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    • 3. 发明公开
    • PAINTING ROBOT
    • EP4252914A1
    • 2023-10-04
    • EP23162950.2
    • 2023-03-20
    • ABB Schweiz AG
    • TAWATA, TakahiroUMEZAWA, NorioIIDA, Kisumi
    • B05B1/14B05B13/04B41J2/18B05B12/00B05B15/58B41J2/145B25J11/00B41J2/14B05B1/08
    • [Problem] According to the present invention, it is possible to provide a painting robot capable of reducing the influence of pressure fluctuations when paint is discharged or stopped.
      [Means for Solving] The painting robot 10 comprises a robot arm R1 having a painting head unit 50 attached to its tip, a paint supply mechanism 70 provided between robot arm R1 and painting head unit 50; and a control unit 100; where the paint supply mechanism 70 includes a paint circulation channel 71; paint transfer means 90, 91 (controlled objects) and regulating valves 92, 93 (controlled objects) provided in the middle of the paint circulation channel 71; with the control unit 100A being equipped with a feedback control unit 142 that calculates a pressure calculation value for executing feedback control of the operation of the controlled object and controls the operation of the controlled object; and a feedforward control unit 143 for controlling the operation of the controlled object, by compensating the calculated pressure calculation value with the compensating pressure value in the opposite direction to the expected pressure fluctuation for the pressure set point, based on the trigger signal related to the change of state of the painting head 53.
    • 9. 发明公开
    • CO-PLATFORM PRINTER MECHANISM HAVING MULTIPLE HOSTS
    • EP3581385A1
    • 2019-12-18
    • EP17895521.7
    • 2017-10-11
    • Guangzhou Crystaljet Industry Co., Ltd.
    • TANG, Zhenhua
    • B41J2/145
    • Disclosed is a printer mechanism having multiple hosts on a common platform, the printer mechanism comprising: a conveying platform (100) used for conveying a printing substrate, and an inkjet system (200) composed of a number of relatively independent hosts (210) connected to each other, the host (210) comprising at least a main cabinet (211) and an upper cabinet (212) extending from a side of the main cabinet (211), and the upper cabinets (212) of the whole inkjet system (200) being distributed in parallel above the conveying platform (100); and the printer mechanism further comprising a spray carriage system (300) composed of a number of relatively independent spray carriages (310) installed with a spray nozzle module and connected to each other, the spray carriage system (300) being disposed between the inkjet system (200) and the conveying platform (100), and the spray carriages (310) being correspondingly connected to the hosts (210) one by one. In the printer mechanism having multiple hosts on a common platform, spray nozzles are separated from the hosts (210), and all the spray nozzles are combined to form the spray carriage system (300), achieving the integral installation of the spray nozzles; and the height of all of the spray nozzles can be easily controlled so as to achieve a uniform distance between each of the spray nozzles and the printing substrate, thus saving on time for installation and distance adjustment.