Cleaning device, coating device, and cleaning method

Abstract

A cleaning device (150) is provided that includes: a first liquid path (Ba); a second liquid path (Bb) having a shorter distance than the first liquid path (Ba); a first head (1A) disposed in the first liquid path (Ba) and including a first nozzle to discharge liquid; and a second head (IB) disposed in the second liquid path (Bb) and including a second nozzle to discharge liquid, wherein a cleaning liquid is caused to flow through the first liquid path (Ba) and the second liquid path (Bb) in a state where the second nozzle is closed and the first nozzle is opened.

Description

[DESCRIPTION] [Title of Invention] CLEANING DEVICE, COATING DEVICE, AND CLEANING METHOD [Technical Field]

[0001] The present disclosure relates to a cleaning device, a coating device, and a cleaning method. [Background Art]

[0002] A cleaning device that cleans a liquid path through which a liquid flows, and a coating device including the cleaning device are known.

[0003] For example, Patent Literature 1 (PTL) discloses a configuration in which a plurality of liquid paths having different lengths are made to have different thicknesses for each liquid path in order to cause a cleaning liquid to uniformly flow through the liquid paths. [Citation List] [Patent Literature]

[0004] [PTL 1] Japanese Unexamined Patent Application Publication No. 2001-013656 [Summary of Invention] [Technical Problem]

[0005] However, in the configuration of Patent Literature (PTL) 1, adjustment and control of the pressure become complicated, and the usage amount of the cleaning liquid may increase.An object of the present invention is to reduce the usage amount of cleaning liquid with a simple configuration. [Solution to Problem]

[0006] Embodiments of the present invention provide a cleaning device that includes: a first liquid path; a second liquid path having a shorter distance than the first liquid path; a first head disposed in the first liquid path and including a first nozzle to discharge liquid; and a second head disposed in the second liquid path and including a second nozzle to discharge liquid, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the second nozzle is closed and the first nozzle is opened. [Advantageous Effects of Invention]

[0007] According to embodiments of the present invention, the usage amount of cleaning liquid can be reduced with a simple configuration. [Brief Description of Drawings]

[0008] A more complete appreciation of embodiments of the present disclosure and many of the attendant advantages and features thereof can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.[FIG. 1]FIG. 1 is a diagram illustrating a general arrangement of a coating device according to an embodiment of the present invention.[FIG. 2]FIG. 2 is a diagram illustrating a more specific configuration of a liquid supply unit included in the coating device according to the embodiment of the present invention.[FIG. 3]FIG. 3 is a perspective view of a head included in the coating device according to the embodiment of the present invention.[FIG. 4]FIG. 4 is a cross-sectional view including a plurality of nozzles of the head included in the coating device according to the embodiment of the present invention.[FIG. 5A]FIG. 5A is a block diagram illustrating a hardware configuration of the coating device according to the embodiment of the present invention.[FIG. 5B]FIG. 5B is a block diagram illustrating a functional configuration of a controller included in the coating device according to the embodiment of the present invention.[FIG. 6]FIG. 6 is a view illustrating a configuration of a cleaning device included in the coating device according to a first embodiment of the present invention.[FIG. 7]FIG. 7 is a diagram illustrating a configuration of a maintenance / recovery unit included in the coating device according to the first embodiment of the present invention.[FIG. 8]FIG. 8 is a diagram illustrating a state of a head at the time of maintenance / recovery operation in the coating device according to the first embodiment of the present invention.[FIG. 9]FIG. 9 is a diagram illustrating a state of the maintenance / recovery unit at the time of the maintenance / recovery operation in the coating device according to the first embodiment of the present invention.[FIG. 10]FIG. 10 is a flowchart illustrating an operation of the maintenance / recovery unit included in the coating device according to the first embodiment of the present invention.[FIG. 11]FIG. 11 is a diagram illustrating a liquid path of the cleaning device included in the coating device according to the first embodiment of the present invention.[FIG. 12]FIG. 12 is an enlarged view illustrating a branch portion in FIG. 11.[FIG. 13]FIG. 13 is a diagram illustrating a state at the time of liquid discharge by the first head in the coating device according to the first embodiment of the present invention.[FIG. 14A]FIG. 14A is a diagram illustrating a first example of a state at the time of liquid discharge by the second head in the coating device according to the first embodiment of the present invention.[FIG. 14B]FIG. 14B is a diagram illustrating a first example of the liquid path of the cleaning device included in the coating device according to the first embodiment of the present invention.[FIG. 15]FIG. 15 is a flowchart illustrating a first example of the operation of the cleaning device included in the coating device according to the first embodiment of the present invention.[FIG. 16]FIG. 16 is a flowchart illustrating a second example of the operation of the cleaning device included in the coating device according to the first embodiment of the present invention.[FIG. 17A]FIG. 17A is a diagram illustrating a first example of a liquid path of a cleaning device included in a coating device according to a second embodiment of the present invention.[FIG. 17B]FIG. 17B is a diagram illustrating a second example of the liquid path of the cleaning device included in the coating device according to the second embodiment of the present invention.[FIG. 17C]FIG. 17C is a diagram illustrating a third example of the liquid path of the cleaning device included in the coating device according to the second embodiment of the present invention.[FIG. 18]FIG. 18 is a flowchart illustrating a first example of the operation of the cleaning device included in the coating device according to the second embodiment of the present invention.[FIG. 19]FIG. 19 is a flowchart illustrating a second example of the operation of the cleaning device included in the coating device according to the second embodiment of the present invention.[FIG. 20]FIG. 20 is a flowchart illustrating a third example of the operation of the cleaning device included in the coating device according to the second embodiment of the present invention.[FIG. 21]FIG. 21 is a diagram illustrating an example of a configuration for switching between feeding of a coating liquid and feeding of a cleaning liquid in a coating device according to a third embodiment of the present invention.[FIG. 22]FIG. 22 is a block diagram illustrating a functional configuration of a control unit included in a coating device according to a fourth embodiment of the present invention.The accompanying drawings are intended to depict embodiments of the present disclosure and should not be interpreted to limit the scope thereof. The accompanying drawings are not to be considered as drawn to scale unless explicitly noted. Also, identical or similar reference numerals designate identical or similar components throughout the several views.[Description of Embodiments]

[0009] In describing embodiments illustrated in the drawings, specific terminology is employed for the sake of clarity. However, the disclosure of this specification is not intended to be limited to the specific terminology so selected and it is to be understood that each specific element includes all technical equivalents that have a similar function, operate in a similar manner, and achieve a similar result.Referring now to the drawings, embodiments of the present disclosure are described below. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.A cleaning device, a coating device, and a cleaning method according to an embodiment of the present invention will be described in detail with reference to the drawings. However, the following embodiments illustrate a cleaning device, a coating device, and a cleaning method for embodying the technical idea of embodiments of the present invention, and are not limited to the following.

[0010] Unless otherwise specified, dimensions, materials, shapes, relative arrangements, and the like of the components described in embodiments of the present invention are not intended to limit the scope of embodiments of the present invention only thereto, and are merely illustrative examples. For example, the size, positional relationship, and the like of the members illustrated in the drawings may be exaggerated for clarity of description. In thefollowing description, like names and like reference signs denote like or equivalent members, and a detailed description thereof may be omitted as appropriate.

[0011] In the present specification, the liquid includes a coating liquid used for coating and a cleaning liquid used for cleaning a head that discharges the coating liquid. In the present specification, the liquid path includes at least one of a supply path for supplying liquid to the head included in the coating device according to embodiments of the present invention and a discharge path for discharging liquid from the head included in the coating device according to embodiments of the present invention. As will be described in detail, the liquid path, the head, the nozzle, and the like are shared by the coating liquid and the cleaning liquid so that both liquids can flow therethrough.Some of the functions of the liquid path, the head, the nozzle, and the like of the coating device and the cleaning device are common to each other.

[0012] [Embodiments]< General Arrangement of Coating Device According to Embodiment of Present Invention >First, a general arrangement of a coating device according to an embodiment of the present invention will be described with reference to FIG. 1.FIG. 1 is a diagram illustrating a general arrangement of a coating device according to an embodiment of the present invention.

[0013] Here, a coating device 100 that applies a coating liquid to a vehicle body of an automobile that is an object 200 to coat the vehicle body is illustrated. The object 200 may be a vehicle body of an automobile, a body of an aircraft, a hull of a ship, or other three- dimensional structures.

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

[0015] Each coating robot 2 includes a base portion 10 installed on a floor surface or the like, a first arm 11 provided to the base portion 10, a second arm 12 coupled to the first arm 11, and a head unit 13 provided at a distal end of the second arm 12. The first arm 11 and the second arm 12 of the coating robot 2 are robotic arms rotatably and swingably coupled via joint portions, and function as a moving mechanism that moves the head unit 13 to a desired position by rotational driving or swing driving. The moving mechanism that moves head unit 13 may be a linear actuator or the like that linearly moves the head unit 13 in one direction, two directions orthogonal to each other, or three directions, in addition to the robotic arm.

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

[0017] The head unit 13 includes a head 1 that discharges liquid, and a position detection unit 3 that detects a position of the object 200. The head 1 includes a plurality of nozzles for discharging liquid. The position detection unit 3 is attached to the distal end of the second arm 12 integrally with the head 1. The position detection unit 3 includes, for example, a stereo camera or the like that detects three-dimensional position information of three or more feature points of the object 200. The stereo camera includes a plurality of cameras. The position detection unit 3 acquires a distance image of the object 200 by a triangulation method based on parallax between images captured by the plurality of cameras.

[0018] The coating device 100 according to an embodiment of the present invention includes a liquid supply unit 4, a maintenance / recovery unit 40, and a control unit 5 in addition to the coating robots 2.

[0019] The liquid supply unit 4 includes a liquid storage unit 6 and an air supply unit 7. The liquid storage unit 6 is, for example, a tank that stores liquid 8 such as coating material therein. The air supply unit 7 is a compressor or the like that supplies air into the liquid storage unit 6. When air is supplied from the air supply unit 7 to the liquid storage unit 6, the inside of the liquid storage unit 6 is pressurized, so that the liquid 8 in the liquid storage unit 6 is supplied to the head 1 and becomes droplets so as to be discharged from the nozzle of the head 1. The head 1 can also discharge liquid in the form of threads in addition to droplets. In FIG. 1, only a path for supplying the liquid 8 from the liquid storage unit 6 to one head 1 is illustrated, but the liquid 8 is supplied from the liquid storage unit 6 to all the heads 1 in the same manner. A plurality of liquid storage units 6 that stores different colors or types of liquid may be prepared, and the color or type of liquid may be switched and supplied to each head 1.

[0020] The maintenance / recovery unit 40 includes a capping means, a cleaning means, and the like for maintaining and recovering the function of the head 1. The maintenance / recovery unit 40 is provided for each of the coating robots 2. In a case where the next coating is not performed for a while after coating, or in a case where the coating is performed by switching the coating liquid to a different color or type, the maintenance / recovery unit 40 performs themaintenance / recovery operation after the end of the previous coating. Specifically, the nozzle surface of the head 1 is capped, and the residual liquid adhering to the head 1 is washed away by the cleaning liquid. As a result, clogging of the nozzle due to drying of the residual liquid can be prevented, and adhesion of the residual liquid to the object when the coating liquid is switched and applied can be prevented.

[0021] The control unit 5 controls the operation of each coating robot 2 and the discharge operation of each head 1 based on the position information of the object 200 detected by the position detection unit 3 in addition to shape data of the object 200, image data of coating, and the like input in advance. As a result, the head unit 13 is moved along the shape of the object 200, and the coating liquid is applied from the head 1 to the surface of the object 200. The control unit 5 also controls the operation of the maintenance / recovery unit 40. In FIG. 1, only signal lines from the control unit 5 to one coating robot 2, one head 1, and one maintenance / recovery unit 40 and a signal line from one position detection unit 3 to the control unit 5 are illustrated, but the control unit 5 controls the operations of all the coating robots 2, all the heads 1, and all the maintenance / recovery units 40, and receives sensing signals from all the position detection units 3.

[0022] A cleaning device 150 is connected to each of the four coating robots 2. FIG. 1 illustrates a state in which one coating robot 2 is connected for convenience. The cleaning device 150 may be connected to the coating robot 2 only at the time of cleaning, or may be connected to the coating robot 2 at the time of coating. Details of the cleaning device 150 will be described later.

[0023] FIG. 2 is a diagram illustrating a more specific configuration of the liquid supply unit 4 included in the coating device 100 according to an embodiment of the present invention.

[0024] As illustrated in FIG. 2, the liquid supply unit 4 includes a plurality of air regulators 9 in addition to the liquid storage units 6 and the air supply unit 7. The air regulators 9 are provided in an air flow path 111 connecting the air supply unit 7 and the liquid storage units 6. The air regulator 9 adjusts the air pressure sent from the air supply unit 7 to each liquid storage unit 6. Each of the liquid storage units 6 is individually connected to each head 1 via an air flow path 112. Therefore, when the inside of each liquid storage unit 6 is pressurized, the liquid 8 is supplied from each liquid storage unit 6 to each head 1. The liquid storage unit 6 may not be provided for each head 1, but may be one liquid storage unit provided in common for all the heads 1.

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

[0026] As illustrated in FIG. 3, the head 1 includes a housing 20, and a supply port 21 and a collection port 22 provided to the housing 20.

[0027] As illustrated in FIG. 4, a plurality of discharge modules 23 are arranged in a row or in a plurality of rows in the housing 20. Each discharge module 23 includes a nozzle plate 25, a nozzle valve 26, a piezoelectric element 27, and a liquid flow path 28. The nozzle plate 25 is provided with the nozzle 24 for discharging liquid for each discharge module 23. The nozzle 24 is openable and closable by the nozzle valve 26. The piezoelectric element 27 is a driving means that expands and contracts when a voltage is applied to open and close the nozzle valve 26. The liquid flow paths 28 communicate with each other between the discharge modules 23 to form a common flow path. The liquid flow path 28 also communicates with the supply port 21 and the collection port 22.

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

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

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

[0031] Each of the coating robots 2 includes an encoder sensor 16 and a robot drive unit 17. The encoder sensor 16 is an optical sensor or the like that optically detects a slit of an encoder provided in a coupling portion between the base portion 10 and the first arm 11, a couplingportion between the first arm 11 and the second arm 12, and a coupling portion between the second arm 12 and the head unit 13 of the coating robot 2. Since the rotation amount and the swing amount of each of the first arm 11, the second arm 12, and the head unit 13 can be grasped by the detection of the encoder sensor 16, three-dimensional position information of the head unit 13 can be acquired. The robot drive unit 17 is a drive unit that performs a rotation operation and a swing operation of the first arm 11, the second arm 12, and the head unit 13.

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

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

[0034] The controller 400, the head control device 500, and the robot control device 600 function as the control unit 5 illustrated in FIG. 1 that controls the operation of each coating robot 2 and the discharge operation of each head 1. In this case, one head control device 500 and one robot control device 600 are provided, but the head control device 500 and the robot control device 600 may be individually provided for each coating robot 2.

[0035] The controller 400 receives coating data and a command signal from the computer 300 and controls the entire operation of the coating device 100.

[0036] The controller 400 includes a central processing unit (CPU) 401, read only memory (ROM) 402, random access memory (RAM) 403, a hard disk drive / solid state drive (HDD / SSD) 404, and an VF 405.These are communicably connected to each other via a system bus S.

[0037] The CPU 401 executes control processing including various types of arithmetic processing. The ROM 402 stores a program used for driving the CPU 401, such as an initial program loader (IPL). The RAM 403 is used as a work area of the CPU 401. The HDD / SSD 404 stores various types of information such as programs, captured images acquired by the stereo camera, detection information by various sensors such as the encoder sensor 16, and the like.

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

[0039] At least a part of the function implemented by the CPU 401 may be implemented by an electric circuit or an electronic circuit.

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

[0041] The robot control device 600 receives a control signal from the controller 400, and controls driving of the robot drive unit 17 based on the received synchronization control signal. At this time, the robot drive unit 17 is controlled based on the incident angle a, whereby an inclination P of the nozzle row of the head 1 is controlled, and a landing interval Py in a movement orthogonal direction Y is controlled to a landing interval according to the incident angle a.

[0042] A liquid path P is a path through which a coating liquid or a cleaning liquid flows in the coating device 100. The liquid path P can include, for example, a plurality of paths through which liquid can flow, switching means for switching whether or not liquid flows through the plurality of paths individually or for each group, and the like. A resin tube or the like can be used for each of the plurality of paths. A valve can be used as the switching means.

[0043] < Functional Configuration of Controller 400 >FIG. 5B is a block diagram illustrating a functional configuration of the controller 400 included in the coating device according to an embodiment of the present invention. FIG. 5A will also be described with appropriate reference.

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

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

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

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

[0048] The liquid path control unit 417 controls a plurality of valves connected to a plurality of paths constituting the liquid path P, thereby individually switching whether to flow the liquid through the plurality of paths. The maintenance / recovery control unit 418 controls the operation of the maintenance / recovery unit 40.

[0049] [First Embodiment]< Configuration of Cleaning Device 150 >FIG. 6 is a diagram illustrating a configuration of the cleaning device 150 included in the coating device 100 according to a first embodiment of the present invention. The cleaning device 150 described below also refers to a configuration including a liquid path, a head, a nozzle, and the like at the time of connection to the coating robot 2.

[0050] As illustrated in FIG. 6, in the head 1, a second head IB is supported by the second arm 12 of the coating robot 2. A first head 1A is supported by the second head IB via a supporting member 30.

[0051] As illustrated in FIG. 6, the cleaning device 150 includes a first liquid path Ba and a second liquid path Bb shorter in distance than the first liquid path Ba. The cleaning device 150 includes a first head 1A that is disposed in the first liquid path Ba and discharges liquid from the first nozzle, and a second head IB that is disposed in the second liquid path Bb and discharges liquid from the second nozzle.

[0052] The first nozzle corresponds to, for example, the nozzle 24 as illustrated in FIG. 4 included in the first head 1A. The second nozzle corresponds to, for example, the nozzle 24 as illustrated in FIG. 4 included in the second head IB. The liquid path P includes the first liquid path Ba and the second liquid path Bb. In FIG. 6, for the purpose of indicating that the liquid path P includes the first liquid path Ba and the second liquid path Bb, reference signs of the liquid path P and the first liquid path Ba are written together, and reference signs of the liquid path P and the second liquid path Bb are written together. In the following drawings, a plurality of reference signs may be written together for the same purpose. The first liquid path Ba and the second liquid path Bb will be separately described with reference to FIG. 11.

[0053] A joint J 1 is a member that connects the liquid storage unit 6 and the supply path for supplying liquid to the head 1. A branch portion A-2, a branch portion A-3, and a branch portion A-4 are portions at which a supply path A for supplying liquid to the second head IB is branched. A branch portion B-2, a branch portion B-3, and a branch portion B-4 are portions at which a supply path B for supplying liquid to the first head 1A is branched. The supply port 21 is a supply port for liquid to the head 1. The collection port 22 is a collection port for liquid from the head 1.

[0054] The first head 1A includes one head, and can be used when a coating liquid is applied to a place where a coating area of an object is narrow. The second head IB includes an assembly of a plurality of heads, and can be used when a coating liquid is applied to a place where a coating area of an object is large. More specifically, the number of the first heads 1 A is one, and the number of the second heads IB is 12. That is, the number of the first heads 1A is smaller than the number of the second heads IB. With this configuration, in the coatingdevice 100, a narrow area of the object 200 can be coated by the first head 1A, and a wide area of the object 200 can be efficiently coated by the second head IB. As a result, the cleaning device 150 can improve the cleanability of the first head 1A and the second head IB.

[0055] In a state where the first head 1A and the second head IB are attached to the second arm 12, a nozzle surface 15A (the surface facing the direction indicated by an arrow Z1 in FIG. 6) and a nozzle surface 15B (the surface facing the direction indicated by an arrow Z2 in FIG. 6) are arranged to face different directions. In this case, the nozzle surface 15A and the nozzle surface 15B are arranged to face directions orthogonal to each other. A communication board that sends an electric signal to the head 1 and a tube that supplies liquid to the head 1 can be connected to the head 1.

[0056] In the coating device 100, since the head 1 is supported by the supporting member 30, coating can be favorably performed on the object 200 having a complicated structure such as a vehicle body. That is, since the head 1 is provided so as to protrude from the distal end of the second arm 12 via the plate-shaped supporting member 30, the head 1 can enter a narrow place even in the case of the object 200 having a complicated structure, and the head 1 can approach the object 200 while avoiding interference with the object 200. Therefore, it is possible to favorably perform coating even in a place where it is difficult to perform coating.

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

[0058] As illustrated in FIG. 7, the maintenance / recovery unit 40 includes a cap member 41, a cleaning means 42, and a drying means 43. The cap member 41 includes a cap body 50 formed in a concave shape and a seal portion 51 provided over the entire edge of an opening 50a of the cap body 50. The seal portion 51 is formed of an elastic body such as rubber. In the cap body 50, the cleaning means 42 and the drying means 43 are disposed. The cleaning means 42 includes a cleaning nozzle 52 for discharging a cleaning liquid. The drying means43 includes a drying nozzle 53 that blows dry air such as hot air. The dry air may be hot air or cold air. A waste liquid flow path 54 for discharging the cleaning liquid from the inside of the cap body 50 to a waste liquid tank is provided at the bottom of the cap body 50.

[0059] The maintenance / recovery unit 40 includes a maintenance / recovery unit 40A used for a small first head 1A and a maintenance / recovery unit 40B used for a large second head IB. In the example illustrated in FIG. 7, in order to indicate that the maintenance / recovery unit 40 includes the maintenance / recovery unit 40A and the maintenance / recovery unit 40B, reference signs of the maintenance / recovery unit 40, the maintenance / recovery unit 40A, and the maintenance / recovery unit 40B are written together. The maintenance / recovery unit 40A and the maintenance / recovery unit 40B may have substantially the same configuration. In the present specification, the maintenance / recovery unit 40A and the maintenance / recovery unit 40B may be collectively referred to as the maintenance / recovery unit 40.

[0060] When maintaining / recovering the function of the head 1 by the maintenance / recovery unit 40, first, the coating device 100 drives the coating robot 2 to move the second head IB to a position facing a large second cap member 4 IB as illustrated in FIG. 8. Thereafter, the coating device 100 presses the nozzle surface 15B of the second head IB against and makes contact with the large second cap member 4 IB. As a result, the nozzle surface 15B of the second head IB is covered with the second cap member 4 IB. Further, the second cap member 4 IB is pressed against the second head IB, and the seal portion of the second cap member 41B is brought into close contact with the nozzle surface 15B. As a result, the nozzle surface 15B and the second cap member 41B are sealed. At this time, the first head 1A is located at a position facing a first cap member 41 A.

[0061] Next, as illustrated in FIG. 9, the first cap member 41 A is raised, and is pressed against and brought into contact with the nozzle surface 15A of the first head 1A. Further, the first cap member 41 A is pressed against the first head 1A, and a seal portion 51A of the first cap member 41A is brought into close contact with the nozzle surface 15A. As a result, the nozzle surface 15A and the first cap member 41A are sealed. In this state, the coating device 100 can perform the maintenance / recovery operation in the flow illustrated in FIG. 10. The description will be given with reference to FIG. 9 as appropriate.

[0062] In the example illustrated in FIG. 10, first, in step Si l, the coating device 100 receives a maintenance / recovery start signal.

[0063] Subsequently, in step S12, the coating device 100 discharges the cleaning liquid from the cleaning nozzle 52 to clean the nozzle surface 15 and the nozzle 24.

[0064] Subsequently, in step S13, the coating device 100 blows the dry air from the drying nozzle 53 to dry the nozzle surface 15 and the nozzle 24.

[0065] Subsequently, in step S14, the coating device 100 determines whether to end the cleaning. In a case where it is determined not to end the cleaning in step S14 (step S14, NO), the coating device 100 performs the operation of step S14 again. On the other hand, when it is determined to end the cleaning (step S14, YES), the coating device 100 ends the maintenance / recovery operation.

[0066] In this manner, the coating device 100 can maintain and recover the function of the head 1. The cleaning liquid in the cap member 41 is discharged to the waste liquid tank through the waste liquid flow path 54.

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

[0068] In the example illustrated in FIG. 11, the liquid storage unit 6 stores liquid to be supplied to each of the first head 1A and the second head IB. In FIG. 11, the liquid storage unit 6 is indicated as a tank 6. The same applies to FIGS. 13, 14A, 14B, and 17A to 17C described below. The liquid storage unit 6 is connected to a supply path A0 and a supply path B0 via the joint JI. The supply path A0 is a path for supplying liquid to six heads among the 12 heads included in the second head IB. The supply path B0 is a path for supplying liquid to each of the six heads among the 12 heads included in the second head IB and the first head 1A.

[0069] The supply path A0 branches into two paths by the branch portion A-2, and further supplies liquid to the supply port 21 of each of the plurality of heads by the branch portion A- 3 and the branch portion A-4. A discharge path for collecting liquid from each of the plurality of heads 1 is connected to the collection port 22 of each of the plurality of heads 1. The discharge paths merge at a branch portion A-5, a branch portion A-6, and a branch portion A- 7, pass through a joint J3, merge at a branch portion C-l, and connected to a waste liquid tank 70 located downstream.

[0070] The supply path B0 branches into two paths by the branch portion B-2, and further supplies liquid to the supply port 21 of each of the plurality of heads by the branch portion B- 3 and the branch portion B-4. A discharge path is connected to the collection port 22 of eachof the plurality of heads. The discharge paths merge at a branch portion B-5, a branch portion B-6, and a branch portion B-7, pass through a joint J4, merge at the branch portion C-l, and connected to the waste liquid tank 70 located downstream.

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

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

[0073] In the example illustrated in FIG. 12, a path for supplying liquid to the first head 1A and the second head IB attached to one coating robot 2 and a path for discharging liquid from the second head IB and the first head 1A to the waste liquid tank are illustrated.

[0074] Within the liquid path P of the coating device 100, in the supply path for supplying the liquid, the connection is switched by the joint JI, so that the liquid storage unit 6 can be switched from the storage unit for storing the coating liquid to the storage unit for storing the cleaning liquid. As a result, in the liquid supply path in the coating device 100, the same supply path can be used both during coating and during cleaning.

[0075] (Discharge of Coating Liquid or Cleaning Liquid by Head 1)Next, with reference to FIGS. 13, 14A, and 14B, the supply state of the coating liquid and the open / close state of the nozzle valve 26 of the head 1 when coating is performed with the small first head 1A, when coating is performed with the large second head IB, and when cleaning is performed with the large second head IB using the supply path A0 and the supply path B0 will be described. FIG. 13 is a diagram illustrating a state at the time of liquid discharge by the first head 1A in the coating device 100 according to the first embodiment of the present invention. FIG. 14A is a diagram illustrating a first example of a state at the time of liquid discharge by the second head IB in the coating device 100 according to the first embodiment of the present invention. FIG. 14B is a diagram illustrating a second example of a state at the time of liquid discharge by the second head IB in the coating device 100according to the first embodiment of the present invention. FIG. 14A illustrates a case where the second head IB discharges the coating liquid, and FIG. 14B illustrates a case where the second head IB discharges the cleaning liquid. FIG. 14B illustrates a configuration corresponding to FIGS. 15 and 16 described below.

[0076] As illustrated in FIG. 13, at the time of coating, the coating liquid is supplied from the liquid storage unit 6 to each of the first head 1A and the second head IB, and the coating liquid is charged from the liquid storage unit 6 to the first valve 71. All the nozzle valves 26 of the second head IB are closed, and the coating liquid is discharged by opening and closing the nozzle valve 26 of the nozzle that discharges the coating liquid in the first head 1A.

[0077] (Coating by Second Head IB)As illustrated in FIG. 14A, at the time of coating, the coating liquid is supplied from the liquid storage unit 6 to each of the first head 1A and the second head IB, and the liquid is charged from the liquid storage unit 6 to the first valve 71. All the nozzle valves 26 of the first head 1A are closed, and the coating liquid is discharged by opening and closing the nozzle valve 26 of the nozzle that discharges the coating liquid in the second head IB.

[0078] < Cleaning of Head 1 >Here, when the coating color for coating the object 200 is changed, it is necessary to clean the liquid path P. In the present embodiment, as illustrated in FIG. 11, the cleaning liquid is supplied from the liquid storage unit 6 storing the cleaning liquid, the cleaning liquid flows through the liquid path P and the liquid flow path 28 of the head 1, and is discharged to the waste liquid tank 70, thereby cleaning the liquid path P. At this time, the collection port 22 of the head 1 and the first valve 71 are opened.

[0079] As illustrated in FIGS. 6 and 8 described above, the first head 1A is attached to the distal end side of the second arm 12 with respect to the second head IB. As illustrated in FIG. 11, the first head 1A branches off from the middle of the liquid path P toward the second head IB by the branch portion B-4 to supply and waste the liquid. Therefore, the length of the first liquid path Ba from the branch portion B-4 to the branch portion C-2 via the first head 1A is longer than the length of the second liquid path Bb from the branch portion B-4 to the branch portion C-2 via the second head IB. In other words, the second liquid path Bb is shorter in distance than the first liquid path Ba.

[0080] Here, the first liquid path Ba and the second liquid path Bb are set in an optimum state in the supply of the coating liquid at the time of coating, and the thickness of the liquid path P cannot be changed when the liquid path P is cleaned. The first liquid path Ba and the second liquid path Bb have the same or substantially the same inner diameter. Further, since the length of the first liquid path Ba is longer than the length of the second liquid path Bb, thecleanability may be deteriorated. Since the length of the first liquid path Ba is long, the wall surface resistance is large, and it is difficult to set the pressure and the flow rate in the first liquid path Ba to desired states. For these reasons, it is necessary to cause a large amount of cleaning liquid to flow throughout the first liquid path Ba and the second liquid path Bb only for cleaning the first liquid path Ba having poor cleanability. As a result, an unnecessarily large supply amount of cleaning liquid and cleaning time may be necessary. In the present embodiment, as will be described below with reference to FIGS. 15 and 16, the supply amount of the cleaning liquid and the cleaning time can be reduced by controlling the cleaning device 150.

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

[0082] First, in step S21, the cleaning device 150 performs capping with the cap member 41. The cleaning device 150 drives the coating robot 2 to cause the first head 1 A and the second head IB to abut on the cap member 41 of the maintenance / recovery unit 40 to perform capping. The coating device 100 may drive the coating robot 2.

[0083] Subsequently, in step S22, the cleaning device 150 opens the first valve 71 and opens the collection port 22. The cleaning device 150 opens the collection ports 22 of all the heads 1. The nozzle valve 26 of the head 1 is in a state of closing the nozzle. The path through the liquid storage unit 6 to the waste liquid tank 70 is opened, and the liquid can flow through the liquid path P.

[0084] Subsequently, in step S23, the cleaning device 150 starts supplying the cleaning liquid. Upon receiving a cleaning start signal, the cleaning device 150 starts supplying the cleaning liquid from the liquid storage unit 6. When the supply is started, the cleaning liquid is fed to all the liquid paths P. Here, the fact that the cleaning device 150 receives the cleaning start signal corresponds to an example of a predetermined condition. That is, when the predetermined condition is satisfied, the cleaning device 150 closes the first nozzle and the second nozzle, and causes the cleaning liquid to flow through the first liquid path Ba and the second liquid path Bb. Accordingly, the cleaning device 150 can clean the liquid path P at a desired timing. The start signal described here is, for example, a start signal when cleaningis performed once before the user presses an operation button or changes a coating liquid of a certain color to a coating liquid of another color.

[0085] In the cleaning device 150, after capping the first cap member 41A and the second cap member 4 IB, the cleaning liquid is caused to flow through the first liquid path Ba and the second liquid path Bb. Accordingly, the cleaning device 150 can perform the cleaning operation in the capped state.

[0086] Subsequently, in step S24, the cleaning device 150 closes the first valve 71 and drives the nozzle valve 26 of the first head 1A to open the nozzle. That is, the cleaning device 150 causes the cleaning liquid to flow through the first liquid path Ba and the second liquid path Bb in a state where the second nozzle of the second head IB is closed and the first nozzle of the first head 1A is opened. As described above, although the second nozzle is closed, the cleaning liquid can flow through the second liquid path Bb. By opening the nozzle 24 of the first head 1A, the pressure is released from the nozzle 24. The pressure in the first liquid path Ba slightly decreases, but as a result, the resistance of the first liquid path Ba decreases. The flow rate in the first liquid path Ba can be increased as a result of the decrease in resistance. The first head 1A is only one head 1, and the decrease in pressure caused by opening the nozzle 24 is minute, but the flow rate increases, so that the cleaning device 150 can improve the entire cleanability. In the cleaning device 150, since the thickness of the liquid path P is not different between the first liquid path Ba and the second liquid path Bb, the configuration of the device is not complicated. Since the first liquid path Ba is cleaned without opening the nozzle 24 of the second head IB, the usage amount of cleaning liquid can be reduced. As described above, embodiments of the present invention provides the cleaning device 150 that can reduce the usage amount of the cleaning liquid with a simple configuration.

[0087] The cleaning device 150 may continue to open the nozzle valve 26 or may repeat opening and closing. In other words, in the cleaning device 150, the first nozzle can repeat opening and closing while the cleaning liquid is flowing through the first liquid path Ba and the second liquid path Bb. By repeating the opening and closing of the first nozzle, the flow of the cleaning liquid to the first liquid path Ba becomes intermittent, and the force when the cleaning liquid flows into the first liquid path Ba acts on the first liquid path Ba. With this force, the cleaning device 150 can further improve the cleanability of the first liquid path Ba. The cleaning device 150 closes the liquid path P from the first valve 71 to the waste liquid tank 70 so that the liquid path P upstream of the first valve 71 in the direction in which the liquid flows is filled with the cleaning liquid and pressurized.

[0088] Subsequently, in step S25, the cleaning device 150 determines whether dirt has been removed. For example, the cleaning device 150 can consider that the dirt of the first head 1Ahas been removed when the supply time of the cleaning liquid exceeds a predetermined second cleaning time t2. The second cleaning time t2 is stored in advance in the memory.

[0089] When it is determined in step S25 that dirt has not been removed (step S25, NO), the cleaning device 150 performs the operation of step S25 again. On the other hand, when it is determined that the dirt has been removed (step S25, YES), the cleaning device 150 opens the first valve 71 in step S26.

[0090] Subsequently, in step S27, the cleaning device 150 determines whether the dirt has been removed. For example, the cleaning device 150 can consider that the dirt of the second head IB has been removed when the liquid feeding time of the cleaning liquid exceeds a predetermined first cleaning time tl. The first cleaning time tl is stored in advance in the memory.

[0091] When it is determined in step S27 that dirt has not been removed (step S27, NO), the cleaning device 150 performs the operation of step S27 again. On the other hand, when it is determined that the dirt has been removed (step S27, YES), the cleaning device 150 stops the supply of the cleaning liquid in step S28.

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

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

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

[0095] The cleaning device 150 can clean the head 1 as described above.

[0096] (Second Example)FIG. 16 is a flowchart illustrating a second example of the operation of the cleaning device 150 included in the coating device 100 according to the first embodiment of the present invention. In the operation illustrated in FIG. 16, the first head 1A of the first liquid path Ba is intensively cleaned after cleaning the first liquid path Ba and the second liquid path Bb. Thereafter, in the operation illustrated in FIG. 16, the first liquid path Ba and the second liquid path Bb are further cleaned again. In the first cleaning of the first liquid path Ba and the second liquid path Bb, since both paths are cleaned over the same time, there is a possibility that the first liquid path Ba having a long path cannot be sufficiently cleaned. Therefore, from the viewpoint of preventing this, in the operation illustrated in FIG. 16, the first liquid path Ba and the second liquid path Bb are cleaned again. In the presentembodiment, for example, the cleaning device 150 starts the operation of FIG. 16 when the coating device 100 receives an operation input instructing the start of the maintenance / recovery operation of the head 1 via an operation unit. Description of the same operation as the operation illustrated in FIG. 15 will be omitted as appropriate.

[0097] The cleaning device 150 determines whether dirt has been removed in step S44, and when it is determined that dirt has been removed (step S44, YES), the first valve 71 is closed and the nozzle valve 26 of the first head 1A is driven to open the nozzle 24 in step S45. The cleaning device 150 may continue to open the nozzle valve 26 or may repeat opening and closing. By opening the nozzle 24 of the first head 1A, the pressure is released from the nozzle 24. The pressure in the first liquid path Ba slightly decreases, but as a result, the resistance of the first liquid path Ba decreases. The flow rate in the first liquid path Ba can be increased as a result of the decrease in resistance. The first head 1A is only one head, and the decrease in pressure caused by opening the nozzle 24 is minute, but the flow rate increases, so that the cleaning device 150 can improve the entire cleanability. The cleaning device 150 closes the liquid path P from the first valve 71 to the waste liquid tank 70 so that the liquid path P upstream of the first valve 71 is filled with the cleaning liquid and pressurized.

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

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

[0100] The cleaning device 150 can clean the head 1 as described above.

[0101] [Second Embodiment]Next, a coating device according to a second embodiment will be described. The same names and reference signs as those of the embodiments of the present invention described above indicate the same or similar members or configurations, and detailed description thereof will be omitted as appropriate. The same applies to the following embodiments of the present invention.

[0102] < Configuration of Liquid Path P >The configuration of the liquid path P will be described with reference to FIGS. 17 A to 17C. FIG. 17A is a diagram illustrating a first example of the liquid path P of the cleaning device 150 included in the coating device 100 according to the second embodiment of the present invention. FIG. 17B is a diagram illustrating a second example of the liquid path P. FIG. 17C is a diagram illustrating a third example of the liquid path P. FIG. 17B illustrates the flow of the cleaning liquid when a second valve 72 is closed in the operation of the cleaning device 150 illustrated in subsequent FIGS. 18 to 20. FIG. 17C illustrates the flow ofthe cleaning liquid when the second valve 72 is opened in the operation of the cleaning device 150 illustrated in subsequent FIGS. 18 to 20.

[0103] As illustrated in FIGS. 17A to 17C, the second embodiment of the present invention is different from the first embodiment of the present invention in that the second valve 72 is disposed between the branch portion C-l and the branch portion C-2 of the cleaning device 150. In other words, the cleaning device 150 includes the first valve 71 provided downstream of the first head 1A in the flow direction F0 in the first liquid path Ba, and the second valve 72 provided upstream of the first valve 71 in the flow direction F0 and upstream of the position where the first liquid path Ba and the second liquid path Bb merge in the flow direction F0. The position where the first liquid path Ba and the second liquid path Bb merge corresponds to the position where the branch portion C-2 is disposed. Other configurations are similar to those of the first embodiment. In the second embodiment of the present invention, as will be described below with reference to FIGS. 18 to 20, the cleaning device 150 causes the cleaning liquid to flow through the first liquid path Ba and the second liquid path Bb in a state where the second valve 72 is closed and the first valve 71 is opened, so that the same effects as those of the first embodiment of the present invention can be obtained.

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

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

[0106] Subsequently, in step S63, the cleaning device 150 starts supplying the cleaning liquid. Upon receiving a cleaning start signal, the cleaning device 150 starts supplying the cleaning liquid from the liquid storage unit 6. As a result, the cleaning liquid is fed to all the liquid paths P. The fact that the cleaning device 150 receives the cleaning start signal corresponds to an example of a predetermined condition. That is, when the predetermined condition is satisfied, the cleaning device 150 closes the first nozzle and the second nozzle, and causes the cleaning liquid to flow through the first liquid path Ba and the second liquid path Bb. Accordingly, the cleaning device 150 can clean the liquid path P at a desired timing.The start signal described here is, for example, a start signal when cleaning is performed once before the user presses an operation button or changes a coating liquid of a certain color to a coating liquid of another color.

[0107] The cleaning device 150 determines whether dirt has been removed in step S64, and when it is determined that dirt has been removed (step S64, YES), the second valve 72 is closed in step S65. When the second valve 72 is closed, the flow of the cleaning liquid is stopped in the second liquid path Bb, and the cleaning liquid flows through the first liquid path Ba having poor cleanability. Thus, the first head 1A can be cleaned. At this time, the nozzles 24 in the first head 1A and the second head IB are closed.

[0108] Subsequently, in step S66, the cleaning device 150 determines whether the dirt has been removed. When it is determined in step S66 that the dirt has not been removed (step S66, NO), the cleaning device 150 performs the operation of step S66 again. On the other hand, when it is determined that the dirt has been removed (step S66, YES), the cleaning device 150 opens the second valve 72 in step S67.

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

[0110] The cleaning device 150 can clean the head 1 as described above.

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

[0112] The cleaning device 150 determines whether dirt has been removed in step S74, and when it is determined that dirt has been removed (step S74, YES), the second valve 72 is closed and the nozzle valve 26 of the first head 1A is driven to open the nozzle 24 in step S75. When the second valve 72 is closed, the flow of the cleaning liquid is stopped in the second liquid path Bb, and the cleaning liquid flows through the first liquid path Ba having poor cleanability. Thus, the first head 1A can be cleaned. At this time, the nozzles 24 of the first head 1A and the second head IB are closed. The operation after step S76 is the same as the operation after step S66 in FIG. 18.

[0113] The cleaning device 150 can clean the head 1 as described above.

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

[0115] The cleaning device 150 opens the second valve 72 in step S92, starts supplying the cleaning liquid in step S93, and then closes the second valve 72 in step S94. When the second valve 72 is closed, the flow of the cleaning liquid is stopped in the second liquid path Bb, and the cleaning liquid flows through the first liquid path Ba having poor cleanability. Thus, the first head 1A can be cleaned. At this time, the nozzles 24 of the first head 1A and the second head IB are closed.

[0116] The cleaning device 150 determines whether dirt has been removed in step S95, and when it is determined that dirt has been removed (step S95, YES), the second valve 72 is opened in step S96.

[0117] Thereafter, the cleaning device 150 determines whether dirt has been removed in step S97, and when it is determined that dirt has been removed (step S97, YES), the supply of the cleaning liquid is stopped in step S98. The operation after step S99 is the same as the operation after step S69 in FIG. 18.

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

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

[0120] As illustrated in FIG. 21, the liquid storage unit 6 illustrated in FIGS. 11 and 17A to 17C can include both a coating liquid storage unit 61 that stores the coating liquid and a cleaning liquid storage unit 62 that stores the cleaning liquid.From another viewpoint, the coating device according to the third embodiment includes the coating liquid storage unit 61 that stores the coating liquid to be supplied to the first liquid path Ba and the second liquid path Bb.

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

[0122] In the example illustrated in FIG. 21, in the coating device according to the third embodiment of the present invention, the liquid supplied from the liquid storage unit 6 can be switched to either the coating liquid or the cleaning liquid by a switching portion a. The coating device according to the third embodiment of the present invention supplies the coating liquid from the coating liquid storage unit 61 when coating the object 200, and supplies the cleaning liquid from the cleaning liquid storage unit 62 when cleaning the liquid path P. This configuration facilitates switching between supply of the coating liquid and supply of the cleaning liquid.

[0123] The coating liquid storage unit 61 may include storage units that individually store coating liquids of a plurality of colors, and may switch the supply of the coating liquid from the storage unit for each color. This configuration facilitates the switching operation of the coating color.

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

[0125] [Fourth Embodiment]Next, a control unit 5 included in a cleaning device according to a fourth embodiment of the present invention will be described with reference to FIG. 22. FIG. 22 is a block diagram illustrating a functional configuration of the control unit 5 included in the coating device according to the fourth embodiment of the present invention. The control unit 5 may further include a functional configuration other than the functional configuration illustrated in FIG. 22.

[0126] The control unit 5 illustrated in FIG. 22 includes a data accumulation unit 85, a learning unit 86, and an estimation unit 87. The functions of the data accumulation unit 85, the learning unit 86, and the estimation unit 87 may be implemented by a machine learning program mounted on the control unit 5.

[0127] (Example of Updating Immersion Time T by Machine Learning)The data accumulation unit 85 accumulates data including at least the number of times of cleaning (al, a2, ...), the first cleaning time tl and the second cleaning time t2, and the content of the coating material of the cleaning liquid discharged from the capping to the waste liquid tank (in a state where the cleaning liquid and the melted paint are mixed) corresponding to each filling time.

[0128] Based on the data accumulated in the data accumulation unit 85, the learning unit 86 learns the relationship between the number of times the cleaning liquid is caused to flow (al, a2, ...) through the supply paths Ba and Bb and the coating material content P of the discharge cleaning liquid after each filling.

[0129] For example, the learning unit 86 may generate a trained model 88 in which the relationship between the number of times of fdling (al, a2, ...) and the coating material content P is learned using a data set in which the number of times of cleaning (al, a2, ...) and the coating material content P stored in the data accumulation unit 85 are associated with each other as training data, and cause the estimation unit 87 to hold the trained model.

[0130] An algorithm used in the learning unit 86 is not particularly limited, and deep learning by a neutral network, an unsupervised trained model, a supervised trained model, a reinforcement trained model, or the like can be applied.

[0131] The estimation unit 87 estimates a predetermined value of the number of times of fdling (al, a2, ...) on the basis of learning of the learning unit 86. For example, when a value indicating the allowable number of times of fdling (al, a2, ...) is input, the estimation unit 87 inputs the input value to the trained model 88 and estimates a predetermined value of the cleaning time T output from the trained model 88.

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

[0133] Since the head cleaning device according to the present embodiment includes the control unit 5 illustrated in FIG. 22, the cleaning time T can be adjusted using the trained model by machine learning.

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

[0135] All numbers such as ordinal numbers and quantity used in the description of the embodiments of the present invention are exemplified to specifically describe the technology of the present disclosure, and embodiments of the present invention is not limited to the exemplified numbers. A connection relationship between the components is exemplified for the purpose of describing the technology of the present disclosure, and the connection relationship that implements the functions of embodiments of the present invention is not limited to the connection relationship as described above.

[0136] Aspects of the present invention are, for example, as follows.According to Aspect 1, a cleaning device includes: a first liquid path; a second liquid path having a shorter distance than the first liquid path; a first head disposed in the first liquid path and including a first nozzle to discharge liquid; and a second head disposed in the second liquid path and including a second nozzle to discharge liquid, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the second nozzle is closed and the first nozzle is opened.According to Aspect 2, in the cleaning device according to Aspect 1, the first nozzle repeats opening and closing while the cleaning liquid is flowing through the first liquid path and the second liquid path.According to Aspect 3, in the cleaning device according to Aspect 1 or 2, when a predetermined condition is satisfied, the cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first nozzle and the second nozzle are closed.According to Aspect 4, the cleaning device according to Aspect 2 further includes: a first valve disposed downstream of the first head in a flow direction of the liquid in the firstliquid path, wherein the first nozzle repeats opening and closing in a state where the first valve is closed.According to Aspect 5, the cleaning device according to Aspect 3 further includes: a first valve disposed downstream of the first head in a flow direction of the liquid in the first liquid path, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first nozzle is opened.According to Aspect 6, a cleaning device includes: a first liquid path; a second liquid path having a shorter distance than the first liquid path; a first head disposed in the first liquid path and including a first nozzle to discharge liquid; a second head disposed in the second liquid path and including a second nozzle to discharge liquid; a first valve disposed downstream of the first head in a flow direction of liquid in the first liquid path; and a second valve disposed upstream of the first valve in the flow direction and upstream of a position at which the first liquid path and the second liquid path merge in the flow direction, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the second valve is closed and the first valve is opened.According to Aspect 7, in the cleaning device according to Aspect 6, the first nozzle is opened when the cleaning liquid is flowing through the first liquid path and the second liquid path.According to Aspect 8, in the cleaning device according to Aspect 6 or 7, when a predetermined condition is satisfied, the cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first valve and the second valve are opened.According to Aspect 9, in the cleaning device according to any one of Aspects 1 to 8, the number of the first heads is smaller than the number of the second heads.According to Aspect 10, the cleaning device according to any one of Aspects 1 to 9further includes: a first cap member to cap the first head; and a second cap member to cap the second head, wherein after the first cap member and the second cap member cap the first head and the second head, respectively, the cleaning liquid is caused to flow through the first liquid path and the second liquid path.According to Aspect 11, in the cleaning device according to any one of Aspects 1 to 10, an inner diameter of the first liquid path and an inner diameter of the second liquid path are substantially the same.According to Aspect 12, a coating device includes: the cleaning device according to any one of Aspects 1 to 11 ; and a coating liquid storage unit to store a coating liquid to be supplied to the first liquid path and the second liquid path.According to Aspect 13, a cleaning method includes causing a cleaning liquid to flow through a first liquid path and a second liquid path in a state where a second nozzle in a second head disposed in the second liquid path is closed and a first nozzle in a first head disposed in the first liquid path is opened, wherein the second liquid path has a shorter distance than the first liquid path.The above-described embodiments are illustrative and do not limit the present invention. Thus, numerous additional modifications and variations are possible in light of the above teachings. For example, elements and / or features of different illustrative embodiments may be combined with each other and / or substituted for each other within the scope of the present invention. Any one of the above-described operations may be performed in various other ways, for example, in an order different from the one described above.This patent application is based on and claims priority to Japanese Patent Application No. 2023-203134, filed on November 30, 2023, in the Japan Patent Office, the entire disclosure of which is hereby incorporated by reference herein.[Reference Signs List]

[0137] 1 Head1A First headIB Second head2 Coating robot3 Position detection unit4 Liquid supply unit5 Control unit6 Liquid storage unit61 Coating liquid storage unit62 Cleaning liquid storage unit7 Air supply unit8 Liquid9 Air regulator10 Base portion11 First arm12 Second arm13 Head unit15, 15A, 15B Nozzle surface16 Encoder sensor17 Robot drive unit20 Housing21 Supply port22 Collection port23 Discharge module24 Nozzle25 Nozzle plate26 Nozzle valve27 Piezoelectric element28 Liquid flow pathSupporting member , 40A, 40B Maintenance / recovery unit1 Cap member 1 A First cap member IB Second cap member Cleaning means 3 Drying means 0 Cap body 0a Opening 1 Seal portion 2 Cleaning nozzle 3 Drying nozzle 4 Waste liquid flow path 0 Waste liquid tank 1 First valve 2 Second valve 5 Data accumulation unit 6 Learning unit 7 Estimation unit 8 Trained model 00 Coating device 11, 112 Air flow path 50 Cleaning device 00 Object 00 Computer 01 RIP unit 02 Rendering unit 00 Controller 01 CPU 02 ROM 03 RAM 04 HDD / SSD 05 PF 11 System control unit 12 Nozzle valve drive control unit 13 Discharge cycle signal generation unit14 Memory control unit 15 Data storage unit 16 Robot control signal generation unit17 Liquid path control unit418 Maintenance / recovery control unit 500 Head control device600 Robot control device700 A Input deviceA to F ArrowA-2, A-3, A-4, A-5, A-6, A-7 Branch portion B-2, B-3, B-4, B-5, B-6, B-7 Branch portion A0, B0 Supply pathBa First liquid pathBb Second liquid pathC-l, C-2 Branch portionF0 Flow directionJI, J3, J4 JointP Liquid pathS System busZl, Z2 Arrow

Claims

[CLAIMS]

1. A cleaning device comprising: a first liquid path; a second liquid path having a shorter distance than the first liquid path; a first head disposed in the first liquid path, the first head including a first nozzle to discharge liquid; and a second head disposed in the second liquid path, the second head including a second nozzle to discharge liquid, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the second nozzle is closed and the first nozzle is opened.

2. The cleaning device according to claim 1, wherein the first nozzle repeats opening and closing while the cleaning liquid is flowing through the first liquid path and the second liquid path.

3. The cleaning device according to claim 1 or 2, wherein when a predetermined condition is satisfied, the cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first nozzle and the second nozzle are closed.

4. The cleaning device according to claim 2, further comprising a first valve disposed downstream of the first head in a flow direction of the liquid in the first liquid path, wherein the first nozzle repeats opening and closing in a state where the first valve is closed.

5. The cleaning device according to claim 3, further comprising a first valve disposed downstream of the first head in a flow direction of the liquid in the first liquid path, wherein the cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first valve is opened.

6. A cleaning device comprising: a first liquid path; a second liquid path having a shorter distance than the first liquid path; a first head disposed in the first liquid path, the first head having a first nozzle to discharge liquid; and a second head disposed in the second liquid path, the second head having a second nozzle to discharge liquid; a first valve disposed downstream of the first head in a flow direction of liquid in the first liquid path; anda second valve disposed upstream of the first valve in the flow direction and upstream of a position at which the first liquid path and the second liquid path merge in the flow direction, wherein a cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the second valve is closed and the first valve is opened.

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

8. The cleaning device according to claim 6 or 7, wherein when a predetermined condition is satisfied, the cleaning liquid is caused to flow through the first liquid path and the second liquid path in a state where the first valve and the second valve are opened.

9. The cleaning device according to any one of claims 1 to 8, wherein a number of the first heads is smaller than a number of the second heads.

10. The cleaning device according to any one of claims 1 to 9, further comprising: a first cap member to cap the first head; and a second cap member to cap the second head, wherein after the first cap member and the second cap member cap the first head and the second head, respectively, the cleaning liquid is caused to flow through the first liquid path and the second liquid path.

11. The cleaning device according to any one of claims 1 to 10, wherein an inner diameter of the first liquid path and an inner diameter of the second liquid path are substantially same.

12. A coating device comprising: the cleaning device according to any one of claims 1 to 11 ; and a coating liquid storage unit to store a coating liquid to be supplied to the first liquid path and the second liquid path.

13. A cleaning method comprising: causing a cleaning liquid to flow through a first liquid path and a second liquid path in a state where a second nozzle in a second head disposed in the second liquid path is closed and a first nozzle in a first head disposed in the first liquid path is opened, wherein the second liquid path has a shorter distance than the first liquid path.

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