Painting method and painting device

Abstract

This coating method is for coating a coating region of a surface to be coated, by using a head having a plurality of nozzles that discharge a liquid. The coating method includes: a step in which coating is performed using a first mode, while the head is moved in a direction that follows the edge of the coating region; and a step in which coating is performed using a second mode the discharge rate of which is higher than that of the first mode. A first region that includes at least a section of the edge is coated using the first mode.

Description

[Technical Field]

[0001] The disclosed embodiments relate to a painting method and a painting apparatus. [Background technology]

[0002] 2. Description of the Related Art A coating device using an inkjet system is known. Such an inkjet coating device is equipped with a head for discharging coating materials. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 092439 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-178145 Summary of the Invention

[0004] A coating method according to one aspect of the present invention involves coating a coating area on a surface using a head having multiple nozzles for discharging a liquid. The coating method includes a step of coating in a first mode while moving the head in a direction along the edge of the coating area, and a step of coating in a second mode having a higher discharge rate than the first mode. The first area, which includes at least a portion of the edge, is coated in the first mode.

[0005] A coating device according to one aspect of the embodiment coats a coating area. The coating device includes a head having a plurality of nozzles for discharging a liquid, and a control unit for controlling the discharging of the liquid from the plurality of nozzles. The coating device has a first mode in which coating is performed while the head is moved in a direction along the edge of the coating area, and a second mode in which the discharging rate is higher than in the first mode. The control unit coats the first area, which includes at least a part of the edge, in the first mode. Control it so that . [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is an explanatory diagram of a coating device according to an embodiment. [Figure 2] FIG. 2 is a plan view of a head of the coating device according to the embodiment, seen from the nozzle surface side. [Figure 3] FIG. 3 is a plan view showing a schematic configuration of a surface to be coated. [Figure 4] FIG. 4 is a diagram illustrating the process of ejected liquid until it lands. [Figure 5] FIG. 5 is a plan view showing an example of a first region and a second region of a painted area painted by the painting method according to the first embodiment. [Figure 6] FIG. 6 is an explanatory diagram showing an example of the first mode of the coating device. [Figure 7] FIG. 7 is a plan view showing an example of a painted area painted by the painting method according to the second embodiment. [Figure 8] FIG. 8 is a plan view showing an example of a painted area painted by the painting method according to the third embodiment. [Figure 9] FIG. 9 is a plan view showing an example of a painted area painted by the painting method according to the fourth embodiment. [Figure 10] FIG. 10 is a plan view showing an example of a painted area painted by the painting method according to the fifth embodiment. [Figure 11] FIG. 11 is a plan view showing an example of a painted area painted by the painting method according to the sixth embodiment. [Figure 12] FIG. 12 is a plan view showing an example of a painted area painted by the painting method according to the seventh embodiment. [Figure 13] FIG. 13 is a plan view showing an example of a painted area painted by the painting method according to the eighth embodiment. [Figure 14] FIG. 14 is a plan view showing an example of a painted area painted by the painting method according to the ninth embodiment. [Figure 15] FIG. 15 is a plan view showing an example of a painted area painted by the painting method according to the tenth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] The above-mentioned coating apparatus still has room for improvement in terms of coating quality, and therefore it is desired to provide a coating method and coating apparatus that can improve coating quality.

[0008] Hereinafter, embodiments of the coating method and coating apparatus disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments shown below. It should be noted that the drawings are schematic, and the dimensional relationships and ratios of elements may differ from reality. Furthermore, the dimensional relationships and ratios may differ between the drawings.

[0009] Furthermore, in the following embodiments, expressions such as "constant," "orthogonal," "perpendicular," or "parallel" may be used, but these expressions do not necessarily mean "constant," "orthogonal," "perpendicular," or "parallel" in the strict sense. In other words, the above expressions allow for deviations due to, for example, manufacturing precision, installation precision, etc.

[0010] Furthermore, the embodiments can be combined as appropriate within the scope of not causing any contradiction in the processing content. Furthermore, the same components in the following embodiments are denoted by the same reference numerals, and redundant explanations will be omitted.

[0011] [Embodiment] <Configuration of painting equipment> First, an overview of a coating apparatus according to an embodiment will be described with reference to Fig. 1. Fig. 1 is an explanatory diagram of a coating apparatus according to an embodiment. For ease of understanding, Fig. 1 illustrates a three-dimensional Cartesian coordinate system including a Z axis, with the vertical upward direction as the positive direction and the vertical downward direction as the negative direction. This Cartesian coordinate system may also be illustrated in other drawings used in the following description.

[0012] As shown in Fig. 1, the coating apparatus 1 includes a head 10, a robot 20, and a control device 40. The head 10 can be, for example, a valve-type, piezoelectric-type, or thermal-type inkjet head. Using a piezoelectric-type or thermal-type inkjet head as the head 10 makes it easier to achieve high resolution.

[0013] The head 10 is fixed to a robot 20. The head 10 moves in accordance with the operation of the robot 20, which is controlled by a control device 40. The head 10 has a plurality of nozzles 11. The surface on which the plurality of nozzles 11 are located is called a nozzle surface 12.

[0014] The head 10 coats the object 30 by causing liquid ejected from a plurality of nozzles 11 located on the nozzle surface 12 to land on the surface of the object 30 facing the nozzle surface 12 .

[0015] The head 10 is supplied with liquid from a tank (not shown). The head 10 ejects the liquid supplied from the tank. The liquid is a mixture containing a volatile component and a non-volatile component, and has fluidity. The tank may be a reservoir (not shown) housed in the head 10.

[0016] Volatile components include, for example, water, organic solvents, alcohol, etc., and adjust the physical properties of the liquid, such as viscosity and surface tension. Non-volatile components include, for example, pigments, resin materials, and additives. Pigments include one or more color pigments used depending on the desired paint color. Resin materials adhere to the object to be coated 30 to form a film. Additives are functional materials added for purposes such as weather resistance. Such non-volatile components may be dissolved in the volatile components, or may be dispersed without being dissolved. In this way, the liquid ejected from the nozzle 11 is a paint material prepared by mixing multiple components to produce the desired paint color.

[0017] The robot 20 holds the head 10. The robot 20 is, for example, a six-axis articulated robot. The robot 20 may be, for example, a vertical articulated robot or a horizontal articulated robot. The robot 20 has a plurality of arms 21, and the head 10 is fixed to the tip of each arm 21. The robot 20 is fixed to a floor, wall, ceiling, or the like. Note that there is no limit to the degree of freedom of the arms 21 of the robot 20, as long as the held head 10 can be moved appropriately.

[0018] The control device 40 controls the coating device 1. The control device 40 includes a control unit 41 that controls the coating device 1, and a storage unit 45. The control unit 41 includes a discharge control unit 42 and an operation control unit 43.

[0019] The control unit 41 includes, for example, a computer having a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), hard disk drive (HDD), input / output ports, and various other circuits. The CPU of such a computer functions as the control unit 41 by, for example, reading and executing a program stored in the ROM. The control unit 41 may also be configured with hardware such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).

[0020] The discharge control unit 42 controls the head 10 based on the setting information stored in the memory unit 45, causing the multiple nozzles 11 to discharge liquid toward the workpiece 30. The operation control unit 43 controls the operation of the multiple arms 21 based on the setting information stored in the memory unit 45, and controls the movement of the head 10 via the arms 21. The distance between the head 10 and the workpiece 30 is maintained at, for example, about 0.5 mm to 20 mm. The detailed movement of the head 10, including the discharge of liquid, will be described later.

[0021] The storage unit 45 corresponds to, for example, a ROM and a HDD. The ROM and HDD can store setting information for various controls in the control device 40. The storage unit 45 stores information related to the control of the discharge of coating material by the head 10. The storage unit 45 also stores information related to the operation control of the multiple arms 21. Note that the storage unit 45 may store data input by a user through a teaching operation using a terminal device (not shown) as teaching data for operating the robot 20. The control unit 41 may also acquire setting information via another computer or portable recording medium connected via a wired or wireless network.

[0022] The object 30 to be coated is, for example, a vehicle body. The object 30 to be coated is placed on a transport device (not shown) and is transported in and out. The coating apparatus 1 according to the embodiment coats the object 30 to be coated while the transport device is stopped. Note that the coating apparatus 1 may be one that coats the object 30 to be coated that is repeatedly transported and stopped, or one that coats the object 30 in parallel with its transportation.

[0023] 2 is a plan view of a head of a coating apparatus according to an embodiment, viewed from the nozzle surface side. The head 10 has a generally rectangular shape in plan view. The nozzle surface 12 has a first side 13 along the length of the head 10 and a second side 14 along the width of the head 10. The nozzles 11 are arranged in a column direction along the first side 13 and a row direction intersecting the column direction. The head 10 ejects liquid while moving in a direction along the second side 14, i.e., in the example shown in FIG. 2, along the positive or negative Y-axis direction, to coat the workpiece 30.

[0024] Fig. 3 is a plan view showing a schematic configuration of an object to be coated. As shown in Fig. 3, the object to be coated 30 has a surface to be coated 30a. The head 10 coats a predetermined coating area 31 of the surface to be coated 30a.

[0025] Figure 4 is a diagram illustrating the process of ejected liquid until it lands. As shown in Figure 4, liquid 50 ejected from nozzle 11 of head 10 lands as droplets 51 on coating area 31 of surface 30a to be coated. If liquid 50 ejected from nozzle 11 is affected by air current 60 before it lands, it may deviate from directly below nozzle 11. The effect of air current 60 becomes significant when, for example, distance g1 between head 10 and surface 30a to be coated is 5 mm or more.

[0026] When the liquid 50 ejected from the nozzle 11 is affected by the airflow 60, for example, when a region including the edges 311, 312 of the coating area 31 shown in FIG. 3 is coated using a head 10 moving along the Y-axis, the droplets 51 used to coat the edges 311, 312 may land unevenly, resulting in a deterioration in coating quality. Specifically, for example, the linearity of the edges 311, 312 may be disrupted, or the droplets 51 may land outside the coating area 31, which may result in a deterioration in coating quality. Such a deterioration in coating quality becomes more pronounced when the straightness is, for example, 70 μm or greater, or even 100 μm or greater. Here, straightness refers to the distance from a virtual droplet 51a located directly below the nozzle 11 shown in FIG. 4 to the actual droplet 51 that has landed.

[0027] Therefore, the coating apparatus 1 according to the embodiment controls the discharge rate of the liquid 50 discharged from the nozzle 11 to be different when coating the edges 311, 312 of the coating area 31 and when coating other areas. Specifically, a first area including the edges 311, 312 of the coating area 31 is coated in a first mode, and a second area not including the edges 311, 312 is coated in a second mode with a higher discharge rate than the first mode. This makes the edges 311, 312 of the coating area 31 sharper, improving their appearance. Therefore, the coating apparatus 1 according to the embodiment can improve coating quality.

[0028] <Painting method> (First embodiment) Next, a coating method performed by the coating apparatus 1 according to the embodiment will be described with reference to Figures 5 and 6. Figure 5 is a plan view showing an example of a first region and a second region of a coating area coated by the coating method according to the first embodiment. Figure 6 is an explanatory diagram showing an example of a first mode of the coating apparatus.

[0029] As described above, the coating apparatus 1 coats the first region R1, including the edges 311 and 312 of the coating area 31, in the first mode. Here, the first mode refers to a mode in which the liquid 50 is discharged using some of the nozzles 11 of the head 10, while the remaining nozzles 11 do not discharge the liquid 50. Specifically, coating can be performed with a discharge rate of 1% to 10%, or even 4% to 6% in the first mode. If the discharge rate is less than 1%, for example, the edges 311 and 312 of the coating area 31 may not be coated well. Furthermore, if the discharge rate exceeds 10%, for example, the liquid 50 discharged from the nozzles 11 may be susceptible to the airflow 60, potentially resulting in a deterioration in coating quality. Here, the discharge rate refers to the proportion of the nozzles 11 used for coating among the multiple nozzles 11 shown in FIG. 2 . For example, if five rows of nozzles 11 out of 100 rows of nozzles 11 are used to discharge the liquid 50, the discharge rate is 5%. The ejection / non-ejection of the liquid 50 from the multiple nozzles 11 may be controlled, for example, by column or individually. The nozzles 11 ejecting the liquid 50 may be continuous or discontinuous in the column and / or row direction. The edges 311, 312 are formed by droplets 51 ejected to the outermost side of the coating area 31, and are ejected from the nozzles 11 of the head 10 that are located outermost in the coating area 31. The edges 311, 312 may be formed by droplets 51 ejected from, for example, the 16th nozzle 11, which is 1% of the total number of nozzles 11 of the head 10, starting from the nozzles 11 located outermost in the coating area 31.

[0030] Furthermore, region R1-1 of first region R1 is a region where droplets 51 land when coating area 31 including edge 311 of coating area 31 is performed at a predetermined discharge rate using head 10. Similarly, region R1-2 of first region R1 is a region where droplets 51 land when coating area 31 including edge 312 of coating area 31 is performed at a predetermined discharge rate using head 10.

[0031] The second region R2 is a region of the coating area 31 that does not include the edges 311, 312. The second region R2 according to this embodiment is a region other than the first region R1. The head 10 coats the second region R2 in a second mode that has a higher discharge rate than the first mode. Specifically, the second mode can be set to a discharge rate of 90% or more, or even 95% or more. The discharge rate in the second mode may be 50% or more as long as it is higher than the first mode.

[0032] In this way, by painting the first region R1 including the edges 311, 312 of the painting area 31 in the first mode with a reduced discharge rate, the influence of the air flow 60 on the liquid 50 discharged from the nozzle 11 can be reduced, thereby improving the painting quality.

[0033] On the other hand, by painting the second region R2 that does not include the edges 311, 312 in the second mode, which has a higher discharge rate than the first mode, the painting efficiency is less likely to decrease.

[0034] The various parameters used for the control in the first and second modes can be stored in, for example, the storage unit 45 of the control device 40. In addition, the painting sequence of the painting area 31 executed by the control unit 41 can be stored in the storage unit 45 of the control device 40. Control of For example, the control unit 41 may control the painting to be performed in the order of the first region R1 and the second region R2. Control Alternatively, the second region R2 may be painted first, followed by the first region R1. Control Furthermore, The control unit 41 Paint in the order of area R1-1 → second area R2 → area R1-2. Control That's fine.

[0035] In the first mode, the control unit 41 may input a predetermined control signal to the liquid 50 in the nozzles 11 from which the liquid 50 is not ejected, causing the liquid 50 to vibrate. This makes it possible to make the nozzles 11 that are not used in the first mode less likely to clog.

[0036] Furthermore, in the first mode, so-called waste discharge may be performed, in which liquid 50 located in nozzles 11 that do not correspond to the first region R1 is discharged. Here, waste discharge includes, for example, discharging a small amount of liquid 50 into the second region R2. This makes it possible to make nozzles 11 that are not used in the first mode less likely to clog, and also maintain the coating quality in the second region R2.

[0037] The first and second regions R1 and R2 may be painted at the same speed or at different speeds. For example, when painting the painting area 31 in the order of the first region R1 and then the second region R2, the first region R1 may be painted at the same speed as the second region R2. This reduces problems associated with a mismatch between the discharge speed from the nozzle 11 and the painting speed, for example.

[0038] (Second embodiment) Fig. 7 is a plan view showing an example of a coating area coated by the coating method according to the second embodiment. The object 30 shown in Fig. 7 has a rectangular coating area 31 on the surface 30a to be coated. The coating area 31 has edges 321 and 323 extending along the Y-axis direction and edges 322 and 324 extending along the X-axis direction.

[0039] The coating apparatus 1 coats a first region R1 including edges 321-324 of the coating area 31 in a first mode. The first region R1 includes a region R11 including edge 321, a region R12 including edge 322, a region R13 including edge 323, and a region R14 including edge 324. Regions R11 and R13 are coated by head 10-3, which moves along the Y-axis direction. Regions R12 and R14 are coated by head 10-4, which moves along the X-axis direction.

[0040] Furthermore, the first region R1 according to this embodiment may include a first overlap region S1, which is an overlap region that is painted in the first mode in an overlapping manner. The first overlap region S1 may be painted multiple times while moving the head 10 in different directions.

[0041] On the other hand, the edge 321-3 2 The second region R2, which does not include the nozzle 4, is painted in the second mode, which has a higher discharge rate than the first mode. This prevents a decrease in painting efficiency. The second region R2 may be painted by the head 10-3 moving along the Y-axis direction, or by the head 10-4 moving along the X-axis direction.

[0042] The painting sequence of the painting area 31 executed by the control unit 41 is Control of There is no limitation on the order in which the coating areas 31 are coated, and the control unit 41 can control the coating areas 31 to be coated in any order. Execute the control For example, the control unit 41 may control the coating to be performed in the order of the first region R1 and the second region R2. Execute the control Alternatively, the second region R2 may be painted first, followed by the first region R1. Execute the control Furthermore, the control unit 41 may paint the first region R1 in the order of, for example, region R11 → region R12 → region R13 → region R14. Execute the control Alternatively, the coating may be applied in the order of area R11 → area R13 → area R12 → area R14. Execute the control Furthermore, if the coating area 31 is smaller than the width of the head 10, the control unit 41 may, for example, cause the mutually facing areas R11 and R13 to be coated simultaneously. Execute the control Alternatively, areas R12 and R14 may be painted simultaneously. Execute the control That's fine.

[0043] Furthermore, the first region R1 and the second region R2 may be painted at different speeds. For example, if the painting area 31 is painted in the order of the first region R1 → the second region R2, the first region R1 may be painted at a higher speed than the second region R2. This reduces the problem of the liquid 50 adhering to the outside of the painting area 31 located near the edges 321-324, which would detract from the appearance of the edges 321-324, when the first region R1 is painted in the first mode, for example. Furthermore, the regions R11-R14 may be painted at the same speed or at different speeds.

[0044] (Third embodiment) Fig. 8 is a plan view showing an example of a coating area coated by the coating method according to the third embodiment. The object 30 shown in Fig. 8 has a plurality of coating areas 31 arranged in the Y-axis direction on the surface 30a to be coated.

[0045] The coating device 1 coats, in the first mode, an area R1-1 of the first area R1, which includes the edge 331 of the coating area 31. The area R1-1 of the multiple coating areas 31 is coated by the head 10 moving along the Y-axis direction.

[0046] The coating device 1 also coats the area R1-2 of the first area R1, which includes the edge 332 of the coating area 31, in the first mode. 2 is applied by a head 10 that moves along the Y-axis direction.

[0047] Additionally, the coating device 1 coats, in the second mode, a second region R2 of the coating region 31 that does not include the edge portions 331, 332. The second region R2 of the multiple coating regions 31 is coated by the head 10 that moves along the Y-axis direction.

[0048] In this way, by sequentially painting a plurality of painting areas 31 by moving the head 10 in one direction, painting efficiency is improved.

[0049] (Fourth embodiment) Figure 9 is a plan view showing an example of a coating area coated using the coating method of the fourth embodiment. The object 30 shown in Figure 9 has a coating area 31 including a first area R1 on the surface 30a to be coated. The first area R1 includes an edge 341 extending along the Y-axis direction. Note that the second area R2 is not shown in Figure 9.

[0050] The first region R1 is painted in the first mode while the head 10 is moved in a direction along the edge 341. At this time, the first region R1 may be painted using a gradation paint in which the brightness increases with increasing distance from the edge 341. By increasing the brightness with increasing distance from the edge 341, the boundary between the droplets 51 painted in the first mode and the droplets 51 painted in the second mode becomes less visible, further improving the painting quality.

[0051] (Fifth embodiment) Fig. 10 is a plan view showing an example of a coating area coated using the coating method according to the fifth embodiment. The object 30 shown in Fig. 10 has a coating area 31 including a first area R1 on the surface 30a to be coated. The first area R1 has an area R11 including an edge 351 extending along the Y-axis direction and an area R12 including an edge 352 extending along the X-axis direction. Note that the second area R2 is not shown in Fig. 10.

[0052] Region R11 is painted in the first mode by the head 10 moving in a direction along edge 351. Region R12 is painted in the first mode by the head 10 moving in a direction along edge 352. Region R11 and / or region R12 may be painted with a gradation paint in which the lightness increases with increasing distance from edge 351 and / or edge 352. This makes it possible to appropriately reduce the number of droplets 51 that land in the first overlap region S1, which is painted multiple times in the first mode, thereby improving the painting quality.

[0053] (Sixth embodiment) Fig. 11 is a plan view showing an example of a coating area coated by the coating method according to the sixth embodiment. The object 30 shown in Fig. 11 has a coating area 31 on its surface 30a, which includes a first area R1 and a second area R2. The first area R1 includes an edge 361 extending along the Y-axis direction.

[0054] The second region R2 is painted in the second mode by the head 10 moving in a direction along the edge 361. In this case, the second region R2 may be painted with a gradation paint in which the brightness increases with increasing distance from the edge 361. By increasing the brightness with increasing distance from the edge 361, the boundary between the first region R1 painted in the first mode and the second region R2 painted in the second mode becomes less visible, further improving the painting quality.

[0055] (Seventh embodiment) Fig. 12 is a plan view showing an example of a coating area coated by the coating method according to the seventh embodiment. The object 30 shown in Fig. 12 has a coating area 31 on its surface 30a, which includes a first area R1, a second area R2, and a second overlap area S2.

[0056] The first region R1 includes an edge 371 extending along the Y-axis direction. The first region R1 is painted in a first mode while the head 10 is moved in a direction along the edge 371. The second region R2 is painted in a second mode, which has a higher discharge rate than the first mode, while the head 10 is moved in a direction along the edge 371.

[0057] The second overlapping region S2 is a region that is painted in the first mode and the second mode. By positioning the second overlapping region S2 between the first region R1 and the second region R2, the boundary between the first region R1 painted in the first mode and the second region R2 painted in the second mode becomes less visible, further improving the painting quality. Note that in the example shown in Figure 12, the first region R1 and the second region R2 are painted in the same direction, but this is not limiting. For example, the second region R2 may be painted while moving the head 10 in a direction that intersects with the edge 371.

[0058] (Eighth to Tenth Embodiments) 13 to 15 are plan views showing examples of coating areas painted using the coating methods according to the eighth to tenth embodiments. The object 30 shown in FIGS. 13 to 15 has a coating area 31 on the surface 30a, with a second overlapping area S2 located between the first area R1 and the second area R2. As shown in FIG. 13, the second overlapping area S2 may be painted using a gradation coating in which the brightness increases with increasing distance from the edge 371. Increasing the brightness with increasing distance from the edge 371 makes the boundary between the first area R1 painted in the first mode and the second area R2 painted in the second mode less visible, further improving the coating quality. Such gradation coating may be performed, for example, in a first mode in which the first area R1 is painted, or in a second mode in which the second area R2 is painted. Gradation coating may also be performed in both the first and second modes.

[0059] 14, the second overlapping region S2 may be painted in the first mode together with the first region R1 when the first region R1 is painted with a gradation paint (first gradation paint) in which the brightness increases with increasing distance from the edge 381. Also, as shown in FIG. 15, the second overlapping region S2 may be painted in the second mode together with the second region R2 when the second region R2 is painted with a gradation paint (second gradation paint) in which the brightness increases with increasing distance from the edge 391.

[0060] Although the above describes various embodiments of the present invention, the present invention is not limited to the above embodiments and various modifications are possible without departing from the spirit of the present invention. For example, in the above-described embodiments, the first mode and the second mode differ only in the ejection rate, but the present invention is not limited to this. For example, among droplets ejected from one ejection hole, the droplets ejected in the first mode may be smaller than the droplets ejected in the second mode. Furthermore, among droplets ejected from one ejection hole, the size of the droplets ejected in the first mode may be smaller than the size of the droplets ejected in the second mode.

[0061] As described above, the coating method according to the embodiment uses a head 10 having multiple nozzles 11 that discharge liquid 50 to coat a coating area 31 on a surface 30a to be coated. The coating method includes a step of coating in a first mode while moving the head 10 in a direction along the edge of the coating area 31, and a step of coating in a second mode with a higher discharge rate than the first mode. The first region R1, which includes at least a portion of the edge, is coated in the first mode. As a result, the coating method according to the embodiment improves coating quality.

[0062] Furthermore, the coating apparatus 1 according to the embodiment coats a coating area 31. The coating apparatus 1 includes a head 10 having a plurality of nozzles 11 that discharge a liquid 50, and a control unit 41 that controls the discharge of the liquid 50 from the plurality of nozzles 11. The coating apparatus 1 has a first mode in which coating is performed while the head 10 is moved in a direction along the edge of the coating area 31, and a second mode in which the discharge rate is higher than in the first mode. The control unit 41 coats a first area R1 that includes at least a part of the edge of the coating area 31 in the first mode. Control it so that As a result, the coating device 1 according to the embodiment improves coating quality.

[0063] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0064] 1. Painting equipment 10 heads 11 nozzles 12 Nozzle surface 20. Robot 21 Arm 30 Object to be painted 30a Surface to be painted 31 Painting area 40 Control device 41 Control Unit 45 Storage section 50 liquid 51 Droplets

Claims

1. A coating method for coating a coating area on a surface to be coated using a head having a plurality of nozzles that eject liquid, comprising: a step of painting in a first mode while moving the head in a direction along the edge of the painting area; a step of coating in a second mode with a higher discharge rate than the first mode; Including, a first region including at least a portion of the edge is painted in the first mode; In the first mode, a first gradation coating is performed in which the brightness increases with increasing distance from the edge. Painting method.

2. A second area not including the edge is painted in the second mode. The coating method according to claim 1.

3. vibrating the liquid in the nozzle from which the liquid is not ejected in the first mode. The coating method according to claim 1.

4. In the first mode, the liquid located in the nozzle that does not correspond to the first region is ejected. The coating method according to claim 1.

5. the first region includes a first overlap region that is painted in an overlapping manner in the first mode; The first overlapping area is painted with the first gradation paint. The coating method according to claim 1.

6. The first overlapping area is painted multiple times while the head is moved in different directions. The coating method according to claim 5.

7. A coating method for coating a coating area of ​​a surface to be coated using a head having a plurality of nozzles for discharging a liquid, comprising: a step of painting in a first mode while moving the head in a direction along the edge of the painting area; a step of coating in a second mode with a higher discharge rate than the first mode; Including, a first region including at least a portion of the edge is painted in the first mode; In the second mode, a second gradation coating is performed in which the brightness increases with increasing distance from the edge. Painting method.

8. the painting area includes a second overlap area that is painted in the first mode and the second mode in an overlapping manner, In the second mode, the second overlapping area is painted with the second gradation paint. The coating method according to claim 7.

9. In the first mode, the second overlapping region is painted with a first gradation paint whose brightness increases with increasing distance from the edge. The coating method according to claim 8.

10. The distance between the head that paints the painting area and the surface to be painted is 5 mm or more. The coating method according to claim 1.

11. In the first mode, painting is performed at a discharge rate of 1% to 10%. The coating method according to any one of claims 1 to 10.

12. A coating device for coating a coating area, comprising: a head having a plurality of nozzles for ejecting liquid; a control unit that controls the ejection of liquid from the plurality of nozzles; Equipped with The coating device is a first mode in which the head is moved in a direction along the edge of the coating area to coat the coating; a second mode having a higher ejection rate than the first mode, the control unit controls to paint a first region including at least a part of the edge portion in the first mode; In the first mode, a first gradation coating is performed in which the brightness increases with increasing distance from the edge. Painting equipment.

13. The control unit controls the second area not including the edge portion to be painted in the second mode. The coating device according to claim 12.

14. A coating device for coating a coating area, comprising: a head having a plurality of nozzles for ejecting liquid; a control unit that controls the ejection of liquid from the plurality of nozzles; Equipped with The coating device is a first mode in which the head is moved in a direction along the edge of the coating area to coat the coating; a second mode having a higher ejection rate than the first mode, the control unit controls to paint a first region including at least a part of the edge portion in the first mode; In the second mode, a second gradation coating is performed in which the brightness increases with increasing distance from the edge. Painting equipment.

Images