Painting robot and painting method
AssigneeABB Schweiz AG
InventorsKisumi Iida, Norio Umezawa
Life of this patent
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Abstract
Painting robot is provided with painting head unit which has a plurality of nozzles to discharge droplets and painting head that is provided with piezoelectric substrate to discharge the droplets from nozzles. The painting robot includes a robot arm to which painting head unit is mounted at the tip and that will move said painting head unit to a desired position. The painting robot includes a head control unit to control the operation of piezoelectric substrate of painting head, and an arm control unit to control the operation of robot arm.
Claims11
A painting robot for painting an area of a vehicle, comprising:
- a painting head unit, wherein the painting head unit includes:
- a plurality of nozzles for discharging droplets, and
- a painting head, wherein the painting head includes:
- a piezoelectric substrate configured to discharge said droplets from said plurality of nozzles,
- a robot arm, wherein the robot arm includes a tip to which said painting head unit is mounted, and wherein the robot arm is configured to move said painting head unit to a desired position, and
- a control unit, wherein the control unit includes:
- a head control unit to control operation of said piezoelectric substrate of said painting head, and
- an arm control unit to control operation of said robot arm,
- wherein said head control unit controls the operation of said piezoelectric substrate such that an amount of deformation of said piezoelectric substrate during painting of an edge painted area on an edge side of the area is smaller than an amount of deformation of said piezoelectric substrate of painting a normal painted area on an inner side of an end side of the painted area.
A painting method using a painting robot to paint an area of a vehicle, wherein said painting robot includes:
- a painting head unit, wherein the painting head unit includes:
- a plurality of nozzles to discharge droplets, and
- a painting head that is provided with a piezoelectric substrate that is driven to discharge said droplets from said nozzles,
- a robot arm, wherein the robot arm has a tip to which said painting head unit is mounted, wherein the robot arm is configured to move said painting head unit to a desired position, and
- a control unit, wherein the control unit includes:
- a head control unit to control an operation of said piezoelectric substrate of said painting head, and
- an arm control unit to control an operation of said robot arm, wherein said method comprises:
- an edge painting step, including:
- controlling, via a head control unit of the painting robot, an operation of piezoelectric substrate during painting such that an amount of deformation of the piezoelectric substrate during the painting of an edge painted area on an edge side of the painted area is smaller than the amount of deformation of the piezoelectric substrate when painting a normal painted area on an inner side of an end side of the painted area;
- and
- an interior painting step, including:
- painting of the normal painted area by operating the piezoelectric substrate in the state in which the amount of deformation of the piezoelectric substrate is larger than that during the edge painting step after the edge painting step.
Dependencies are inferred from the claim text.