliding of the wiping member relative to the nozzle forming surface, A wiping actuator that applies a driving force to slide the wiping member relative to the nozzle forming surface, And is provided with It includes a robot arm control unit that controls the operation of the robot arm. One of the coating robots has the wiping mechanism. The robot arm control unit of one of the coating robots controls the operation of the robot arm while the robot arm control unit of the other coating robot controls the operation of the robot arm so that the nozzle forming surface of the other coating robot is wiped by the wiping mechanism of one of the coating robots. A coating system characterized by the above.

Images