WO2021020577A1 - 塗装装置および塗装方法 - Google Patents

塗装装置および塗装方法 Download PDF

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Publication number
WO2021020577A1
WO2021020577A1 PCT/JP2020/029533 JP2020029533W WO2021020577A1 WO 2021020577 A1 WO2021020577 A1 WO 2021020577A1 JP 2020029533 W JP2020029533 W JP 2020029533W WO 2021020577 A1 WO2021020577 A1 WO 2021020577A1
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WO
WIPO (PCT)
Prior art keywords
head
coating
nozzle surface
coated
coating apparatus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/029533
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
大輔 穂積
兼好 槐島
松元　歩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kyocera Corp
Original Assignee
Kyocera Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kyocera Corp filed Critical Kyocera Corp
Priority to EP20847795.0A priority Critical patent/EP4005687B1/en
Priority to US17/631,419 priority patent/US20220274129A1/en
Priority to JP2021535470A priority patent/JP7204925B2/ja
Priority to CN202080053994.7A priority patent/CN114173936A/zh
Publication of WO2021020577A1 publication Critical patent/WO2021020577A1/ja
Anticipated expiration legal-status Critical
Priority to JP2022212225A priority patent/JP7617891B2/ja
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/002—Machines or plants for applying coating liquids or other fluent materials by inkjet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B05B13/0415—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line the angular position of the spray heads relative to the straight line being modified during the reciprocating movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B05B13/0433—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces the work being vehicle components, e.g. vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/14—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with oscillating elements; with intermittent operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J25/00—Actions or mechanisms not otherwise provided for
    • B41J25/001—Mechanisms for bodily moving print heads or carriages parallel to the paper surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J25/00—Actions or mechanisms not otherwise provided for
    • B41J25/001—Mechanisms for bodily moving print heads or carriages parallel to the paper surface
    • B41J25/006—Mechanisms for bodily moving print heads or carriages parallel to the paper surface for oscillating, e.g. page-width print heads provided with counter-balancing means or shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/14—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to metal, e.g. car bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/50—Multilayers
    • B05D7/56—Three layers or more
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting

Definitions

  • the disclosed embodiment relates to a coating apparatus and a coating method.
  • a painting device using an inkjet method is known.
  • Such an inkjet coating apparatus is equipped with a head for ejecting a coating material.
  • the painting apparatus includes a head, an arm, and a control unit.
  • the head has a nozzle surface.
  • the arm holds the head.
  • the control unit controls the movement of the head via the arm.
  • the control unit moves the head in the first direction along the nozzle surface in a state where the nozzle surface and the object to be coated face each other, and moves the head in the second direction where the head intersects the first direction. Vibrate and / or rotate and swing along the nozzle surface.
  • FIG. 1 is an explanatory diagram of a coating apparatus according to an embodiment.
  • FIG. 2 is a cross-sectional view showing an example of a painted object to be painted.
  • FIG. 3 is a diagram showing an example of a head included in the coating apparatus according to the first embodiment.
  • FIG. 4A is an enlarged view comparing the arrangement of the discharged droplets discharged onto the object to be coated.
  • FIG. 4B is an enlarged view comparing the arrangement of the discharged droplets discharged onto the object to be coated.
  • FIG. 4C is an enlarged view comparing the arrangement of the discharged droplets discharged onto the object to be coated.
  • FIG. 5 is a diagram showing an example of a head included in the coating apparatus according to the second embodiment.
  • FIG. 6 is a diagram showing an arrangement of discharge holes in the head of the coating apparatus according to the embodiment.
  • FIG. 7 is a diagram showing an example of a head included in the coating apparatus according to the modified example of the second embodiment.
  • FIG. 8A is an enlarged view comparing the discharged droplets discharged to the object to be coated.
  • FIG. 8B is an enlarged view comparing the discharged droplets discharged to the object to be coated.
  • FIG. 8C is an enlarged view comparing the discharged droplets discharged to the object to be coated.
  • FIG. 9 is a diagram showing an example of a head included in the coating apparatus according to the third embodiment.
  • FIG. 10 is a diagram showing an example of a head included in the coating apparatus according to the fourth embodiment.
  • FIG. 11 is a diagram showing an example of a head included in the coating apparatus according to the fifth embodiment.
  • FIG. 12 is a diagram showing an example of a head included in the coating apparatus according to the fifth embodiment.
  • FIG. 13 is a diagram showing an example of a head included in the coating apparatus according to the sixth embodiment.
  • FIG. 14 is a diagram showing an example of a coating material remaining in the internal flow path of the head.
  • FIG. 1 is an explanatory diagram of a coating apparatus according to an embodiment.
  • the painting device 1 includes a head 10, a robot 20, and a control device 40.
  • the head 10 is fixed to the robot 20.
  • the head 10 moves according to the operation of the robot 20 controlled by the control device 40.
  • the head 10 for example, a bulb type, piezo type, or thermal type inkjet head can be used.
  • a piezo type or thermal type inkjet head is used as the head 10, it is easy to realize high resolution.
  • the head 10 paints the object to be coated 30 by landing the coating material discharged from the plurality of ejection holes 11 located on the nozzle surface 12 on the surface of the object to be coated 30 facing the nozzle surface 12.
  • a coating material is supplied to the head 10 from a tank (not shown).
  • the head 10 discharges the coating material supplied from the tank.
  • the coating material is a mixture containing a volatile component and a non-volatile component, and has fluidity.
  • the tank may be a reservoir (not shown) housed in the head 10.
  • Volatile components are, for example, water, organic solvents, alcohol, etc., and adjust the physical characteristics of the coating material, such as viscosity and surface tension.
  • Non-volatile components include, for example, pigments, resin materials and additives. Pigments include one or more color pigments used depending on the desired paint color.
  • the resin material adheres to the object to be coated 30 to form a film.
  • the additive is a functional material added for the purpose of, for example, weather resistance.
  • the coating material supplied to the discharge hole 11 is prepared by mixing a plurality of coloring pigments or coating materials at a predetermined ratio so as to develop a desired coating color.
  • the robot 20 holds the head 10.
  • the robot 20 is, for example, a 6-axis articulated robot.
  • the robot 20 may be, for example, a vertical articulated robot or a horizontal articulated robot.
  • the robot 20 has a plurality of arms 21, and a head 10 is fixed to the tip of the arms 21.
  • the robot 20 is fixed to a floor surface, a wall surface, a ceiling surface, or the like.
  • the degree of freedom of the arm 21 of the robot 20 is not limited as long as the held head 10 can be appropriately moved.
  • the control device 40 controls the painting device 1.
  • the control device 40 includes a control unit 41 that controls the painting device 1 and a storage unit 45.
  • the control unit 41 includes a discharge control unit 42 and an operation control unit 43.
  • the control unit 41 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), an input / output port, and various circuits.
  • the CPU of such a computer functions as a control unit 41 by reading and executing a program stored in the ROM, for example.
  • the control unit 41 may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).
  • the discharge control unit 42 controls the head 10 based on the setting information stored in the storage unit 45, and discharges the coating material from the plurality of discharge holes 11 toward the object to be coated 30.
  • the motion control unit 43 controls the motion of the plurality of arms 21 based on the setting information stored in the storage unit 45, and controls the motion of the head 10 via the arms 21.
  • the distance between the head 10 and the object to be coated 30 is maintained, for example, about 0.5 to 14 mm. The detailed movement of the head 10 will be described later.
  • the storage unit 45 corresponds to, for example, a ROM and an HDD.
  • the ROM and HDD can store setting information for various controls in the control device 40.
  • the storage unit 45 stores information regarding ejection control of the coating material by the head 10. Further, the storage unit 45 stores information related to the operation control of the plurality of arms 21.
  • the storage unit 45 may store the data input by the user's teaching work using a terminal device (not shown) as teaching data for operating the robot 20. Further, the control unit 41 may acquire the setting information via another computer or a portable recording medium connected by a wired or wireless network.
  • the object to be painted 30 is, for example, a vehicle body.
  • the object to be coated 30 is placed on a transport device (not shown) and carried in and out.
  • the painting device 1 according to the embodiment paints the object to be painted 30 with the transport device stopped.
  • the coating device 1 may be used to paint the object to be coated 30 which is repeatedly conveyed and stopped, or may be coated in parallel with the conveying of the object to be coated 30.
  • FIG. 2 is a cross-sectional view showing an example of a painted object to be painted.
  • the object to be coated 30 shown in FIG. 2 includes a base material 31, a primer layer 32, and a first coating layer 33.
  • the base material 31 is, for example, a steel plate processed into a predetermined shape, and is subjected to an electrodeposition treatment as necessary to impart rust resistance.
  • the primer layer 32 is provided, for example, to impart weather resistance, color development property, and peeling resistance.
  • the first coating layer 33 is, for example, a base layer having smoothness and weather resistance and imparting a desired coating color.
  • the surface of the first coating layer 33 is the surface to be coated 30a to be coated by the coating apparatus 1 according to the embodiment.
  • the second coating layer 34 is located on the first coating layer 33, which is the surface to be coated 30a.
  • the second coating layer 34 is positioned so as to cover a part of the first coating layer 33 with a coating material having a coating color different from that of the first coating layer 33.
  • the region 36 where the second coating layer 34 is located and the region 35 where the first coating layer 33 is exposed without the second coating layer 34 being located are the edges of the second coating layer 34.
  • the painted body 38 is painted in a so-called two-tone color lined up with the portion 37 as a boundary.
  • the coating apparatus 1 has been described as locating the second coating layer 34 on the surface to be coated 30a on the first coating layer 33, but the present invention is not limited to this, and for example, coating on the primer layer 32 is performed.
  • the coating apparatus 1 may be applied when the first coating layer 33 is positioned on the surface 32a.
  • the painted body 38 is not limited to the example shown in FIG.
  • a coating layer (not shown) may be located on the surface of the regions 35 and 36.
  • the second coating layer 34 may not be provided and only the first coating layer 33 may be provided, or the second coating layer 34 may be located on the entire surface of the first coating layer 33.
  • the object to be coated 30 or the coated body 38 may further have one or more layers (not shown).
  • FIG. 3 is a diagram showing an example of a head included in the coating apparatus according to the first embodiment.
  • FIG. 3 corresponds to a plan view of the head 10 and the object to be coated 30 facing the nozzle surface 12 (see FIG. 1) of the head 10 as viewed from the Z-axis positive direction side.
  • the object to be coated 30 has a planar shape along the XY plane, such as the roof of a vehicle body.
  • the coating apparatus 1 in each of the embodiments described below, a case where the head 10 discharges a coating material for positioning the second coating layer 34 in the region 36 will be described as an example. Further, the coating apparatus 1 according to each embodiment has a common configuration except for the movement of the head 10. For this reason, illustration of other configurations other than the head 10, such as the robot 20 and the control device 40, is omitted.
  • the head 10 moves in the positive direction of the X-axis as the first direction in a state of facing the object to be coated 30.
  • the head 10 may achieve an area coating speed of 1 m 2 / min or more and 5 m 2 / min or less.
  • the head 10 is, for example, 1.67 ⁇ 10 2 mm / s or more and 41.67 ⁇ 10 2 mm. It may be moved in the X-axis direction at a predetermined speed of / s or less.
  • one head 10 is used, and the painting apparatus 1 may use two or more heads 10.
  • the resolution of the head 10 can be, for example, 150 dpi (dots per inch) or more. More preferably, the resolution of the head 10 is 300 dpi or more. When the resolution of the head 10 is 150 dpi or more, the leveling property is improved and the quality of the coating film is improved. The resolution of the head 10 does not necessarily have to be 150 dpi or more.
  • the head 10 vibrates in the Y-axis direction as the second direction along the XY plane in parallel with the movement in the positive direction of the X-axis. As a result, the head 10 moves so that the locus 15 of the center 13 in a plan view draws a sinusoidal waveform.
  • the coating apparatus 1 According to the present embodiment, the coating quality can be improved.
  • the amount of movement d1 in the Y-axis direction due to the vibration of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. This makes it easier to fill the gaps between the discharged droplets.
  • the vibration period T1 of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. By defining the vibration cycle T1 in this way, it becomes easy to fill the gap between the discharged droplets.
  • the lower limit of the movement amount d1 of the head 10 may be set based on the interval of the discharge holes 11 (see FIG. 1) arranged in the second direction intersecting the movement direction of the head 10. This point will be described with reference to FIG.
  • each head 10 is illustrated as having only one row (also referred to as a "row") of discharge holes 11 intersecting the moving direction 60 of the head 10 in the Y-axis direction. Further, at points 17-1 where the head 10 is adjacent to points 17-1 and 17-2, where the coating material is discharged from the discharge holes 11, the discharge unit 16 (an example of discharge droplets) and the discharge unit 16 The locations where the coating material was not ejected although it was planned to be located are shown as non-ejection portions 16a.
  • the non-ejection portion 16a is continuous along the moving direction 60 of the head 10. Therefore, the non-ejection portion 16a is easily visually recognized as a coating streak.
  • the non-discharge part 16a becomes discontinuous. Become. Therefore, the non-ejection portion 16a is less likely to be visually recognized as a coating streak, and the coating quality is improved.
  • the movement amount d1 of the head 10 is set to the interval P1 of the ejection portions 16 adjacent to each other in the Y-axis direction, that is, twice or more the interval of the ejection holes 11, for example, no ejection occurs as shown in the drawing. Even when the portions 16a are located side by side in the Y-axis direction, the non-ejection portions 16a are less likely to be visually recognized, and the coating quality is improved.
  • the head 10 vibrates by a predetermined movement amount d1 in the second direction (Y-axis direction) which is a direction orthogonal to the first direction (X-axis direction). It is not limited to this.
  • the head 10 may vibrate in a direction intersecting the first direction.
  • the head 10 may vibrate in the second direction and alternately vibrate in the direction intersecting the first direction, or may vibrate in a random direction. Even in this case, the non-ejection portion 16a is less likely to be visually recognized, and the coating quality is improved.
  • the head 10 may vibrate in the Z-axis direction. In this case, for example, the size of the discharged droplets can be changed, and the coating quality is improved.
  • FIG. 5 is a diagram showing an example of a head included in the coating apparatus according to the second embodiment.
  • the head 10 shown in FIG. 5 rotates and swings along the XY plane around the swing axis c1 along the Z axis through the center 13 in parallel with the movement in the positive direction of the X axis.
  • the amount of movement d2 in the Y-axis direction due to the rotational swing of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. This makes it easier to fill the gaps between the discharged droplets.
  • the swing angle ⁇ 1 can be set, for example, according to the arrangement of the discharge holes 11 in the head 10 as shown in FIG.
  • FIG. 6 is a diagram showing an arrangement of discharge holes in the head of the coating apparatus according to the embodiment.
  • the head 10 shown in FIG. 6 corresponds to a perspective view of the arrangement of the discharge holes 11 from the Z-axis positive direction side.
  • the discharge holes 11 are arranged along the Y-axis direction, while the discharge holes 11 are offset in the X-axis direction.
  • the head 10 does not discharge the coating material from all the discharge holes 11 at the same time, but the coating material is arranged in the Y-axis direction at the timing when the head 10 reaches a predetermined position while moving the head 10 in the moving direction 60. Is discharged.
  • the discharge portions 16 can be positioned at intervals narrower than the intervals of the discharge holes 11 arranged on the XY plane.
  • the swing angle ⁇ 1 (see FIG. 5) can be set based on the combination of the discharge holes 11 forming adjacent discharge droplets, which are closest to each other in the moving direction 60.
  • the swing angle ⁇ 1 (°) is Tan ⁇ 1 ⁇ y. It is specified to be / x.
  • the swing angle ⁇ 1 can be, for example, 0.2 ° to 5 °.
  • the swing period T2 (see FIG. 5) of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. By defining the swing period T2 in this way, it becomes easy to fill the gap between the discharged droplets.
  • the head 10 rotationally swings around the swing shaft c1 at a swing angle ⁇ 1 on the XY plane is exemplified, but the present invention is not limited to this.
  • the head 10 may have a plurality of different swing shafts c1 and may rotate and swing randomly.
  • the swing axis c1 may be located at a position deviated from the center 13 along the X axis. Further, the swing shaft c1 may be located at a position deviated from the center 13 in the X-axis direction. This point will be described with reference to FIG.
  • FIG. 7 is a diagram showing an example of a head included in the coating apparatus according to the modified example of the second embodiment.
  • the head 10 shown in FIG. 7 rotationally swings around a swing shaft c2 displaced from the center 13 in the negative direction of the Y axis.
  • centrifugal force is applied to the coating material discharged from the head 10 according to the distance from the swinging shaft c2. Therefore, the shape of the discharged droplet discharged from the discharge hole 11 (see FIG. 1) located at a location away from the swing shaft c2 may be distorted.
  • the discharge droplet having a desired shape can be easily discharged from the discharge hole 11 located near the swing shaft c2. Therefore, for example, when the head 10 is moved along the X-axis direction while rotating and swinging around the swing shaft c2 near the end portion 37 with the region 35, the boundary between the regions 35 and 36 becomes sharp and the appearance is good. Become.
  • the head 10 is moved in the first direction along the nozzle surface 12 while vibrating or rotating the head 10 along the nozzle surface 12. By doing so, the clogging of the discharge hole 11 is covered and the coating quality is improved. However, it may not always be possible to obtain sufficient coating quality simply by vibrating or rotating the head 10. This point will be described with reference to FIGS. 8A to 8C.
  • FIG. 8A to 8C are enlarged views comparing the arrangement of the discharged droplets discharged onto the object to be coated.
  • an array of coating droplets discharged from two discharge holes 11 arranged in the Y-axis direction intersecting the moving direction 60 of the head 10 is shown as a discharge portion 16.
  • FIG. 8A shows an example when the head 10 does not vibrate and rotationally swing
  • FIG. 8B shows an example when the head 10 vibrates
  • FIG. 8C shows an example when the head 10 rotationally swings.
  • FIG. 9 is a diagram showing an example of a head included in the coating apparatus according to the third embodiment.
  • the head 10 shown in FIG. 9 simultaneously performs the vibration described in the first embodiment and the rotational swing described in the second embodiment in parallel with the movement in the positive direction of the X-axis.
  • the coating quality can be improved.
  • the vibration period T1 (see FIG. 3) and the vibration period T2 (see FIG. 5) are the same in FIG. 9, the vibration period T1 (see FIG. 3) is not limited to this, and may be different.
  • the vibration cycle T1 which is the cycle of vibration different from the vibration cycle T2 which is the cycle of rotational rocking in this way, the coating streaks are more difficult to be visually recognized, and the coating quality is improved.
  • the head 10 shown in FIG. 9 is shown as having a swing shaft c3 that overlaps with the center 13 of the head 10, but the present invention is not limited to this.
  • the swing shaft c3 may be located at a position deviated from the center 13 along the X axis.
  • the swing shaft c1 may be located at a position deviated from the center 13 in the X-axis direction.
  • FIG. 10 is a diagram showing an example of a head included in the coating apparatus according to the fourth embodiment.
  • the head 10 shown in FIG. 10 simultaneously vibrates with different cycles in parallel with the movement in the positive direction of the X-axis. In FIG. 10, the head 10 is not shown.
  • the locus 15 is a combination of the locus 15a of the first vibration having the movement amount d3 and the vibration cycle T3 and the locus 15b of the second vibration having the movement amount d4 and the vibration cycle T4.
  • the coating quality can be improved.
  • the amount of movement d3 in the Y-axis direction due to the first vibration of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. This makes it easier to fill the gaps between the discharged droplets.
  • the amount of movement d4 of the head 10 in the Y-axis direction due to the second vibration can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. This makes it easier to fill the gaps between the discharged droplets.
  • the movement amounts d3 and d4 may be the same or different from each other.
  • the vibration period T3 due to the first vibration of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. By defining the vibration cycle T3 in this way, it becomes easy to fill the gap between the discharged droplets.
  • the vibration period T4 due to the second vibration of the head 10 can be 100 mm or more, for example, 100 mm or more and 500 mm or less. By defining the vibration period T4 of the head 10 in this way, the paint streaks are less likely to be visually recognized.
  • ⁇ Fifth Embodiment> 11 and 12 are views showing an example of a head included in the coating apparatus according to the fifth embodiment.
  • FIG. 11 corresponds to a plan view of the head 10 viewed from the Z-axis positive direction side.
  • FIG. 12 corresponds to a front view of the head 10 at each position (positions 10-4 to 10-1) of the head 10 shown in FIG. 11 as viewed from the X-axis positive direction side in which the head 10 moves.
  • the head 10 rotates along the YZ plane around the swing axis c4 along the X-axis direction through the center 13 in parallel with the movement in the X-axis direction as the first direction. Move.
  • the vibration period T5 of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. By defining the vibration cycle T5 in this way, it becomes easier to fill the gaps between the discharged droplets.
  • the swing angle ⁇ 2 can be set according to, for example, the arrangement of the discharge holes 11 (see FIG. 1) in the head 10. Specifically, when the discharge holes 11 of the head 10 are arranged as shown in FIG. 6, the swing angle ⁇ 2 (°) of the head 10 is defined to be, for example, ⁇ 2> y / x. Can be done. As a result, even when a part of the discharge hole 11 is clogged, the discharge droplets discharged from the discharge hole 11 located in the vicinity of the clogged discharge hole 11 can cover the gap.
  • the swing angle ⁇ 2 can be, for example, 0.2 ° to 5 °.
  • FIG. 13 is a diagram showing an example of a head included in the coating apparatus according to the sixth embodiment.
  • the head 10 according to the present embodiment has a Z-axis as a third direction so that the distance between the nozzle surface 12 and the surface to be coated 30a of the object to be coated 30 changes instead of the rotational rocking around the swing axis c4. It differs from the head 10 of the coating apparatus 1 according to the fifth embodiment in that it vibrates in the direction.
  • FIG. 14 is a diagram showing an example of a coating material remaining in the internal flow path of the head.
  • the nozzle 8 located inside the head 10 supplies the coating material 18 to the discharge hole 11 located on the nozzle surface 12.
  • the liquid level 19 of the coating material 18 also moves in the Z-axis direction.
  • the coating material 18 in the nozzle 8 swings, and the nozzle 8 It becomes difficult to dry inside. Therefore, clogging of the discharge hole 11 can be reduced.
  • the vibration period of the head 10 can be 2 mm or less, for example, 0.07 mm or more and 2 mm or less. By defining the vibration cycle in this way, it becomes easy to fill the gap between the discharged droplets.
  • the movement amounts d5 and d6 in the Z-axis direction due to the vibration of the head 10 can be set to 1 mm or less, for example, 0.07 mm or more and 1 mm or less, respectively. As a result, uneven coating can be reduced.
  • the movement amounts d5 and d6 may be the same or different.
  • the vibration of the head 10 according to the present embodiment in the Z-axis direction can be performed in combination with the vibration and the vibration of the head 10 according to another embodiment as long as there is no contradiction in the processing contents.
  • the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
  • the coating device 1 including the head 10 for discharging a monochromatic coating material has been described, but basics such as magenta (M), yellow (Y), cyan (C), and black (K) have been described.
  • a robot 20 may be provided that holds the heads 10 for discharging the colored coating material.
  • the painting apparatus includes a head, an arm, and a control unit.
  • the head has a nozzle surface.
  • the arm holds the head.
  • the control unit controls the movement of the head via the arm.
  • the control unit vibrates the head in the second direction intersecting the first direction while moving the head in the first direction along the nozzle surface with the nozzle surface and the object to be coated facing each other, and / or Rotate and swing along the nozzle surface. As a result, the clogging of the discharge hole 11 can be covered, and the coating quality is improved.
  • the nozzle surface has a plurality of discharge holes for discharging the coating material
  • the head has a width equal to or larger than the distance between the discharge holes intersecting the first direction and adjacent to each other in the second direction. Vibrate and / or rotate. This makes it easier to cover the clogging of the discharge hole 11, and improves the coating quality.
  • the nozzle surface has a plurality of discharge holes for discharging the coating material
  • the head has at least twice the distance between the discharge holes intersecting the first direction and adjacent to each other in the second direction. Vibrate and / or rotate in the width of. This makes it easier to cover the clogging of the discharge hole 11, and improves the coating quality.
  • the head rotates and swings along the nozzle surface while vibrating in the second direction intersecting the first direction.
  • the regularity of the discharged droplets is broken, the coating streaks are less likely to be visually recognized, and the coating quality is improved.
  • the head rotates and swings so that the inclination with respect to the second direction is maximized when the amount of movement in the second direction is maximized. This makes it easier to cover the clogging of the discharge hole 11, and improves the coating quality.
  • the head has a different vibration cycle and a rotational swing cycle. As a result, the coating streaks are less likely to be visually recognized, and the coating quality is improved.
  • the head rotates and swings around an axis closer to the end of the coating region than the center in a plan view. As a result, the appearance of the edge portion of the coating area is improved, and the coating quality is improved.
  • the head moves in the second direction at a cycle different from the vibration cycle while vibrating in the second direction intersecting the first direction.
  • the coating streaks are less likely to be visually recognized, and the coating quality is improved.
  • the painting apparatus includes a head, an arm, and a control unit.
  • the head has a nozzle surface.
  • the arm holds the head.
  • the control unit controls the movement of the head via the arm.
  • the control unit rotates the head around the swing axis along the first direction while moving the head in the first direction along the surface to be coated with the nozzle surface and the object to be coated facing each other. Swing. As a result, clogging of the discharge hole 11 can be reduced, and the coating quality is improved.
  • the head vibrates in the third direction intersecting the first direction so that the distance between the nozzle surface and the object to be coated changes. As a result, clogging of the discharge hole 11 can be reduced, and the coating quality is improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Coating Apparatus (AREA)
  • Mechanical Engineering (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
PCT/JP2020/029533 2019-07-31 2020-07-31 塗装装置および塗装方法 Ceased WO2021020577A1 (ja)

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EP20847795.0A EP4005687B1 (en) 2019-07-31 2020-07-31 Coating device and coating method
US17/631,419 US20220274129A1 (en) 2019-07-31 2020-07-31 Coating device and coating method
JP2021535470A JP7204925B2 (ja) 2019-07-31 2020-07-31 塗装装置および塗装方法
CN202080053994.7A CN114173936A (zh) 2019-07-31 2020-07-31 涂装装置及涂装方法
JP2022212225A JP7617891B2 (ja) 2019-07-31 2022-12-28 塗装装置および塗装方法

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JP7204925B2 (ja) 2023-01-16
EP4005687A4 (en) 2023-08-16
CN114173936A (zh) 2022-03-11
US20220274129A1 (en) 2022-09-01
EP4005687B1 (en) 2025-07-09
JP7617891B2 (ja) 2025-01-20
JP2023052170A (ja) 2023-04-11
EP4005687A1 (en) 2022-06-01
JPWO2021020577A1 (https=) 2021-02-04

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