TW202039099A - Coating device capable of reducing the setting work of nozzle position information during a coating operation - Google Patents

Abstract

The present invention provides a coating device for reducing the setting work of nozzle position information during a coating operation. The coating device (1) has a storage container (2) containing a coating material (4), and a nozzle (3) for spraying the coating material (4) onto a workpiece (w) and supplying the coating material (4) from the storage container (2) to the nozzle (3). The coating device (1) includes a coating amount storage part (11) for storing the coating amount (A) to be coated on the workpiece (w); and a movement control part (12) for controlling the relative movement of the nozzle (3) and the workpiece (w) according to the coating amount (A) stored in the coating amount storage part (11).

Description

Coating device

The invention relates to a coating device for coating a substrate and other workpieces with coating materials.

A coating device for applying a coating material such as a liquid or powder to a workpiece such as a substrate has been known for a long time. In the coating device, the nozzle sprays a predetermined amount of coating material to a predetermined portion of the workpiece, thereby coating the coating material. In the coating device, linear coating in which the nozzle is moved linearly to apply the coating material in a linear shape, or spot coating in which the nozzle is not moved to apply the coating material to one point is performed.

In spot coating, the coating operation is performed in a state where the nozzle has stopped at the site where the application is to be applied. Therefore, it is only necessary to determine the position coordinates of one application site during the coating operation. In contrast, in the in-line coating, a line that moves the nozzle relative to the workpiece is assumed, and the start point and the end point of the line are connected to perform the coating operation. Therefore, in the case of line coating, it is necessary to determine at least two position coordinates of the start point and the end point of the workpiece coating operation.

In addition, when coating a wide area by line coating, for example, the nozzle is moved in a zigzag manner with respect to the workpiece, and the coating material from the nozzle that moves linearly covers the entire area. Coating operation. Therefore, it is necessary to set the passing points when a plurality of nozzles move, and determine the position information of each passing point.

When a coating device performs a coating operation, generally, not only the nozzle is moved, but the workpiece is also moved, thereby moving the nozzle and the workpiece relatively. That is, the “relative movement of the nozzle and the workpiece” also includes the case where the nozzle does not move but only the workpiece moves. However, regarding the description of "relative movement of the nozzle and the workpiece", in order to avoid complexity, in this specification, the case where only the nozzle moves, the case where only the workpiece moves, and the case where both the nozzle and the workpiece move are described as "relative nozzle movement". "Movement" or simply "Nozzle movement".

[Prior Art Literature] [Patent Literature] [Patent Document 1] Japanese Patent Laid-Open No. 2002-066965

[The problem to be solved by the invention] As described above, when the coating device performs coating work, it is necessary to set the position information of the nozzle. However, in the case of applying line coating to an area having a certain width, it is necessary to set position information for a plurality of passing points. Therefore, in the coating apparatus, the task of setting the position information of the nozzle is often troublesome. Therefore, it has been required to reduce the work of setting nozzle position information.

The present invention is proposed in order to solve the above-mentioned problems, and its object is to provide a coating device that reduces the setting work of nozzle position information during coating work.

[Technical means to solve the problem] In order to achieve the above objects, the present invention includes the following constituent elements in a coating device having: a container containing a coating material and a nozzle that sprays the coating material toward a workpiece, and The coating material is supplied from the storage container to the nozzle. (1) The coating amount storage unit stores the coating amount applied to the workpiece. (2) The movement control unit performs coating from the point where coating is started, and controls the relative movement of the nozzle and the workpiece before reaching the coating amount stored in the coating amount storage unit.

The present invention may also include a coating area setting unit that sets an arbitrary area of the workpiece as a coating area; the movement control unit uses the nozzle to face the coating area that has been set by the coating area setting unit The method of spraying the coating material controls the relative movement of the nozzle and the workpiece.

The movement control unit may convert the coating amount stored in the coating amount storage unit into the length of the coating material to be coated. In addition, the movement control unit may control relative movement of the nozzle and the workpiece including the vertical direction of the nozzle.

[Effects of the invention] According to the present invention, the movement control unit controls the relative movement of the nozzle based on the coating amount. Therefore, the relative movement of the nozzle can be continued to perform the coating operation before the coating amount is reached. Therefore, only the minimum necessary settings related to nozzle position information, such as the start point of the coating operation or the range of the circle, can be performed, and then the coating operation can be performed based on the coating amount, thereby reducing the nozzle burden during the coating operation. Time for setting location information. In addition, since the coating amount is specified, useless coating materials are not generated, which is excellent in terms of environment and economy.

(First Embodiment) (constitute) Hereinafter, the configuration of the first embodiment of the present invention will be specifically described with reference to FIGS. 1 to 2. Fig. 1 is a front view of the first embodiment. As shown in FIG. 1, the coating device 1 is provided with a storage container 2 for the coating material 4 and a nozzle 3 for spraying the coating material 4 toward the work w. The coating material 4 is indicated by a broken line ejected from the nozzle 3, but it is also contained in the storage container 2. The coating material 4 contains liquid, powder, etc., specifically, solder, chemical liquid, and the like. In the coating device 1, the coating material 4 is supplied from the container 2 to the nozzle 3 by controlling a stepping motor (not shown), and the nozzle 3 sprays the coating material 4 toward a predetermined part of the workpiece w, thereby coating Material 4 is coated on the work w.

The coating device 1 is provided with a platform 21 for coating work. A pillar 22 is erected on the platform 21. In the middle of the pillar 22, two arms 23 extending horizontally in a direction orthogonal to the pillar 22 are installed. A rectangular parallelepiped Y-axis direction movable body 24 is slidably attached to the arm 23 along the arm 23.

The Y-axis direction moving body 24 is moved in the Y-axis direction (left-right direction in FIG. 1) by the power of a pulse motor not shown. In FIG. 1, the moving body 24 in the Y-axis direction after the movement is indicated by a two-dot chain line. In order to perform relative movement of the workpiece w on the stage 21, in addition to the Y-axis direction moving body 24, a holding portion 25 and a sliding stage 26 are provided.

The holding part 25 is provided in the lower part of the Y-axis direction moving body 24, and is comprised so that it can move in the Z-axis direction (up-down direction of FIG. 1). The nozzle 3 is held in the holding portion 25. The holding portion 25 moves in the Y-axis direction in accordance with the movement of the Y-axis direction moving body 24, and receives power from a pulse motor (not shown) to move in the Z-axis direction. In addition, a θ-axis movable body that rotates the nozzle 3 may be provided in the holding portion 25.

A sliding platform 26 is arranged on the upper surface of the platform 21. The workpiece w is placed on the upper surface of the sliding platform 26. The sliding platform 26 is provided on the platform 21 so as to be movable in the X-axis direction (a direction perpendicular to the paper surface of FIG. 1 ), and is configured to receive power from a pulse motor (not shown) to move in the X-axis direction.

In the first embodiment, the coating device 1 includes the various components of the platform 21, the support 22, the arm 23, the Y-axis direction movable body 24, the holding portion 25, and the sliding platform 26, but the Each constituent element is understood as a constituent element of a robot such as a multi-joint type, and the coating device 1 is set as a device connected to the robot.

The control unit 10 is incorporated in the coating device 1. The control unit 10 is a central processing unit (Central Processing Unit, CPU) composed mainly of a microcomputer. The control unit 10 is a processing unit that outputs control commands related to coating operations such as input operation, display, storage, motor drive, signal input/output, and the like of the coating device 1.

As shown in FIG. 2, the control unit 10 is connected to the operation unit 13 and the display unit 14. The operation unit 13 is an input device such as a keyboard or a hardware mechanism or software mechanism for teaching. The operation unit 13 inputs various data, such as the coating amount A or the ejection speed V1 of the coating material 4, the relative movement speed of the nozzle 3 (hereinafter, also referred to as the movement speed of the nozzle 3) V2, and the like by the operation of the operator. The display unit 14 is a liquid crystal display (LCD) display device that displays the input state and the like using the operation unit 13.

The control unit 10 is provided with three storage units and two setting units. The three storage sections are the coating amount storage section 11 of the coating material 4, the ejection speed storage section 16 of the coating material 4, and the movement speed storage section 17 of the nozzle 3. The coating amount storage unit 11 is a storage unit that stores the coating amount A applied to the workpiece w. In addition, the "coating amount" may be volume or weight. The discharge speed storage unit 16 is a storage unit that stores the discharge speed V1 of the coating material 4 by the nozzle 3.

The moving speed storage unit 17 is a storage unit that stores the moving speed V2 of the nozzle 3. The movement speed V2 of the nozzle 3 may be set to a fixed value in the total stroke of the movement of the nozzle 3, or it may be set so as to be changed in each predetermined important section. The information stored in the storage unit 11, the storage unit 16, and the storage unit 17 is input by the operator via the operation unit 13 and is stored in the storage unit 11, the storage unit 16, and the storage unit 17 in advance.

The two setting units of the control unit 10 are the coating area setting unit 15 and the starting point setting unit 18. The coating area setting unit 15 is a part that sets an arbitrary area of the work w as the coating area E. The coating area E is an area where the coating material 4 is applied by ejecting the coating material 4 from the nozzle 3. The shape of the application area E set by the application area setting unit 15 may be an elliptical shape including a circular shape, or may be a linear shape, a spiral shape, or the like.

The start point setting unit 18 is a part that sets the position coordinates of the start point S of the coating operation of the workpiece w as X coordinates, Y coordinates, and Z coordinates. The information set by the setting unit 15 and the setting unit 18 is input by the operator via the operation unit 13 and set in each setting unit 15 and the setting unit 18.

Furthermore, the movement control unit 12 is incorporated in the control unit 10. The movement control unit 12 is connected to the three storage units 11, 16, 17 and the two setting units 15, 18, and takes in the stored information or the set information. The movement control unit 12 is connected to each pulse motor (not shown) of the sliding platform 26, the Y-axis direction moving body 24, and the holding unit 25.

The movement control unit 12 is a portion that controls the relative movement of the nozzle 3 based on the coating amount A stored in the coating amount storage unit 11. The movement control unit 12 generates movement control commands Cx, movement control commands Cy, and movement control commands Cz in each direction of the X-axis, Y-axis, and Z-axis, and outputs these movement control commands to the sliding platform 26 and moves in the Y-axis direction, respectively. The pulse motors (not shown) of the body 24 and the holding portion 25 thereby control the relative movement of the nozzle 3.

The movement control unit 12 controls the relative movement of the nozzle 3 so that the nozzle 3 starts the ejection of the coating material 4 from the start point S, and the nozzle 3 ejects the coating material 4 toward the coating area E. Therefore, the nozzle 3 that ejects the coating material 4 draws the coating area E from the start point S under the control of the movement control unit 12.

In addition, the movement control unit 12 converts the coating amount A stored in the coating amount storage unit 11 into the coating sprayed from the nozzle 3 based on the discharge speed V1 of the coating material 4 and the movement speed V2 of the nozzle 3. The length L of the cloth material 4. The movement control unit 12 controls the relative movement of the nozzle 3 based on the coating area E, the starting point S, and the length L of the coating material 4. The movement control unit 12 may output the converted length L of the coating material 4 to the coating area setting unit 15.

In the movement control unit 12, the length L of the coating material 4 is converted as follows. For example, as the coating amount A, 1.23 ml is given, the ejection speed V1 of the coating material 4 is set to 2 ml/s, and the movement speed V2 of the nozzle 3 is set to 10 mm/s. When the line coating is performed under the conditions, the flow rate of the coating material 4 per unit distance becomes 2ml/s÷10mm/s=0.2ml/mm. Accordingly, the length L of the coating material 4 required to apply the applied coating amount A becomes 1.23ml÷0.2ml/mm=6.15mm.

(effect) In the first embodiment having the above configuration, the movement control unit 12 is (1) Take in the coating amount A from the coating amount storage unit 11, (2) Take in the ejection speed V1 of the coating material 4 from the ejection speed storage unit 16, (3) Fetch the moving speed V2 of the nozzle 3 from the moving speed storage unit 17, (4) Take in the coating area E from the coating area setting part 15, (5) The start point S of the coating operation is taken in from the start point setting unit 18. The movement control unit 12 generates a movement control command Cx, a movement control command Cy, and a movement control command Cz of the nozzle 3 based on the coating amount A, and outputs each command Cx, command Cy, and command Cz to the sliding platform 26 to move in the Y-axis direction The pulse motors of the body 24 and the holding portion 25.

If each pulse motor of the sliding platform 26, the Y-axis direction moving body 24, and the holding portion 25 receives the movement control command Cx, the movement control command Cy, and the movement control command Cz of the nozzle 3, each pulse motor follows the respective commands Cx, Cy, Command Cz to run. Therefore, the sliding platform 26 moves in the X-axis direction, the Y-axis direction moving body 24 moves in the Y-axis direction, and the holding portion 25 moves in the Z-axis direction. As a result, the nozzle 3 held by the holding portion 25 and the workpiece w on the sliding table 26 relatively move with respect to the three directions of the X axis, the Y axis, and the Z axis.

In the first embodiment as described above, by including the coating amount storage unit 11 and the movement control unit 12, the relative movement of the nozzle 3 can be controlled only based on the coating amount A of the coating material 4. The coating amount The storage unit 11 stores the coating amount A of the coating material 4 applied to the workpiece w. The movement control unit 12 performs coating from the start point S of the coating operation, and reaches the coating amount stored in the coating amount storage unit 11 Before the coating amount A, the relative movement of the nozzle 3 and the workpiece w is controlled. Therefore, in the first embodiment, as long as the coating amount A of the coating material 4 is determined, the coating material 4 ejected from the nozzle 3 can reach the coating amount A, that is, as long as the coating amount A is sufficient, The relative movement of the nozzle 3 is continued to perform the coating operation.

(Reduction of location information setting work) According to the first embodiment, it is sufficient to set minimum necessary position information such as the start point S of the coating operation. As a result, in the first embodiment, it is possible to reduce the time and effort of setting the position information during the coating operation.

In addition, during the coating operation for the workpiece w, even if the area where the coating material 4 is applied has changed, as long as the size of the workpiece w itself does not change, the coating amount A or the coating area E of the coating material 4 The shape and so on are rarely changed. In the first embodiment, since the start point setting unit 18 is provided, it is easy to set the start point S of the coating operation as the minimum necessary position information. Therefore, in the first embodiment, even if the place where the coating material 4 is applied to the workpiece w has been changed, only the start point setting unit 18 performs the setting change of the position information of the start point S of the coating operation. The change can be responded to immediately, which can help improve work efficiency.

(The effect of line coating) The reduction of the above-mentioned setting work of position information will be described from the viewpoint of line coating using the existing coating device. In the conventional coating apparatus, when performing line coating in which the coating material 4 is applied in a line shape, it is necessary to set position information for at least two points of the start point and the end point one by one. In addition, when coating a wide area over the entire surface by line coating, it is necessary to set position information for a plurality of passing points in proportion to the area of the area where the coating work is performed. As a result, as described above, the setting work of position information becomes very troublesome.

On the other hand, when the coating device 1 of the first embodiment performs line coating, the coating area setting unit 15 sets the coating area E in the line shape of the workpiece w. In addition, the start point setting unit 18 sets the start point S of the coating operation, and the movement control unit 12 starts the movement of the nozzle 3 from the start point S to apply the coating material 4 to the coating area E.

At this time, the storage of the coating amount A of the coating material 4 in the coating amount storage unit 11 and the shape setting of the coating area E of the coating area setting unit 15 are separately performed first. In this case, in the first embodiment, it is only necessary to set the position information of the starting point S by the starting point setting unit 18, and the spray amount of the coating material 4 from the nozzle 3 can reach the coating amount A. At the point in time, the relative movement of the nozzle 4 by the movement control unit 12 is stopped, and the coating operation is ended.

That is, in the first embodiment, even if the end point of the line movement of the nozzle 3 is not determined first, only the position information of the start point S can be set by the start point setting unit 18 to perform the coating operation. Therefore, according to the first embodiment, it is not necessary to set the position information of the end point that is indispensable in the conventional line coating.

Therefore, even if compared with the simplest setting of position information in the existing line coating (setting of the position information of the start point and the end point), the workload of the setting work can be halved, and the efficiency of the coating work can be realized化. In addition, even in the case where a wide area is applied to the entire surface by line coating, in the first embodiment, the application area E of the application area setting section 15 may be first set to a desired shape. Therefore, unlike the case where a wide area is completely coated by the conventional line coating, there is no need to set a plurality of position information as passing points, and the setting of position information can be greatly simplified.

(The effect of full application) The effect of the first embodiment in the case where a wide area, whether rectangular or circular, is applied across the entire surface using FIG. 3 will be described.

For example, as the application of the coating operation, there is bonding, and sometimes a part is bonded to a plate part. The coating material 4 containing an adhesive is applied to the workpiece w which is one part to be bonded, and thereafter, the workpiece w is placed on a plate part (not shown) for bonding. In the prior art, in order to determine how to apply the coating material 4 to the workpiece w and it is desired to set the movement path of the nozzle 3, the movement path of the nozzle 3 must be zigzag or spiral. Therefore, the setting of passing points is very complicated.

However, when the coating material 4 must be applied to a certain extent of the wide range of the workpiece w, the most important parameter is the coating amount A of the coating material 4, as long as the desired amount of the coating material 4 It is sufficient to apply to a predetermined area, and the position information of the end point such as the trajectory of the coating material 4 derived from the movement path of the nozzle 3 or where the coating material 4 ends is not such an important parameter.

In the first embodiment, as shown in FIG. 3, the start point S (the center of the vortex in FIG. 3) of the entire coating is set by the start point setting unit 18, and the coating area E is set by the coating area setting unit 15 The shape is a vortex shape, and only the number of pitches of the vortex is set. In addition, the coating amount A is stored by the coating amount storage unit 11. The movement control unit 12 first moves the nozzle 3 to the starting point S. When the nozzle 3 has reached the start point S, the spraying of the coating material 4 is started.

When the nozzle 3 starts to eject the coating material 4, the movement control unit 12 moves the nozzle 3 in the X-axis direction and the Y-axis direction to draw vortices that have become pitch intervals set by the coating area setting unit 15. The movement control unit 12 stops the movement of the nozzle 3 in the X-axis direction and the Y-axis direction when the amount of the coating material 4 ejected from the nozzle 3 has reached the coating amount A, and the nozzle 3 stops the coating material 4 Squirting.

In the first embodiment, as long as the coating amount A of the coating material 4 is determined, the movement control unit 12 can continue the relative movement of the nozzle 3 before the coating material 4 ejected from the nozzle 3 reaches the coating amount A To implement coating operations. Therefore, according to the first embodiment, the coating material 4 can be used to easily apply a certain wide area over the entire surface.

Furthermore, in the first embodiment, only by changing the coating amount A of the coating material 4, it is also possible to perform a determination test of the optimal value of the coating amount A when the coating quality is maintained. Therefore, it is also possible to easily determine the coating amount A as the minimum amount necessary for bonding. Thereby, the coating material 4 can be optimized, and it contributes to the reduction of the usage-amount of the coating material 4.

(The effect of dot coating) The effect of the first embodiment will be described in comparison with spot coating using a conventional coating device. In the conventional spot coating, after the application site of the coating material 4 is determined using a single position coordinate, the nozzle 3 in the stopped state ejects the coating material 4. Therefore, as shown in FIG. 4, the coating material 4 bulges largely on the workpiece w, and it is easy to form the coating material reservoir 5 with a large height dimension. Therefore, the nozzle 3 is buried in the coating material reservoir 5 and the coating material 4 may adhere to the periphery of the nozzle 3.

If the coating material 4 has adhered to the nozzle 3 and the nozzle 3 continues the coating operation, even the coating material 4 that has adhered to the nozzle 3 will contact the workpiece together with the coating material 4 that should be applied. w, there is a possibility that the shape or amount of the coating is disordered and the coating quality deteriorates. Therefore, when the nozzle 3 is buried in the coating material reservoir 5 and the coating material 4 has adhered to the periphery of the nozzle, cleaning of the nozzle 3 (wiping off the adhered coating material 4) or maintenance (nozzle 3 Cleaning) becomes indispensable. The cleaning or maintenance of these nozzles 3 becomes a factor that reduces the production efficiency of the coating operation.

On the other hand, in the first embodiment, when the coating operation in which the shape of the coating area E is a minute circular shape is performed, even if the shape of the coated coating material 4 is drawn as the circumference of the coating area E, It is also close to coating using existing spot coating. At this time, in the first embodiment in which the movement control of the nozzle 3 is performed based on the coating amount A, while the nozzle 3 ejects the coating material 4, the movement of the nozzle 3 can be continued.

That is, as shown in FIG. 5, in the first embodiment, the moving nozzle 3 ejects the coating material 4, and the coating material 4 is not ejected from the nozzle 3 in the stopped state, so that the coating material reservoir 5 is hardly generated. Therefore, the nozzle 3 is rarely buried in the coating material 4, and there is no concern that the tip of the nozzle 3 is contaminated. The upper part of FIG. 5 is a front view of the nozzle 3 that ejects the coating material 4, and the lower part is a plan view of the coating area E.

Here, specific examples are given to describe the difference between the coating according to the first embodiment and the conventional spot coating. For example, under the coating conditions prescribed by the performance of the nozzle 3 or the properties of the coating material 4, in the conventional spot coating, a coating material reservoir 5 with a diameter of 5 mm is formed with a discharge time of 1 second. . At this time, in the first embodiment, the coating area setting unit 15 sets a region having an outer diameter smaller than that of the coating material reservoir 5 as the coating area E.

More specifically, a circle with a diameter of 4 mm, which does not exceed 5 mm in diameter, is set as the coating area E. The movement control unit 12 calculates the length of the circumference of a circle with a diameter of 4 mm as the length L of the coating material 4 and controls the relative movement of the nozzle 3 in accordance with the length L of the coating material 4. The nozzle 3 is subjected to the movement control, and ejects the coating material 4 so as to draw a circle with a diameter of 4 mm in a ejection time of 1 second.

That is, in the first embodiment, the application area setting unit 15 sets a minute circular shape as the application area E, and ejects the coating material 41 while moving the nozzle 3, thereby drawing a minute circular shape. Coating area E. That is, in the first embodiment, the coating operation is not performed by understanding the application area E in the small circular shape as a "point" with one position coordinate, but as a circular shape by making the nozzle 3 along Circumferential movement for coating operation.

According to this first embodiment, the nozzle 3 continues to move while the nozzle 3 is ejecting the coating material 4, so the nozzle 3 can be prevented from being buried in the coating material 4, and the fouling at the tip of the nozzle 3 can be reduced. Therefore, in the first embodiment, spot coating equivalent to the conventional one is performed, and only the coating material 4 that should be coated is coated on the workpiece w, so the coating quality can be improved. In addition, since the dirt on the tip of the nozzle 3 is reduced, the frequency of cleaning or maintenance of the nozzle 3 can also be reduced, and the production efficiency of the coating operation can be improved.

Furthermore, the movement control unit 12 can control the relative movement of the nozzle 3 in the vertical direction (Z-axis direction) via the holding unit 25. Therefore, as shown in FIG. 6, while raising the nozzle 3 from the workpiece w, the coating material 4 may be continuously sprayed onto the circular coating area E. The upper part of FIG. 6 is a front view of the nozzle 3 that ejects the coating material 4, and the lower part is a plan view of the coating area E. In this case, even if the coating material 4 is being applied to the workpiece w, the nozzle 3 moves upward, and therefore the adhesion of dirt on the tip of the nozzle 3 can be prevented.

Furthermore, as shown in FIG. 7, the coating area E may be set to a spiral shape. In this case, the nozzle 3 does not eject the coating material 4 while drawing the same circle in the coating area E, and the height of the coating material 4 does not increase. Therefore, the coating material reservoir 5 is not formed on the workpiece w, and it is possible to eject a sufficient amount of the coating material 4 while reliably avoiding the nozzle 3 from being buried in the coating material reservoir 5. Therefore, it is possible to prevent the adhesion of dirt at the tip of the nozzle 3 and contribute to further improvement of coating quality. In addition, the starting point S of the spiral coating area E may be a point located at the center of the vortex, or may be a point located at the outermost periphery of the vortex.

In the first embodiment, it can also be understood that the nozzle 3 controlled by the movement control unit 12 performs spot coating according to the operating principle of line coating. Therefore, even in the case where the coating material reservoir 5 formed in response to the applied spot coating is extremely small, for example, 0.5 mm in diameter, the movement control unit 12 has a sufficiently fine control resolution (for example, 0.01 mm), line coating can also be performed by drawing a very small circle.

In a conventional coating device that performs spot coating and line coating, the discharge amount of the coating material 4 may switch the control mode between spot coating and line coating. For example, in spot coating, the ejection amount of the coating material 4 is set to a fixed ejection amount fixed mode, and in line coating, the amount of movement of the nozzle 3 or the moving speed V2 is adopted to change the coating material 4 The ejection volume variable mode. In the case of switching such a control mode, problems such as complicated control occur.

In contrast to this, in the first embodiment, spot coating is performed based on the operating principle of line coating, so there is no need to switch the ejection control mode of the coating material 4 between spot coating and line coating. Therefore, according to the first embodiment, complication of control can be avoided. Furthermore, even if it is a coating device that cannot switch the ejection control mode, or a coating device that does not have the ejection control mode switching function and uses only the line coating, in the first embodiment, it is possible to control only the line coating It can be applied to these coating devices.

Furthermore, since the nozzle 3 with respect to the coating material 4 can be prevented from being buried, in the coating device as described above, effects such as maintenance of coating quality and improvement of production efficiency of coating operations can also be obtained. In addition, in the first embodiment, since the coating amount A is specified in advance, the coating material is not sprayed out uselessly, and it is also excellent in terms of environment and economy.

In addition, regarding the "relative movement of the nozzle 3 and the workpiece w", in the above-mentioned embodiment, the movement of the nozzle 3 is mainly described, but even if the nozzle 3 is not moved and only the "work w" is moved, the same can be achieved. The same effect as described.

(Second Embodiment) (constitute) Hereinafter, the configuration of the second embodiment of the present invention will be specifically described with reference to FIG. 8. The configuration of the second embodiment is basically the same as that of the first embodiment. Therefore, the same reference numerals are assigned to the same constituent elements as those of the first embodiment, and the description thereof is omitted.

As shown in FIG. 8, in the second embodiment, a dot coating parameter setting unit 19 and a parameter conversion unit 20 are provided. The spot coating parameter setting unit 19 is a part that sets a spot coating parameter T that determines only one position coordinate. The dot coating parameter T of the second embodiment is the same as the position coordinates set in the conventional dot coating, but the nozzle 3 does not necessarily need to spray the coating material 4 toward the position coordinates. For example, when the coating area E has a circular shape, the center point of the circle where the coating material 4 is not ejected may be the dot coating parameter T. The spot coating parameter T set by the spot coating parameter setting unit 19 is set by the operator's input via the operation unit 13.

The line coating parameter R is set in the parameter conversion section 20 in advance. The parameter conversion section 20 converts the dot coating parameter T using the line coating parameter R and obtains the position information D of the line coating. The parameter conversion unit 20 outputs the obtained position information D of the line coating to the coating area setting unit 15.

(Function and effect) In the second embodiment, only the dot coating parameter T is set in the dot coating parameter setting unit 19, and the starting point S or the passing point of the nozzle 3 is not set. The movement control unit 12 can control the relative movement of the nozzle 3 to perform coating. Coating operation of cloth material 4. For example, P0 shown in FIG. 9 is a position coordinate that determines only one position coordinate, and here is the center point when the coating area E is made into a circular shape.

R shown in FIG. 9 is the line coating parameter set in the parameter conversion section 20 in advance, and here is the radius of the circular coating area E. P1 is the starting point of the line coating, P2 to P4 are the passing points of the line coating, and P5 is the end point of the line coating. The parameter conversion unit 20 obtains the position information D of each point P1 to P5 for drawing a circular shape in the line coating based on the radius R as the line coating parameter. The coating area setting unit 15 of the second embodiment sets the coating area E based on the position information D of the line coating obtained by the parameter conversion unit 20.

In the second embodiment, the line coating parameters are defined in the parameter conversion unit 20 in advance corresponding to the specifications, performance, and characteristics of the coating device 1 or the coating material 4, and the parameter conversion unit 20 can perform the point coating parameter T Convert to obtain the position information D of the line coating. Therefore, the operator does not need to set the starting point or each passing point as in the case of teaching line coating. Only by setting the dot coating parameter T in the dot coating parameter setting section 19, the operator can perform the same feeling as the existing dot coating. The teaching of line coating.

In the second embodiment, the line coating parameters are defined in the parameter conversion unit 20 in advance, so the user does not need to be aware of various parameters when teaching. Therefore, according to the second embodiment, when spot coating is performed, the operator does not realize that the actual operation is line coating, and good operability can be provided. As a result, the operator can provide intuitive teaching and maintain excellent operability.

In addition, in the second embodiment, the amount of the coating material reservoir 5 can be easily adjusted by the operation of line coating while maintaining the feeling of spot coating. Therefore, the second embodiment is particularly effective when it is desired to form the coating material reservoir 5 larger than one point of the spray in the spray coating method in which the coating material 4 is ejected from the nozzle 3 by spraying.

[Other embodiments] The embodiments of the present invention have been described as above, but various omissions, substitutions, and changes can be made without departing from the spirit of the invention. In addition, the above-described embodiments or modifications thereof are included in the scope or spirit of the invention, and are included in the invention described in the claims and the equivalent scope thereof. The present invention is not limited to the above-mentioned embodiment, and various modifications can be made as necessary.

For example, the present invention can also be applied to a rotary-tube type coating device that controls the coating amount by moving a member that blocks the tube through which the coating material 4 passes through a motor drive, or a screw-type pump motor. A screw-type coating device for the coating amount of the coating material 4, a non-contact type dispensing device whose ejection amount per shot is small and accurately controlled, and the like.

In the above-mentioned embodiment, the configuration in which the movement in the X-axis direction is performed by the slide table 26 is adopted, but which member is used to perform each movement in the XYZ-axis direction can be appropriately changed. For example, the pillar 22 or the Y-axis direction movable body 24 may be provided so as to be movable in the X-axis direction, thereby performing movement in the X-axis direction.

The control unit 10 can be realized by controlling a computer including a CPU using a predetermined program. The program in this case realizes the above-mentioned processor by physically utilizing the hardware of the computer. Therefore, a method, a program, and a recording medium on which the program is recorded may be included in one aspect of the embodiment.

As the line coating parameters used to derive the position information D of the line coating based on the parameters used for the existing dot coating, that is, the position coordinates or the coating amount, there are specifications that depend on the performance of the nozzle 3 or the coating material 4 , Performance, characteristic parameters, or parameters related to the shape of the coating area E, etc. As the former, there are the ejection speed V1 of the coating material 4, the upper limit of the ejection speed V1 when the ejection speed V1 is variable, the viscosity of the coating material 4, and the degree of influence (correction amount) on the ejection speed V1. As the latter, if the coating area E is a circle, it has a radius of the circle, and if it is a spiral, it has an outer diameter or pitch, a rising speed or amount of rising in the Z-axis direction, an upper limit of the rising, and the like.

In addition, in the present invention, the parameter may be set in a menu or screen (for example, a screen for maintenance settings) of a layer different from the coating amount at the time of spot coating. According to such an embodiment, the operability equivalent to the conventional spot coating can be exhibited. Furthermore, in the display unit 14, the above-mentioned parameters can also be displayed in the same menu or screen together, and excellent operability can be ensured.

In the present invention, purging of the coating material 4 may also be implemented. There are several methods for implementing rounding: accepting instructions from the rounding switch or outside, and performing automatic rounding. In the automatic rounding, according to the predetermined rules such as the fixed time interval or the beginning or end of the operation cycle, the rounding is automatically performed at that time, or the nozzle 3 is moved to the place where the coating material 4 should be discarded. To fight.

When the present invention is applied to the coating material 4, the nozzle 3 will not stay in the coating material storage portion 5 that is passed, and the nozzle 3 will not be buried in the coating material storage portion 5 on the workpiece w. Therefore, adhesion of the coating material to the periphery of the nozzle 3 or residue of the coating material can be prevented. As a result, the coating quality can be stabilized, and the maintenance of the nozzle can be reduced.

1: Coating device 2: containment container 3: nozzle 4: Coating material 5: Coating material storage section 10: Control Department 11: Coating amount storage department 12: Mobile Control Department 13: Operation Department 14: Display 15: Coating area setting section 16: Discharge speed storage section 17: Moving speed storage 18: Starting point setting section 19: Point coating parameter setting department 20: Parameter Conversion Department 21: Platform 22: Pillar 23: arm 24: Moving body in Y-axis direction 25: holding part 26: Sliding platform A: Coating amount Cx, Cy, Cz: movement control instructions D: Location information E: coating area L: length of coating material P0: position coordinates P1: Starting point of line coating P2～P4: Passing point of line coating P5: End point of line coating R: radius S: starting point T: Spot coating parameters V1: spray speed V2: Movement speed w: Workpiece X, Y, Z: axis

Fig. 1 is a front view of the first embodiment. Fig. 2 is a block diagram of the first embodiment. Fig. 3 is a plan view when full-surface application is performed in the first embodiment. Fig. 4 is an enlarged view for explaining conventional spot coating. Fig. 5 is an enlarged view for explaining dot coating according to the first embodiment. FIG. 6 is an enlarged view for explaining the effect of dot coating in the first embodiment (the coating area is a circular shape). FIG. 7 is an enlarged view for explaining the effect of dot coating in the first embodiment (the coating area is a spiral shape). Fig. 8 is a block diagram of the second embodiment. FIG. 9 is an enlarged view for explaining the conversion of dot coating parameters in the second embodiment.

10: Control Department

11: Coating amount storage department

12: Mobile Control Department

13: Operation Department

14: Display

15: Coating area setting section

16: Discharge speed storage section

17: Moving speed storage

18: Starting point setting section

24: Moving body in Y-axis direction

25: holding part

26: Sliding platform

A: Coating amount

Cx, Cy, Cz: movement control instructions

E: coating area

L: length of coating material

S: starting point

V1: spray speed

V2: Movement speed

Claims (4)

A coating device has: a storage container that contains a coating material, and a nozzle that ejects the coating material, and supplies the coating material from the storage container to the nozzle; Features include: The coating amount storage unit stores the coating amount applied to the workpiece; and The movement control unit performs coating from the point where coating is started, and controls the relative movement of the nozzle and the workpiece before reaching the coating amount stored in the coating amount storage unit. The coating device according to claim 1, further comprising: The coating area setting section sets an arbitrary area of the workpiece as a coating area, The movement control unit controls the relative movement of the nozzle and the workpiece so that the nozzle ejects the coating material toward the coating area set by the coating area setting unit. The coating device according to claim 1 or 2, wherein The movement control unit converts the coating amount stored in the coating amount storage unit into the length of the coating material to be coated. The coating device according to any one of claims 1 to 3, wherein: The movement control unit controls relative movement of the nozzle and the workpiece including the vertical direction of the nozzle.

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