Patent Description:
A coating device using an inkjet method is known. A head for discharging a coating material and a wiper for removing the coating material attached to the head are mounted on such a coating device using an inkjet method. The coating device operates so as to wipe one side of the head for discharging the coating material by a dedicated mechanism for moving the wiper to remove the coating material attached to the head. Patent Document <NUM> discloses a coating device according to the preamble of claim <NUM>. Patent Document <NUM> discloses a nozzle surface being wiped by a blade so as to be cleaned. A cleaning liquid individual supply channel supplying cleaning liquid to a distal end part and a cleaning liquid recovery channel recovering the cleaning liquid supplied to the distal end part are formed in the blade. The nozzle surface is swept while being supplied with the cleaning liquid from the distal end of the blade. Patent Document <NUM> discloses a nozzle cleaning device equipped with a wiping part, which is equipped with a feed roll having a long wiping member wound therearound, a taking-up roll for taking up the wiping member, a first cleaning mechanism for bringing the wiping member into contact with the treatment liquid supply nozzle and a second cleaning mechanism for bringing the wiping member, after used for cleaning the treatment liquid supply nozzle by the action of the first cleaning mechanism, into contact with the treatment liquid supply nozzle, and a moving mechanism for reciprocally moving the wiping part in the longitudinal direction of the discharge orifice of the treatment liquid supply nozzle. Patent Document <NUM> discloses a method for printing at least one section of a flat or preferably curved surface of an object including using a relative movement between an inkjet head and the object to move the inkjet head along a first path and print a first track in the process and to move the inkjet head along a second path and print a second track in the process.

The present invention provides a coating device according to claim <NUM>, and a wiping method according to claim <NUM>.

Embodiments of a coating device and a wiping method disclosed in the present application will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments that will be described below.

First, with reference to <FIG>, a description will be given of an overview of a coating device according to an embodiment. <FIG> is an explanatory view of the coating device according to the embodiment. For the sake of clarity, <FIG> illustrates a three-dimensional orthogonal coordinate system including a Z-axis for which the vertically upward direction is a positive direction and the vertically downward direction is a negative direction. Such orthogonal coordinate systems may also be presented in other drawings used in the description below. The same components as those of a coating device <NUM> illustrated in <FIG> are denoted by the same reference numerals, and descriptions thereof will be omitted or simplified.

As illustrated in <FIG>, the coating device <NUM> includes a head <NUM>, a wiper <NUM>, a robot <NUM>, and a control device <NUM>.

The head <NUM> is fixed to the robot <NUM>. The head <NUM> moves in response to movement of the robot <NUM> controlled by the control device <NUM>.

The head <NUM> coats a to-be-coated object <NUM> by depositing a coating material discharged from a plurality of discharge holes <NUM> located on a nozzle surface <NUM> onto a surface of the to-be-coated object <NUM> facing the nozzle surface <NUM>.

The coating material is supplied to the head <NUM> from a tank (not illustrated). The head <NUM> discharges the coating material supplied from the tank. The coating material is a mixture containing a volatile component and a nonvolatile component, and has fluidity. Note that the tank may be a reservoir (not illustrated) housed in the head <NUM>.

The volatile component is, for example, water, organic solvent, or alcohol, and adjusts the physical properties such as viscosity and surface tension of the coating material. The nonvolatile component contains, for example, a pigment, a resin material, and an additive. The pigment includes one or more colored pigments used depending on a desired coating color. The resin material is deposited on the to-be-coated object <NUM> and forms a film. The additive is a functional material that is added, for example for purposes of weather resistance and the like.

Note that the coating material supplied to the discharge holes <NUM> is prepared such that a desired coating color is expressed by mixing a plurality of colored pigments or coating materials at predetermined proportions.

The wiper <NUM> wipes the nozzle surface <NUM> of the head <NUM>. The wiper <NUM> is an example of the wiping mechanism. The wiper <NUM> is supported by a support member (not illustrated), and is disposed near the robot <NUM>. The wiper <NUM> is an elastic member having a predetermined hardness. Specifically, the wiper <NUM> has a hardness between a nonvolatile component contained in the coating material attached to the nozzle surface <NUM> and the plurality of discharge holes <NUM> provided in the nozzle surface <NUM>. Thus, the nonvolatile component contained in the coating material attached to the nozzle surface <NUM> can be effectively removed, and deformation of the plurality of discharge holes <NUM> due to wear of the nozzle surface <NUM> can be suppressed, and thus durability of the head <NUM> can be improved. Note that the hardness of the plurality of discharge holes <NUM> provided in the nozzle surface <NUM> may be measured by measuring hardness of, for example, a nozzle plate serving as a member forming the nozzle surface <NUM>.

Furthermore, the wiper <NUM> may be formed by wrapping a flexible material such as a woven fabric, a non-woven fabric or a paper around an elastic member. The wiper <NUM> is pressed against the nozzle surface <NUM> at a pressure within a predetermined range. When the head <NUM> is moved in a certain direction while maintaining this state, the coating material, in particular the nonvolatile component such as a pigment and a resin material, attached to the nozzle surface <NUM> is wiped from the nozzle surface <NUM>.

The wiper <NUM> may be a so-called wet wiper containing an affinity component having affinity for the nonvolatile component attached to the nozzle surface <NUM>. Here, the term "affinity" is referred to as a property of reducing adhesiveness to the nozzle surface <NUM> by, for example, swelling, dispersion, dissolution, or the like. When the adhesiveness between the nozzle surface <NUM> and the nonvolatile component is reduced, the nonvolatile component can be easily wiped. The affinity component having such affinity includes, for example, water, organic solvent, alcohol, oil, and the like, and when the affinity component has volatility, it is possible to suppress a reduction in the coating quality due to a residue of the affinity component on the nozzle surface <NUM>.

The robot <NUM> holds the head <NUM>. The robot <NUM> is, for example, a six-axis articulated robot. The robot <NUM> includes a plurality of arms <NUM> with the head <NUM> fixed to a tip of the plurality of arms <NUM>. The robot <NUM> is fixed to a floor, a wall, a ceiling, or the like.

The control device <NUM> controls the coating device <NUM>. The control device <NUM> includes a controller <NUM> configured to control the coating device <NUM>, and a storage unit <NUM>. The controller <NUM> includes a discharge controller <NUM> and an operation controller <NUM>.

The discharge controller <NUM> controls the head <NUM> based on configuration information stored in the storage unit <NUM>, and discharges the coating material from the plurality of discharge holes <NUM> toward the to-be-coated object <NUM>. The operation controller <NUM> controls operations of the plurality of arms <NUM> based on the configuration information stored in the storage unit <NUM>, and controls movement of the head <NUM> via the arms <NUM>. The distance between the head <NUM> and the to-be-coated object <NUM> is maintained at, for example, approximately from <NUM> to <NUM>.

The operation controller <NUM> controls operations of the plurality of arms <NUM> based on the position information of the wiper <NUM> stored in the storage unit <NUM>, and relatively moves the head <NUM> with respect to the wiper <NUM> to wipe the nozzle surface <NUM>. Note that the detailed movement of the head <NUM> when the nozzle surface <NUM> is wiped by the wiper <NUM> will be described later.

The storage unit <NUM> stores configuration information for various types of controls. The storage unit <NUM> stores information related to discharge control of the coating material by the head <NUM>. Further, the storage unit <NUM> stores information related to the operation control of the plurality of arms <NUM>. Furthermore, the storage unit <NUM> stores position information of the wiper <NUM>. Note that the storage unit <NUM> may store data input by the user's instruction operation using a terminal apparatus (not illustrated) as instruction data for operating the robot <NUM>.

The to-be-coated object <NUM> is, for example, a vehicle body. The to-be-coated object <NUM> is placed on a conveying device (not illustrated), and is carried in and out. The coating device <NUM> according to an embodiment coats the to-be-coated object <NUM> in a state where the conveying device is stopped. Note that the coating device <NUM> may coat the to-be-coated object <NUM> while the to-be-coated object <NUM> is being repeatedly conveyed and stopped, or may coat the to-be-coated object <NUM> while the to-be-coated object <NUM> is being conveyed.

In a conventional device using the head <NUM>, the degree of freedom of movement of the head <NUM> is small, and when the nozzle surface <NUM> is wiped, the wiper <NUM> is moved with respect to the head <NUM>. Thus, there is room for improvement in terms of simplification of the configuration capable of realizing, for example, miniaturization and cost reduction. In contrast, in the coating device <NUM> according to the embodiment, the head <NUM> is fixed to the robot <NUM>, and thus the nozzle surface <NUM> can be wiped by moving the head <NUM> with respect to the wiper <NUM> fixed in the vicinity of the robot <NUM> in accordance with the degree of freedom of the arm <NUM>. Thus, for example, a dedicated mechanism for moving the wiper <NUM> toward the head <NUM> is unnecessary, and the configuration can be simplified.

<FIG> is a cross-sectional view illustrating an example of a to-be-coated object that was coated. The to-be-coated object <NUM> illustrated in <FIG> includes a base member <NUM>, a primer layer <NUM>, and a first coating layer <NUM>. The base member <NUM> is, for example, a steel plate processed into a predetermined shape, and is subjected to an electrodeposition process as necessary to impart rust resistance thereto. The primer layer <NUM> is provided for imparting weather resistance, color development, and peeling resistance, for example. The first coating layer <NUM> is, for example, a base layer that has smoothness and weather resistance and imparts a desired coating color. A surface of the first coating layer <NUM> serves as a to-be-coated surface 30a to be coated by the coating device <NUM> according to the embodiment.

A second coating layer <NUM> is located on the first coating layer <NUM> serving as the to-be-coated surface 30a. The second coating layer <NUM> is located so as to cover a portion of the first coating layer <NUM> with a coating material having a coating color different from that of the first coating layer <NUM>. As a result, the to-be-coated object <NUM> becomes a coated body <NUM> that is coated in a so-called two tone color in which a region <NUM> where the second coating layer <NUM> is located and a region <NUM> where the first coating layer <NUM> is exposed without the second coating layer <NUM> being located are aligned with an end portion <NUM> of the second coating layer <NUM> as a boundary.

In the example illustrated in <FIG>, the coating device <NUM> has been described such that the second coating layer <NUM> is located on the to-be-coated surface 30a on the first coating layer <NUM>, but the present invention is not limited thereto, and the coating device <NUM> may be applied, for example, when the first coating layer <NUM> is located on a coated surface 32a on the primer layer <NUM>.

Note that the coated body <NUM> is not limited to the example illustrated in <FIG>. For example, a coating layer (not illustrated) may be located on the surfaces of the regions <NUM> and <NUM>. Further, the second coating layer <NUM> need not be included, and only the first coating layer <NUM> may be included, and the second coating layer <NUM> may be located on the entire surface of the first coating layer <NUM>. Further, the to-be-coated object <NUM> or the coated body <NUM> may further include one or a plurality of layers (not illustrated).

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a first embodiment. The operation controller <NUM> (refer to <FIG>) operates the arm <NUM> (refer to <FIG>) to move the head <NUM> relative to the wiper <NUM>. Specifically, as illustrated in <FIG>, the head <NUM> is disposed such that a first surface 10a located along the XY plane intersecting the Z axis with respect to the wiper <NUM> disposed along the Z axis direction and serving as one end surface of the head <NUM> is in contact with or close proximity to the wiper <NUM>. The head <NUM> disposed in this manner is moved in a direction <NUM> along the Y axis positive direction such that the nozzle surface <NUM> receives a predetermined pressing force from a second surface 14b of the wiper <NUM> from the first surface 10a side of the head <NUM> to a second surface 10b side serving as another end surface, and thus the nozzle surface <NUM> is wiped by the wiper <NUM>.

Note that the series of operations described above may be continuously performed after the end of the coating operation or the arm <NUM> (refer to <FIG>) may be temporarily stationary before the operation of wiping the nozzle surface <NUM>. In a case where the arm <NUM> is temporarily stationary before the wiping operation, position shift of the head <NUM> due to the movement of the arm <NUM> accompanied by, for example, vibration or oscillation is reduced, and accuracy of the wiping operation is improved. Note that the term "stationary" used herein is not limited to a completely stopped state, and includes, for example, a state in which the vibration or oscillation is attenuated to within a state, and includes, for example, a state in which the vibration or oscillation is attenuated to within a predetermined allowable range. The term "before the operation of wiping the nozzle surface <NUM>" is not limited to before the wiper <NUM> and the nozzle surface <NUM> are brought into contact with each other, and may be, for example, after the wiper <NUM> and the nozzle surface <NUM> are brought into contact with each other and before the head <NUM> is moved.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a second embodiment. The example illustrated in <FIG> differs from the coating device according to the first embodiment illustrated in <FIG> in that the nozzle surface <NUM> of the head <NUM> is inclined by an angle θ1 with respect to the XY plane.

The head <NUM> disposed so as to be inclined such that the nozzle surface <NUM> faces the wiper <NUM> side in this manner is moved in the direction <NUM> along the Y axis positive direction, and thus the nozzle surface <NUM> is wiped by the wiper <NUM> from the first surface 10a side toward the second surface 10b side. The wiper <NUM> is compressed or deflected toward a first surface 14a of the wiper <NUM> in accordance with its hardness or other characteristics, and thus the nozzle surface <NUM> receives a predetermined pressing force from the second surface 14b of the wiper <NUM>. Thus, even in a case where the movement of the head <NUM> with respect to the wiper <NUM> is subjected to be the position shift, it is possible to, for example, reduce the possibility of damage to the nozzle surface <NUM> by canceling out the position shift by changing an amount of deformation of the wiper <NUM>.

Here, the angle θ1 of the nozzle surface <NUM> with respect to the XY plane (the wiper <NUM>) can be, for example, <NUM>°or more and <NUM>° or less. In a case where the angle θ1 is less than <NUM>°, the effect of canceling out the position shift of the head <NUM> may not be exhibited. Furthermore, in a case where the angle θ1 exceeds <NUM>°, the amount of change of the wiper <NUM> increases, and the wiper <NUM> may be easily damaged.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a variation of the second embodiment. The example illustrated in <FIG> differs from the coating device according to the second embodiment illustrated in <FIG> in that the direction <NUM> in which the head <NUM> moves is along the nozzle surface <NUM> inclined by an angle θ2 with respect to the XY plane. Also in the case where the direction <NUM> is inclined in this manner, similarly to the coating device according to the second embodiment, for example, it is possible to reduce the possibility of damage to the nozzle surface <NUM> by canceling out the position shift of the head <NUM> with respect to the wiper <NUM>.

Here, the angle θ2 of the nozzle surface <NUM> with respect to the XY plane (the wiper <NUM>) can be, for example, <NUM>° or more and <NUM>° or less. In a case where the angle θ2 is less than <NUM>°, the effect of canceling out the position shift of the head <NUM> may not be exhibited. In a case where the angle θ2 exceeds <NUM>°, the pressing force due to the wiper <NUM> is difficult to be transferred to the nozzle surface <NUM>, and a wiping failure of the nozzle surface <NUM> may occur.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a third embodiment. The example illustrated in <FIG> differs from the coating device according to the first embodiment illustrated in <FIG> in that the nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and a direction 50a facing each other along the Y axis direction.

In other words, while the head <NUM> is moved in the direction <NUM> along the Y axis positive direction, the nozzle surface <NUM> is wiped by the second surface 14b of the wiper <NUM> from the first surface 10a side toward the second surface 10b side. Furthermore, while the head <NUM> is moved in the direction 50a along the Y axis negative direction, the nozzle surface <NUM> is wiped by the first surface 14a of the wiper <NUM> from the second surface 10b side toward the first surface 10a side.

The nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a as described above, and thus the wiping performance by the wiper <NUM> is improved. By wiping from both directions of the direction <NUM> and the direction 50a, for example, deformation of the discharge holes <NUM> (refer to <FIG>) due to the wear of the nozzle surface <NUM> can be suppressed, and thus the durability of the head <NUM> is improved.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a variation of the third embodiment. The example illustrated in <FIG> differs from the coating device according to the second embodiment illustrated in <FIG> in that the nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a facing each other along the Y axis direction.

In other words, while the head <NUM> is moved in the direction <NUM> along the Y axis positive direction in a posture inclined such that the nozzle surface <NUM> faces the wiper <NUM> side, the nozzle surface <NUM> is wiped by the second surface 14b of the wiper <NUM> from the first surface 10a side toward the second surface 10b side. Furthermore, the head <NUM> changes the posture of the nozzle surface <NUM> such that the nozzle surface <NUM> faces the wiper <NUM> side and while the head <NUM> is moved in the direction 50a along the Y axis negative direction, the nozzle surface <NUM> is wiped by the first surface 14a of the wiper <NUM> from the second surface 10b side toward the first surface 10a side.

The nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a as described above, and thus the wiping performance by the wiper <NUM> is improved. Furthermore, by changing an inclination of the nozzle surface <NUM> in both directions of the direction <NUM> and the direction 50a, the wiping performance of the nozzle surface <NUM> is improved, and for example, the coating material remaining in the nozzle surface <NUM> is reduced.

Note that in the example illustrated in <FIG>, the head <NUM> has been described as moving along the directions <NUM> and 50a along the Y axis component, but the embodiment is not limited thereto, and, for example, the head <NUM> may be moved in a direction along the nozzle surface <NUM> as illustrated in <FIG>.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a fourth embodiment. In the example illustrated in <FIG>, the direction <NUM> in which the head <NUM> is moved when the nozzle surface <NUM> is wiped, and the direction <NUM> in which the head <NUM> is moved when the coating material <NUM> is discharged from the plurality of discharge holes <NUM> and the surface of the to-be-coated object <NUM> facing the nozzle surface <NUM> is coated are parallel.

As described above, by wiping the nozzle surface <NUM> by moving the head <NUM> in the direction <NUM> along the direction <NUM> which is the movement direction of the head <NUM> when coating the to-be-coated object <NUM>, for example, posture control of the head <NUM> using the robot <NUM> (refer to <FIG>) by the controller <NUM> (operation controller <NUM>) is simplified. Note that the direction <NUM> in which the head <NUM> is moved when the nozzle surface <NUM> is wiped may be a direction facing the direction <NUM>.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a variation of the fourth embodiment. In the example illustrated in <FIG>, the direction <NUM> in which the head <NUM> is moved when the nozzle surface <NUM> is wiped, and the direction <NUM> in which the head <NUM> is moved when the coating material <NUM> is discharged from the plurality of discharge holes <NUM> and the surface of the to-be-coated object <NUM> facing the nozzle surface <NUM> is coated intersect each other. Specifically, the direction <NUM> is a direction along the Y axis, and the direction <NUM> is a direction along the X axis intersecting the Y axis.

As described above, by wiping the nozzle surface <NUM> by moving the head <NUM> in the direction <NUM> intersecting the direction <NUM> which is the movement direction of the head <NUM> when coating the to-be-coated object <NUM>, for example, the nozzle surface <NUM> can be wiped in the middle of switching the moving direction of the head <NUM>, in the head <NUM> that performs coating while reciprocating between one end side and the other end side of the to-be-coated object <NUM>, and, for example, the coating time can be shortened by reducing the movement distance of the head <NUM>.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a fifth embodiment. In the example illustrated in <FIG>, the wiper <NUM> is supported by a suspension <NUM> serving as a buffer mechanism. The suspension <NUM> adjusts the height of the wiper <NUM>, in other words, the length in the Z axis direction in accordance with the pressing force received by the wiper <NUM> from the nozzle surface <NUM>, thus buffering the pressing force received by the nozzle surface <NUM> from the wiper <NUM>. As described above, by including the suspension <NUM> for supporting the wiper <NUM>, it is possible to absorb a difference of the pressing force received by the nozzle surface <NUM> from the wiper <NUM> in accordance with, for example, the position shift and the variation in the movement speed of the head <NUM>.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a sixth embodiment. In the example illustrated in <FIG>, a plurality of wipers <NUM> and <NUM> having different characteristics are included.

The wiper <NUM> is a so-called wet wiper containing an affinity component for the nonvolatile component contained in the coating material, and the wiper <NUM> is a so-called dry wiper not containing the affinity component or having a smaller content of affinity component than that of the wiper <NUM>. The wiper <NUM> is an example of a first wiper, and the wiper <NUM> is an example of a second wiper.

While the head <NUM> is moved in the direction <NUM> along the Y axis positive direction, the nozzle surface <NUM> is sequentially wiped from the first surface 10a side toward the second surface 10b side by the wipers <NUM> and <NUM>. By disposing the plurality of wipers <NUM> and <NUM> having different characteristics such that specifically the nozzle surface <NUM> is wiped by the wet wiper and then the dry wiper, a decrease in the coating quality due to the affinity component remaining in the nozzle surface <NUM> can be prevented, for example.

Note that in the example illustrated in <FIG>, the wipers <NUM> and <NUM> are configured to be arranged in parallel along the direction <NUM> in which the nozzle surface <NUM> moves, but there is no restriction on the arrangement as long as the wipers <NUM> and <NUM> are included. Nevertheless, in a case where the wipers <NUM> and <NUM> are arranged in parallel as illustrated in <FIG>, the time required for the wiping of the nozzle surface <NUM> can be shortened for example.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a seventh embodiment. In the example illustrated in <FIG>, a plurality of wipers <NUM> to <NUM> having different characteristics and an elevating mechanism <NUM> are included.

The wipers <NUM> to <NUM> are arranged in parallel along the Y axis direction. The wipers <NUM> and <NUM> are the wet wipers, and the wiper <NUM> is the dry wiper. The wipers <NUM> to <NUM> are examples of the first to third wipers, respectively. Further, the elevating mechanism <NUM> is configured to allow the wipers <NUM> to <NUM> to elevate in accordance with the control of the controller <NUM>.

While the head <NUM> is moved in the direction <NUM> along the Y axis positive direction, the elevating mechanism <NUM> allows the wiper <NUM> to operate so as to be lower than the height of the wiper <NUM> in the Z direction and allows the wiper <NUM> to operate so as to match the height of the wiper <NUM> in the Z direction. With the operation of the elevating mechanism <NUM>, the nozzle surface <NUM> is sequentially wiped by the wiper <NUM> and the wiper <NUM> from the first surface 10a side toward the second surface 10b side, but is not wiped by the wiper <NUM>.

Furthermore, while the head <NUM> is moved in the direction 50a along the Y axis negative direction, the elevating mechanism <NUM> allows the wiper <NUM> to operate so as to match the height of the wiper <NUM> in the Z direction and allows the wiper <NUM> to operate so as to be lower than the height of the wiper <NUM> in the Z direction. The nozzle surface <NUM> is sequentially wiped by the wiper <NUM> and the wiper <NUM> from the second surface 10b side toward the first surface 10a side, but is not wiped by the wiper <NUM>.

By alternately arranging the plurality of wipers <NUM> to <NUM> having different characteristics in this manner and providing the elevating mechanism <NUM> for changing the positions of the wipers <NUM> and <NUM> with respect to the wiper <NUM> in accordance with the movement direction of the head <NUM>, the nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a and thus the wiping performance by the wipers <NUM> to <NUM> are improved.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to a variation of the seventh embodiment. In the example illustrated in <FIG>, a plurality of wipers <NUM>, <NUM>. and <NUM> having different characteristics and the elevating mechanism <NUM> are included.

The wipers <NUM>, <NUM> and <NUM> are disposed in order along the Y axis direction. The wiper <NUM> is the wet wiper, and the wipers <NUM> and <NUM> are the dry wipers. The wipers <NUM>, <NUM>, and <NUM> are examples of the first wiper, the second wiper, and a fourth wiper, respectively. Further, the elevating mechanism <NUM> is configured to allow the wipers <NUM> and <NUM> to elevate in accordance with the control of the controller <NUM>.

By alternately arranging the plurality of wipers <NUM>, <NUM> and <NUM> having different characteristics in this manner and providing the elevating mechanism <NUM> for changing the positions of the wipers <NUM> and <NUM> with respect to the wiper <NUM> in accordance with the movement direction of the head <NUM>, the nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a and thus the wiping performance by the wipers <NUM>, <NUM> and <NUM> are improved.

<FIG> is a view illustrating an arrangement example of a head and a wiper included in a coating device according to an eighth embodiment. In the example illustrated in <FIG>, a plurality of wipers <NUM> to <NUM> having different characteristics are included.

The wipers <NUM> to <NUM> are arranged in parallel along the Y axis direction. Furthermore, the wiper <NUM> protrudes with respect to the wipers <NUM> and <NUM>. The wipers <NUM> and <NUM> are the wet wipers, and the wiper <NUM> is the dry wiper. The wipers <NUM> to <NUM> are examples of the first to third wipers, respectively.

While the head <NUM> is moved in the direction <NUM> along the nozzle surface <NUM>, the nozzle surface <NUM> is sequentially wiped by the wiper <NUM> and the wiper <NUM> from the first surface 10a side toward the second surface 10b side, but is not wiped by the wiper <NUM>.

Furthermore, while the head <NUM> is moved in the direction 50a along the nozzle surface <NUM>, the nozzle surface <NUM> is sequentially wiped by the wiper <NUM> and the wiper <NUM> from the second surface 10b side toward the first surface 10a side, but is not wiped by the wiper <NUM>.

By alternately arranging the plurality of wipers <NUM> to <NUM> having different characteristics and making the wiper <NUM> protrude with respect to the wipers <NUM> and <NUM> in this manner, for example, the nozzle surface <NUM> can be wiped in both directions of the direction <NUM> and the direction 50a and thus the wiping performance by the wipers <NUM> to <NUM> are improved.

Furthermore, as illustrated in <FIG>, the head <NUM> may be moved in the direction along the nozzle surface <NUM>, and the head <NUM> may be moved while changing the inclination of the nozzle surface <NUM> with respect to the wiper <NUM>. In this case, when the head <NUM> is moved, the arm <NUM> (refer to <FIG>) adjusts the angle of the head <NUM> as appropriate, and thus the wipers <NUM> to <NUM> can be selectively brought into contact.

<FIG> is an explanatory view of a coating device according to a first variation of an embodiment. The example illustrated in <FIG> differs from the coating device <NUM> according to the embodiment in that the wiper <NUM> includes a robot 20A fixed to the arm <NUM>. The wiper <NUM> is fixed to the arm <NUM>, and thus the nozzle surface <NUM> can be wiped by moving both the head <NUM> and the wiper <NUM> relative to each other. Thus, for example, the time required for the wiping of the nozzle surface <NUM> can be shortened. Furthermore, even in a case where the wiping of the nozzle surface <NUM> is frequently performed, a loss of time can be reduced. Frequent wiping also has the advantage of improving coating quality.

<FIG> is an explanatory view of a coating device according to a second variation of an embodiment. A coating device 1A illustrated in <FIG> differs from the coating device <NUM> according to each of the above-described embodiments and variations in that a wiping unit <NUM> serving as an example of the wiping mechanism is included instead of the wiper <NUM>.

<FIG> is an explanatory view of the wiping unit illustrated in <FIG>. As illustrated in <FIG>, the wiping unit <NUM> includes a pressure roller <NUM>, an unwinding roller <NUM>, a winding roller <NUM>, and a wiping web <NUM>.

The unwinding roller <NUM> unwinds the wiping web <NUM>. The unwinding roller <NUM> unwinds a wiping web 120a before a wiping process for the wiping of the head <NUM> by the wiping unit <NUM>.

The pressure roller <NUM> presses the wiping web <NUM> against the nozzle surface <NUM> of the head <NUM>. The pressure roller <NUM> is located between the unwinding roller <NUM> and the winding roller <NUM>. The pressure roller <NUM> presses the wiping web 120a before wiping, which is unwound from the unwinding roller <NUM>, against the nozzle surface <NUM> of the head <NUM>. The pressure roller <NUM> may be rotated or may not be rotated following movement of the wiping web <NUM>.

The winding roller <NUM> winds the wiping web <NUM> unwound from the unwinding roller <NUM>. The winding roller <NUM> winds a wiping web 120b after the wiping, which is passed through the pressure roller <NUM>.

The wiping web <NUM> may be a flexible material such as, a woven fabric, a nonwoven fabric, a paper, or the like. The wiping web <NUM> is pressed against the nozzle surface <NUM> at a pressure within a predetermined range by the pressure roller <NUM>. When the head <NUM> is moved in a certain direction (for example, in the direction <NUM> along the Y axis positive direction) while maintaining this state, the coating material, in particular the nonvolatile component such as a pigment and a resin material, attached to the nozzle surface <NUM> is wiped from the nozzle surface <NUM>.

The wiping web <NUM> may contain the affinity component having affinity for the nonvolatile component attached to the nozzle surface <NUM>. Here, the term "affinity" is referred to as a property of reducing adhesiveness to the nozzle surface <NUM> by, for example, swelling, dispersion, dissolution, or the like. When the adhesiveness between the nozzle surface <NUM> and the nonvolatile component is reduced, the nonvolatile component can be easily wiped. The affinity component having such affinity includes, for example, water, organic solvent, alcohol, oil, and the like, and when the affinity component has volatility, it is possible to suppress a reduction in the coating quality due to a residue of the affinity component on the nozzle surface <NUM>.

The wiping unit <NUM> may be fixed to the arm <NUM>. In a case where the wiping unit <NUM> is fixed to the arm <NUM>, the nozzle surface <NUM> can be wiped by moving both the head <NUM> and the wiping unit <NUM> relative to each other. Thus, for example, the time required for the wiping of the nozzle surface <NUM> can be shortened. Furthermore, even in a case where the wiping of the nozzle surface <NUM> is frequently performed, a loss of time can be reduced. Frequent wiping also has the advantage of improving coating quality.

The driving of the wiping unit <NUM> may also be controlled by the control device <NUM>. The control device <NUM> may control, for example, a winding speed of the wiping web <NUM> by driving the winding roller <NUM> and/or the unwinding roller <NUM>, and/or an amount of pressing in which the wiping web <NUM> is pressed against the nozzle surface <NUM> via the pressure roller <NUM>. Furthermore, the wiping unit <NUM> may be controlled by a control mechanism (not illustrated) different from the control device <NUM>.

In the embodiments described above, the coating device <NUM> including the head <NUM> configured to discharge a single color coating material was described. However, for example, robots <NUM> respectively holding heads <NUM> for discharging coating materials of basic colors such as magenta (M), yellow (Y), cyan (C), and black (K) may be included.

Furthermore, in the embodiments described above, the example is illustrated in which the nozzle surface <NUM> is wiped by the wiper <NUM> extending toward the Z axis positive direction, but the embodiment is not limited thereto, and for example, the nozzle surface <NUM> may be wiped by the wiper <NUM> extending toward the Z axis negative direction, or the nozzle surface <NUM> may be wiped by the wiper <NUM> located along the X axis direction or the Y axis direction intersecting the Z axis direction. Furthermore, the nozzle surface <NUM> may be wiped by the wiper <NUM> located obliquely with respect to the Z axis.

Similarly, the example is illustrated in which the wiping unit <NUM> presses the wiping web <NUM> toward the Z axis positive direction side, but the embodiment is not limited thereto, and for example, the wiping web <NUM> may be pressed toward the Z axis negative direction, and the wiping web <NUM> may be pressed in the direction along X axis direction or the Y axis direction intersecting the Z axis direction. Furthermore, the wiping unit <NUM> may press the wiping web <NUM> in a direction obliquely directed with respect to the Z axis.

Furthermore, the example is illustrated in which the elastic member having the predetermined hardness is used as the wiper <NUM>, but the embodiment is not limited thereto, and the wiper <NUM> of non-contact type may be used. The wiper <NUM> of non-contact type can include a hollow tubular member. The wiper <NUM> of non-contact type can wipe the nozzle surface <NUM> in a non-contact state by ejecting air from the inside the tube.

As described above, the coating device <NUM> according to the embodiment includes the head <NUM>, the wiping mechanism (the wiper <NUM> and/or the wiping unit <NUM>), the arm <NUM>, and the controller <NUM>. The head <NUM> includes the nozzle surface <NUM> for discharging the coating material. The wiping mechanism wipes the nozzle surface <NUM>. The arm <NUM> holds the head <NUM>. The controller <NUM> controls the movement of the head <NUM> via the arm <NUM>. The controller <NUM> relatively moves the head <NUM> with respect to the wiping mechanism to wipe the nozzle surface <NUM>. Thus, the configuration can be simplified.

Claim 1:
A coating device (<NUM>, 1A) comprising:
a head (<NUM>) comprising a nozzle surface (<NUM>) configured to discharge a coating material (<NUM>);
a wiping mechanism (<NUM>, <NUM>, <NUM>, <NUM>) configured to wipe the nozzle surface (<NUM>);
an arm (<NUM>) configured to hold the head (<NUM>); and
a controller (<NUM>) configured to control movement of the head (<NUM>) via the arm (<NUM>), wherein
the controller (<NUM>) is configured to relatively move the head (<NUM>) with respect to the wiping mechanism (<NUM>, <NUM>, <NUM>, <NUM>) to wipe the nozzle surface (<NUM>),
characterized in that the controller (<NUM>) is configured to move the head (<NUM>) in a direction intersecting the nozzle surface (<NUM>) in a posture in which the nozzle surface (<NUM>) is inclined with respect to the wiping mechanism (<NUM>, <NUM>, <NUM>, <NUM>).