Patent Description:
A coating device using an inkjet method is known. A head for discharging a coating material is mounted on such a coating device of an inkjet method.

A coating device according to the preamble of claim <NUM> is, e.g., known from <CIT>, <CIT>, <CIT>, <CIT>, <CIT>, and <CIT>.

A coating device according to the preamble of claim <NUM> is, e.g., known from <CIT>, <CIT>, and <CIT>.

A coating method according to the preamble of claim <NUM> is, e.g., known from <CIT>, <CIT>, <CIT>, and <CIT>.

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

Embodiments of a coating device and a coating 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.

As illustrated in <FIG>, a coating device <NUM> includes a head <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> can use, for example, an inkjet head of a valve type, a piezo type, or a thermal type. When a piezo type or thermal type inkjet head is used as the head <NUM>, high resolution is easily realized.

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 robot <NUM> holds the head <NUM>. The robot <NUM> is, for example, a six-axis articulated robot. The robot <NUM> may be, for example, a vertical articulated robot or a horizontal 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. Note that as long as the held head <NUM> can be moved properly, there is no limit to the degree of freedom of the arms <NUM> included in the robot <NUM>.

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 controller <NUM> includes a computer or various circuits including, for example, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a hard desk drive (HDD), and an input/output port. The CPU of such a computer functions as the controller <NUM> by, for example, reading and executing the program stored in the ROM. The controller <NUM> may also be configured by hardware such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). 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 detailed movement of the head <NUM> will be described later.

The storage unit <NUM> corresponds to, for example, the ROM and the HDD. The ROM and the HDD can store configuration information for various controls in the control device <NUM>. 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>. 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>. Further, the controller <NUM> may also acquire the configuration information via another computer or portable storage medium connected by a wired or wireless network.

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.

<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 example of a head included in a coating device according to a first embodiment. <FIG> corresponds to a plan view of the head <NUM> and the to-be-coated object <NUM> facing the nozzle surface <NUM> (see <FIG>) of the head <NUM> as viewed from a Z-axis positive direction side. Note that, for ease of explanation, the to-be-coated object <NUM> has a planar shape along an XY plane, such as a roof of a vehicle body, for example.

Further, in each of the embodiments described below, an example will be given of a case in which the head <NUM> discharges a coating material that positions the second coating layer <NUM> in the region <NUM>. Further, the coating device <NUM> according to each embodiment has a common configuration, except for the movement of the head <NUM>. As a result, other configurations, such as the robot <NUM> and the control device <NUM>, except for the head <NUM>, are omitted from the drawings.

As illustrated in <FIG>, the head <NUM> moves in an X-axis positive direction serving as a first direction in a state of facing the to-be-coated object <NUM>. The head <NUM> may achieve a surface area coating speed of, for example, <NUM><NUM>/min or more and <NUM><NUM>/min or less. In order to achieve such a surface area coating speed, assuming the length of the print region of the head <NUM> is <NUM>, the head <NUM> may move in the X-axis direction at a predetermined speed of, for example, <NUM> × <NUM><NUM> mm/s or more and <NUM> × <NUM><NUM> mm/s or less. Note that, in this example, one head <NUM> is used; however, the coating device <NUM> may use two or more heads <NUM>.

The resolution of the head <NUM> can be, for example, <NUM> dots per inch (dpi) or more. More preferably, the resolution of the head <NUM> is <NUM> dpi or more. When the resolution of the head <NUM> is <NUM> dpi or more, the leveling property is improved and the quality of the coating film is improved. Note that the resolution of the head <NUM> need not necessarily be <NUM> dpi or more.

Further, the head <NUM> vibrates in a Y-axis direction serving as a second direction along the XY plane in parallel with the movement in the X-axis positive direction. As a result, the head <NUM> moves such that a locus <NUM> of a center <NUM> in plan view draws a sinusoidal waveform.

By the head <NUM> moving in the first direction while vibrating in the second direction in this way, even in a case where a gap between the discharge drops increases due to, for example, clogging of a portion of the discharge holes <NUM> (see <FIG>), the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can fill the gap. Thus, with the coating device <NUM> according to the present embodiment, the coating quality can be improved.

Here, a spatial displacement d1 in the Y-axis direction due to the vibration of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. Accordingly, the gap between the discharge drops is easily filled.

Further, a vibration period T1 of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. By defining the vibration period T1 in this manner, the gap between the discharge drops is easily filled.

Further, a lower limit of the spatial displacement d1 of the head <NUM> may be set based on an interval of the discharge holes <NUM> (see <FIG>) arranged in the second direction intersecting the movement direction of the head <NUM>. This point will be described with reference to <FIG>.

<FIG> are enlarged views comparing arrays of discharge drops discharged onto the to-be-coated object. For ease of illustration, each head <NUM> is illustrated as a head <NUM> including only one column (also referred to as a "row") of discharge holes <NUM> aligned in the Y-axis direction intersecting a movement direction <NUM> of each head <NUM>. In the head <NUM>, at a point <NUM>-<NUM> and a point <NUM>-<NUM> adjacent to the point <NUM>-<NUM>, each portion where the coating material is discharged from the discharge hole <NUM> is illustrated as a discharge portion <NUM> (one example of a discharge drop), and each portion where the discharge portion <NUM> is intended to be located, but the coating material is not discharged, is illustrated as a non-discharge portion 16a.

As illustrated in <FIG>, in a case where the head <NUM> does not vibrate in the Y-axis direction, the non-discharge portions 16a are continuous along the movement direction <NUM> of the head <NUM>. As a result, the non-discharge portions 16a are easily visually recognized as a coating streak.

On the other hand, as illustrated in <FIG>, by making the spatial displacement d1 of the head <NUM> equal to or more than an interval P1 between adjacent ones of the discharge portions <NUM> in the Y-axis direction, in other words, an interval between the discharge holes <NUM>, the non-discharge portions 16a become discontinuous. As a result, the non-discharge portions 16a are less likely to be visually recognized as a coating streak, and the coating quality is improved. In particular, as illustrated in <FIG>, in a case where the spatial displacement d1 of the head <NUM> is two times or more of the interval P1 between adjacent ones of the discharge portions <NUM> in the Y-axis direction, in other words, the interval between the discharge holes <NUM>, even when the non-discharge portions 16a are located side by side in the Y-axis direction as illustrated, the non-discharge portions 16a are less likely to be visually recognized, and the coating quality is improved.

Note that as the vibration of the head <NUM> in the present embodiment, the case where the vibration is performed by the predetermined spatial displacement d1 in the second direction (Y-axis direction) serving as a direction orthogonal to the first direction (X-axis direction) is exemplified, but the present invention is not limited thereto. For example, the head <NUM> may vibrate in a direction intersecting the first direction. Furthermore, the head <NUM> may vibrate in the second direction and alternately vibrate in the direction intersecting the first direction, or may vibrate in a random direction. In this case as well, the non-discharge portions 16a are less likely to be visually recognized, and the coating quality is improved. Further, the head <NUM> may vibrate in the Z-axis direction. In this case, for example, the size of the discharge drop can be changed, and the coating quality is improved.

<FIG> is a view illustrating an example of a head included in a coating device according to a second embodiment. The head <NUM> illustrated in <FIG> rotationally oscillates along the XY plane around an oscillation axis c1 along the Z-axis through the center <NUM>, in parallel with the movement in the X-axis positive direction.

By the head <NUM> moving in the first direction while rotationally oscillating in this way, even in a case where the gap between the discharge drops increases due to, for example, the clogging of a portion of the discharge holes <NUM> (see <FIG>), the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can fill the gap.

Here, a spatial displacement d2 in the Y-axis direction due to the rotational oscillation of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. Accordingly, the gap between the discharge drops is easily filled. Note that an oscillation angle θ1 can be set according to, for example, the array of the discharge holes <NUM> in the head <NUM> as illustrated in <FIG>.

<FIG> is a view illustrating an array of the discharge holes in the head included in the coating device according to the embodiment. The head <NUM> illustrated in <FIG> corresponds to a perspective of the array of the discharge holes <NUM> from the Z-axis positive direction side.

In the head <NUM> illustrated in <FIG>, the discharge holes <NUM> are aligned along the Y-axis direction, while the discharge holes <NUM> are located offset in the X-axis direction. The head <NUM> does not simultaneously discharge the coating material from all the discharge holes <NUM>, but discharges the coating material for each "row" aligned in the Y-axis direction at a timing when the head <NUM> reaches a predetermined position while moving the head <NUM> in the movement direction <NUM>. As a result, the discharge portions <NUM> can be located at an interval narrower than the interval between the discharge holes <NUM> aligned on the XY plane.

Here, the oscillation angle θ1 (see <FIG>) can be set based on the combination in which the distance in the movement direction <NUM> is closest among the discharge holes <NUM> forming adjacent discharge drops. In the head <NUM> illustrated in <FIG>, assuming distances in the X-axis direction and the Y-axis direction are x and y, respectively, in the discharge holes <NUM>-<NUM> and <NUM>-<NUM>, the oscillation angle θ1 (°) is defined so as to be Tan θ1 ≥ y/x. As a result, even when a portion of the discharge holes <NUM> is clogged, the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can cover the gap. The oscillation angle θ1 can be, for example, from <NUM>° to <NUM>°.

Further, an oscillation period T2 (see <FIG>) of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. By defining the oscillation period T2 in this manner, the gap between the discharge drops is easily filled.

Note that as the rotational oscillation in the present embodiment, the case where the head <NUM> performs the rotational oscillation on the XY plane at the oscillation angle θ1 around the oscillation axis c1 is exemplified, but the present invention is not limited thereto. The head <NUM> may include a plurality of different oscillation axes c1 and may rotationally oscillate randomly.

Note that the oscillation axis c1 may be located at a position offset from the center <NUM> along the X-axis. Further, the oscillation axis c1 may be located at a position offset in the X-axis direction from the center <NUM>. This point will be described with reference to <FIG>.

<FIG> is a view illustrating an example of a head included in a coating device according to a variation of a second embodiment, this variant not being covered by the subject-matter of the claims since the head does not vibrate. The head <NUM> illustrated in <FIG> rotationally oscillates around an oscillation axis c2 offset from the center <NUM> to the Y-axis negative direction side. In the rotationally oscillating head <NUM>, a centrifugal force is applied to the coating material discharged from the head <NUM> in accordance with a distance from the oscillation axis c2. Thus, the discharge drops discharged from the discharge holes <NUM> (see <FIG>) located remote from the oscillation axis c2 may have a distorted shape. In contrast, from the discharge holes <NUM> located at a location close to the oscillation axis c2, discharge drops having the desired shape are easily discharged. Thus, when the head <NUM> is moved along the X-axis direction while being rotationally oscillated around the oscillation axis c2 near an end portion <NUM> with the region <NUM>, a boundary of the regions <NUM> and <NUM> becomes sharp, and the appearance is improved.

As described above, by moving the head <NUM> in the first direction along the nozzle surface <NUM> while vibrating or rotationally oscillating the head <NUM> along the nozzle surface <NUM>, in a state in which the nozzle surface <NUM> and the to-be-coated object <NUM> face each other, the clogging of the discharge holes <NUM> is covered and the coating quality is improved. However, sufficient coating quality may not necessarily be obtained only by vibrating or rotationally oscillating the head <NUM>. This point will be described with reference to <FIG>.

<FIG> are enlarged views comparing the arrays of discharge drops discharged onto the to-be-coated object. For ease of illustration, arrays of the coating drops discharged from two discharge holes <NUM> aligned in the Y-axis direction intersecting the movement direction <NUM> of the head <NUM> are illustrated as the discharge portions <NUM>. Further, a case where the head <NUM> does not vibrate or rotationally oscillate is illustrated in <FIG>, a case where the head <NUM> vibrates is illustrated in <FIG>, and a case where the head <NUM> rotationally oscillates is illustrated in <FIG>.

As illustrated in <FIG>, in the case where the head <NUM> does not vibrate or rotationally oscillate in the Y-axis direction, the intervals between adjacent ones of the discharge portions <NUM> are continuous so as to be along the movement direction <NUM> of the head <NUM>, and the intervals are easily visually recognized as a coating streak.

On the other hand, as illustrated in <FIG> and <FIG>, in the case where the head <NUM> vibrates or rotationally oscillates in the Y-axis direction, the intervals between the discharge portions <NUM> along the movement direction <NUM> become irregular. as a result, the intervals are less likely to be visually recognized as a coating streak. On the other hand, when the intervals between the discharge portions <NUM> located at an angle with respect to the movement direction <NUM> are regular due to the vibration of the head <NUM>, the intervals may be visually recognized as a coating streak. In such a case, as will be described below, a countermeasure can be taken by making the vibration or the rotational oscillation of the head <NUM> into a complex motion.

<FIG> is a view illustrating an example of a head included in a coating device according to a third embodiment. The head <NUM> illustrated in <FIG> simultaneously performs the vibration described in the first embodiment and the rotational oscillation described in the second embodiment in parallel with the movement in the X-axis positive direction.

By the head <NUM> moving in the first direction while vibrating and rotationally oscillating in this manner, the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can cover the gap, and the regularity of the discharge drops is degraded, and a coating streak is less likely to be visually recognized. Thus, with the head <NUM> included in the coating device <NUM> according to the third embodiment, the coating quality can be improved.

Further, when the head <NUM> illustrated in <FIG> vibrates and rotationally oscillates so as to maximize an inclination with respect to the Y-axis direction, in other words the oscillation angle, when the amount of movement in the Y-axis direction is maximized, the clogging of the discharge holes <NUM> is easily covered, and the coating quality is improved.

Note that in <FIG>, the vibration period T1 (see <FIG>) and the oscillation period T2 (see <FIG>) are the same, but the present invention is not limited thereto and may be different. By making the vibration period T1 serving as the period of vibration and the oscillation period T2 serving as the period of the rotational oscillation different from each other in this manner, a coating streak is less likely to be visually recognized, and the coating quality is improved.

The head <NUM> illustrated in <FIG> is illustrated as including an oscillation axis c3 overlapping with the center <NUM> of the head <NUM>, but the present invention is not limited thereto. The oscillation axis c3 may be located at a position offset from the center <NUM> along the X-axis. Further, the oscillation axis c1 may be located at a position offset in the X-axis direction from the center <NUM>.

<FIG> is a view illustrating an example of a head included in a coating device according to a fourth embodiment. The head <NUM> illustrated in <FIG> simultaneously performs vibrations having different periods in parallel with the movement in the X-axis positive direction. Note that in <FIG>, illustration of the head <NUM> is omitted.

As illustrated in <FIG>, the center <NUM> of the head <NUM> moves along the locus <NUM>. The locus <NUM> is a composite of a locus 15a of a first vibration having a spatial displacement d3 and a vibration period T3, and a locus 15b of a second vibration having a spatial displacement d4 and a vibration period T4.

By the head <NUM> moving in the first direction while simultaneously performing the vibrations having different periods in this manner, the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can cover the gap, and a coating streak is less likely to be visually recognized. Thus, with the head <NUM> included in the coating device <NUM> according to the fourth embodiment, the coating quality can be improved.

Here, the spatial displacement d3 in the Y-axis direction due to the first vibration of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. Accordingly, the gap between the discharge drops is easily filled. Further, the spatial displacement d4 in the Y-axis direction due to the second vibration of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. Accordingly, the gap between the discharge drops is easily filled. Note that the spatial displacements d3 and d4 may be the same as or different from each other.

Further, the vibration period T3 due to the first vibration of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. By defining the vibration period T3 in this manner, the gap between the discharge drops is easily filled. Further, the vibration period T4 due to the second vibration of the head <NUM> can be <NUM> or more, for example, <NUM> or more and <NUM> or less. By defining the vibration period T4 of the head <NUM> in this manner, the coating streak is less likely to be visually recognized.

<FIG> and <FIG> are views illustrating an example of a head included in a coating device according to a fifth embodiment. In the head <NUM> according to the present embodiment, the center <NUM> of the head <NUM> moves along the X-axis direction serving as the first direction along the to-be-coated surface 30a of the to-be-coated object <NUM>, and specifically along the locus <NUM> extending on the X-axis positive direction side.

<FIG> corresponds to a plan view as the head <NUM> viewed from the Z-axis positive direction. <FIG> corresponds to front views of the head <NUM> at each position (positions <NUM>-<NUM> to <NUM>-<NUM>) of the head <NUM> illustrated in <FIG> as respectively viewed from the X-axis positive direction in which the head <NUM> moves.

As illustrated in <FIG>, the head <NUM> rotationally oscillates along a YZ plane around an oscillation axis c4 along the X-axis direction through the center <NUM>, in parallel with the X-axis direction serving as the first direction.

By the head <NUM> rotationally oscillating around the oscillation axis along the first direction while moving in the first direction in this way, for example, the coating material in the nozzle is vibrated, making the coating material difficult to dry in the nozzle.

Here, a vibration period T5 of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. By defining the vibration period T5 in this manner, the gap between the discharge drops is easily filled.

Further, an oscillation angle θ2 can be set according to, for example, the array of the discharge holes <NUM> (see <FIG>) in the head <NUM>. Specifically, in a case where the discharge holes <NUM> of the head <NUM> are arranged as illustrated in <FIG>, the oscillation angle θ2 (°) of the head <NUM> can be defined, for example, such that θ2 > y/x. As a result, even when a portion of the discharge holes <NUM> is clogged, the discharge drops discharged from the discharge holes <NUM> located near the clogged discharge holes <NUM> can cover the gap. The oscillation angle θ2 can be, for example, from <NUM>° to <NUM>°.

<FIG> is a view illustrating an example of a head included in a coating device according to a sixth embodiment. The head <NUM> according to the present embodiment differs from the head <NUM> included in the coating device <NUM> according to the fifth embodiment in that the head <NUM> vibrates in the Z-axis direction serving as a third direction such that an interval between the nozzle surface <NUM> and the to-be-coated surface 30a of the to-be-coated object <NUM> changes instead of rotational oscillation around the oscillation axis c4.

<FIG> is a view illustrating an example of a coating material remaining in an interior channel of the head. As illustrated in <FIG>, a nozzle <NUM> located inside the head <NUM> supplies a coating material <NUM> to the discharge hole <NUM> located on the nozzle surface <NUM>. By the head <NUM> vibrating in the Z-axis direction, a liquid surface <NUM> of the coating material <NUM> also moves in the Z-axis direction.

By the head <NUM> oscillating in the Z-axis direction serving as the third direction while moving in the X-axis direction serving as the first direction in this manner, for example, the coating material <NUM> in the nozzle <NUM> is vibrated, making the coating material <NUM> difficult to dry in the nozzle <NUM>. As a result, clogging of the discharge hole <NUM> can be reduced.

Hear, the vibration period of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. By defining the vibration period in this manner, the gap between the discharge drops is easily filled.

Further, each of a spatial displacements d5 and d6 in the Z-axis direction due to the vibration of the head <NUM> can be <NUM> or less, for example, <NUM> or more and <NUM> or less. As a result, the coating unevenness can be reduced. Note that the spatial displacements d5 and d6 may be the same as or different from each other.

Note that the vibration of the head <NUM> in the Z-axis direction according to the present embodiment can be performed in combination with the vibration and oscillation of the head <NUM> according to another embodiment within a range in which no contradiction occurs in the processing content.

Each embodiment according to the present invention was described above. However, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the appended claims. For example, 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 basic coating materials such as magenta (M), yellow (Y), cyan (C), and black (K) may be included.

As described above, the coating device according to each of the embodiments includes the head, the arm, and the controller. The head includes the nozzle surface. The arm holds the head. The controller controls movement of the head via the arm. The controller vibrates the head in the second direction intersecting with the first direction, and/or rotationally oscillates along the nozzle surface while moving the head in the first direction along the nozzle surface in a state where the nozzle surface and the to-be-coated object face each other. As a result, the clogging of the discharge holes <NUM> can be covered and the coating quality is improved.

Further, in the coating device according to the embodiments, the nozzle surface includes the plurality of discharge holes configured to discharge the coating material, and the head vibrates and/or rotationally oscillates with a width equal to or more than the interval between adjacent ones of the discharge holes in the second direction intersecting the first direction. As a result, the clogging of the discharge holes <NUM> is easily covered and the coating quality is improved.

Further, in the coating device according to the embodiments, the nozzle surface includes the plurality of discharge holes for discharging the coating material, and the head vibrates and/or rotationally oscillates with a width equal to or more than two times of the interval between adjacent ones of the discharge holes in the second direction intersecting the first direction. As a result, the clogging of the discharge holes <NUM> is easily covered and the coating quality is improved.

Further, in the coating device according to an embodiment, the head rotationally oscillates along the nozzle surface while vibrating in the second direction intersecting the first direction. As a result, the regularity of the discharge drops is degraded, a coating streak is less likely to be visually recognized, and the coating quality is improved.

Further, in the coating device according to the embodiments, the head rotationally oscillates such that the inclination with respect to the second direction is maximum when the spatial displacement in the second direction is maximum. As a result, the clogging of the discharge holes <NUM> is easily covered and the coating quality is improved.

Further, in the coating device according to the embodiments, in the head, the period of vibration and the period of rotational oscillation are different from each other. As a result, a coating streak is less likely to be visually recognized, and the coating quality is improved.

Further, in the coating device according to the embodiments, the head rotationally oscillates around the axis closer to an end portion of the coating region than a center in a plan view. As a result, the appearance of the end portion of the coating region is improved, and the coating quality is improved.

Further, in the coating device according to the embodiments, the head moves in the second direction at a period different from a period of vibration while vibrating in the second direction intersecting the first direction. As a result, a coating streak is less likely to be visually recognized, and the coating quality is improved.

Further, the coating device according to the embodiments includes the head, the arm, and the controller. The head includes the nozzle surface. The arm holds the head. The controller controls movement of the head via the arm. The controller rotationally oscillates the head around the oscillation axis along the first direction while moving the head in the first direction along the to-be-coated surface of the to-be-coated object in a state where the nozzle surface and the to-be-coated object face each other. As a result, the clogging of the discharge holes <NUM> can be reduced and the coating quality is improved.

Further, in the coating device according to the embodiments, the head vibrates in the third direction intersecting the first direction so as to change the interval between the nozzle surface and the to-be-coated object. As a result, the clogging of the discharge holes <NUM> can be reduced and the coating quality is improved.

Claim 1:
A coating device (<NUM>) comprising:
a head (<NUM>) comprising a 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 vibrate the head (<NUM>) in a second direction (Y), the second direction (Y) being along the nozzle surface (<NUM>) and intersecting a first direction (X), and to optionally rotationally oscillate the head (<NUM>) along the nozzle surface (<NUM>), while moving the head (<NUM>) in the first direction (X) along a to-be-coated surface (30a) of a to-be-coated object (<NUM>) when the nozzle surface (<NUM>) faces the to-be-coated object (<NUM>),
characterized in that
the head (<NUM>) simultaneously performs vibrations in the second direction (Y) having different periods in parallel with a movement in the first direction (X).