JP6948967B2 - Coating device and coating method - Google Patents

Description

The present invention relates to a coating device and a coating method.

It is known that a coating agent is applied to a printed circuit board on which electrical components are mounted to improve moisture resistance and insulation. When an operator applies a coating agent, it takes a long time to work and there is a risk of health problems due to organic solvents. In order to solve this problem, a coating device including a coating nozzle and a moving means for moving the position of the coating nozzle is known.

In the coating apparatus, a film coating nozzle for coating a wide area by spreading the liquid film in a fan shape or a jet coating nozzle for ejecting droplets and coating a minute area is used. In order to carry out the coating work using such a coating device, it is necessary to create a coating program. In creating a coating program, input the coating parameters of nozzle path, hydraulic pressure, and coating speed according to the shape of the printed circuit board, component placement, and coating prohibited area, see the actual coating results, and correct the coating parameters. Needed and time consuming.

Patent Document 1 takes in coordinate information such as a coating prohibited area set for the outer shape of the substrate and parts from the design data of the printed circuit board, and uses the setting values such as the coating width and the minimum coating length of the coating nozzle to obtain the coating nozzle. A coating device that automatically generates a movement route is disclosed.

Patent Document 2 includes a height detecting unit that detects the height of a component mounted on a printed circuit board, detects the position and height of the component by the height detecting unit, and is based on the position and height of the component. A coating device that automatically generates a movement route so that the coating nozzle does not come into contact with a component is disclosed.

Japanese Unexamined Patent Publication No. 2014-236132 Japanese Unexamined Patent Publication No. 2016-215177

In the coating apparatus disclosed in Patent Documents 1 and 2, the coating agent is discharged vertically from the coating nozzle to the printed circuit board, and the coating agent is applied to the printed circuit board. Therefore, there is a problem that it is not easy to create a coating program for applying to the side surface of a tall component mounted on a printed circuit board or a lead portion hidden under the component. There is a similar problem when the coating is applied to a flat plate shape other than the printed circuit board.

The present invention has been made to solve the above problems, and provides a coating device and a coating method capable of reducing the number of places where coating cannot be performed and easily creating a coating program.

In order to achieve the above object, the coating apparatus according to the present invention includes a coating nozzle, a robot unit, a tilt unit, an offset value storage unit, a coating area acquisition unit, and a nozzle coordinate setting unit. The coating nozzle applies the liquid agent to the coating target arranged on the xy plane. The robot unit moves the coating nozzle with respect to the coating target in the x and y axis directions. The tilt portion tilts the coating nozzle with respect to the coating target. The offset value storage unit stores an offset value which is the difference between the coordinates where the coating nozzle is arranged and the coordinates of the region where the liquid agent is applied when the coating nozzle is tilted and discharged. The coating area acquisition unit acquires the coordinates of the planned coating area for applying the liquid agent to the coating target. The nozzle coordinate setting unit sets the coordinates for arranging the coating nozzles based on the offset value and the coordinates of the planned coating area. When the nozzle coordinate setting unit determines that the planned coating area includes a plane perpendicular to the xy plane, the nozzle coordinate setting unit sets the direction in which the coating nozzle is tilted based on the normal of the vertical plane.

According to the present invention, when the coating area is acquired, the coordinates of the coating nozzle to which the liquid agent is applied to the coating area can be set by using the offset value when the liquid agent is discharged by tilting the coating nozzle. Thereby, it is possible to provide a coating device and a coating method capable of easily creating a coating program by reducing the number of places where coating cannot be performed.

The figure which shows the coating apparatus which concerns on embodiment of this invention. The figure which shows the 1st discharge part provided in the coating apparatus which concerns on embodiment of this invention. (A) is a top view of a second discharge portion included in the coating device according to the embodiment of the present invention, and (b) is a front view of the second discharge portion included in the coating device according to the embodiment of the present invention. figure A block diagram showing a coating apparatus according to an embodiment of the present invention. A flowchart showing a coating test process according to an embodiment of the present invention. The figure which shows the coating test result which concerns on embodiment of this invention. Enlarged view showing the result of the coating test according to the embodiment of the present invention. The figure which shows the coating method which concerns on embodiment of this invention. The figure explaining the method of complementing the offset value which concerns on a modification The figure which shows the coating method which concerns on the modification The figure which shows the coating method which concerns on the modification The figure which shows the coating method which concerns on the modification

(Embodiment)
Hereinafter, the coating apparatus according to the embodiment for carrying out the present invention will be described with reference to the drawings.

As shown in FIG. 1, the coating device 100 according to the present embodiment has a first discharging portion 110 that discharges the liquid agent L over a wide range to the printed circuit board P to be coated, and a first discharging portion 110 that discharges the liquid agent L to a minute region. The discharge unit 120 of 2, the tilt unit 130 that tilts the second discharge unit 120, the 3-axis robot unit 140 that moves the first and second discharge units 110 and 120 in the vertical, horizontal, and height directions, and the print. A camera 150 that captures an image of the substrate P, and data indicating the positions of the first and second ejection portions 110 and 120 and the angle at which the second ejection portion 120 is tilted when the liquid agent L is applied to the printed circuit board P are generated. A second control that controls the first and second discharge units 110 and 120, the tilt unit 130, and the 3-axis robot unit 140 based on the data generated by the control unit 200 of 1 and the first control unit 200. A unit 300 is provided.

For ease of understanding, the extending direction of the reference side of the printed substrate P arranged on the horizontal plane is the x-axis direction, the direction perpendicular to the x-axis direction is the y-axis direction, and the vertically upward direction is the z-axis direction. Set the Cartesian coordinate system and refer to it as appropriate.

As shown in FIG. 2, the first discharge unit 110 includes a film coat nozzle 111 that spreads the liquid film in a fan shape and discharges the liquid agent L in a linear shape. When the discharge portion of the film coat nozzle 111 is arranged at a height h1 from the printed circuit board P and the film coat nozzle 111 discharges the liquid agent L, the liquid agent L is applied to the linear region. The length from the center to the end of the linear region is r1. The tip of the film coat nozzle has a function of rotating by 90 °, which enables coating to a linear region extending in the x-axis direction in the vertical direction and a linear region extending in the y-axis direction in the horizontal direction. ..

As shown in FIGS. 3A and 3B, the second discharge unit 120 includes a jet coating nozzle 121 that discharges the liquid agent L in a straight line in the discharge direction, and discharges the liquid agent L by the tilt unit 130. The discharge direction is changeable.

The tilt unit 130 includes an elevating plate 131 attached to the 3-axis robot unit 140, a first rotating shaft 132 attached to the elevating plate 131, a rotating plate 133 rotated by the first rotating shaft 132, and a rotating plate 133. A second rotating shaft 134 attached to the second rotating shaft 134 and a holding portion 135 attached to the second rotating shaft 134 are provided. The first rotation shaft 132 rotates about an axis extending in the z-axis direction. In the rotating plate 133, the main surface of the rotating plate 133 and the long axis of the supporting rod 136 are vertically attached to the support rod 136 suspended from the first rotating shaft 132. The second rotating shaft 134 rotates about an axis extending in a direction perpendicular to the main surface of the rotating plate 133. A second discharge portion 120 is attached to the holding portion 135. Here, the rotation angle of the first rotation shaft 132 is referred to as a rotation angle φ, and the rotation angle of the second rotation shaft 134 is referred to as a tilt angle θ. By controlling the rotation angle φ and the tilt angle θ by the second control unit 300, the protruding direction of the liquid agent L protruding from the second discharge unit 120 can be changed. As the drive mechanism of the first and second rotary shafts 132 and 134, an electric motor including a stepping motor or an air cylinder can be used. It is preferable to use a stepping motor to enable fine angle control.

The rotation angle φ is 0 degrees when the main surface of the rotating plate 133 to which the second discharge portion 120 is attached faces the y-axis direction, 90 degrees when facing the x-axis direction, and −x-axis. When facing the direction, set to -90 degrees. The tilt angle θ is set to 0 degrees when the liquid agent L is discharged from the second discharge unit 120 in the −z axis direction. When the rotation angle φ = 0 degrees, the tilt angle θ when the direction in which the liquid agent L is discharged from the second discharge portion 120 is tilted by α degrees in the −x direction is set to α degrees, and the liquid agent L is set from the second discharge portion 120. Let −α degree be the tilt angle θ when the direction of discharging is tilted by θ degree in the x direction.

The 3-axis robot unit 140 shown in FIG. 1 includes a z-axis drive unit 141 that moves the elevating plate 131 in the z-axis direction, an x-axis drive unit 142 that moves the z-axis drive unit 141 in the x-axis direction, and an x-axis drive unit. A y-axis drive unit 143 that moves the unit 142 in the y-axis direction and a base unit 144 that arranges the printed substrate P are provided, and the first discharge unit 110 and the second discharge unit 120 are moved in the xyz-axis direction. Functions as a means of transportation. Since the printed circuit board P is arranged and fixed to the base portion 144, even if the viscosity of the liquid agent L is low, it is possible to prevent the liquid agent L from moving and adhering to the coating prohibited area.

As shown in FIG. 4, the first control unit 200 includes an offset database 210 that stores offset data. The first control unit 200 includes a CPU (Central Processing Unit) for executing a program, a ROM (Read Only Memory) for storing the program, and a RAM (Random Access Memory) used as a work area for executing the program. By executing the program stored in the ROM, the offset data acquisition unit 201, the coating target information acquisition unit 202, the coating area acquisition unit 203, the nozzle coordinate setting unit 204, and the control command transmission unit 205 Functions as.

The offset database 210 is a first database 211 that stores the relationship between the position of the film coat nozzle 111 provided in the first discharge unit 110 and the area to which the liquid agent L discharged from the film coat nozzle 111 is applied. The second discharge unit 120 stores the relationship between the position of the jet coating nozzle 121, the rotation angle φ and the tilt angle θ, and the region to which the liquid agent L discharged from the jet coating nozzle 121 is applied. It has a database 212. The offset database 210 functions as an offset value storage unit.

The first database 211 has a length r1 from the center to the end of the linear region to which the liquid agent L is applied when the height h1 of the film coating nozzle 111 provided in the first ejection portion 110 from the printed circuit board P. Remember. Since the film coat nozzle 111 discharges the liquid agent L in the −z direction, the x-coordinate and the y-coordinate to which the liquid agent L is applied are the same as the x-coordinate and the y-coordinate in which the film coat nozzle 111 is arranged.

The second database 212 includes a height h2 of the jet coating nozzle 121 provided in the second discharge unit 120, a rotation angle φ and a tilt angle θ of the second discharge unit 120, and an offset value Δx in the x direction. The offset value Δy in the y direction is stored. The offset value Δx in the x direction is the difference between the X coordinate at which the tip portion 122 of the jet coating nozzle 121 is arranged and the x coordinate of the region where the liquid agent L is applied. The offset value Δy in the y direction is the difference between the Y coordinate in which the tip portion 122 of the jet coating nozzle 121 is arranged and the y coordinate in the region where the liquid agent L is applied.

The offset data acquisition unit 201 acquires the offset values Δx and Δy stored in the second database 212. Specifically, the offset data acquisition unit 201 sets the rotation angle φ = 0 degrees, the hydraulic pressure to 150 kPa, and the coating speed to 100 mm / sec, and tilt angles θ = 30 degrees, 0 degrees, -30 degrees, jet coating. With respect to the heights h2 = 5 mm, 8 mm, and 11 mm of the nozzle 121, a coating test process for applying the liquid agent L to the printed circuit board P is executed according to the flowchart shown in FIG.

When the coating test process is executed, as shown in FIG. 6, the printed substrate P is coated with the coating line a1 having a tilt angle θ = 0 degrees and a height h2 = 5 mm, a tilt angle θ = 30 degrees, and a height h2. Coating line a2 applied at = 5 mm, tilt angle θ = -30 degrees, coating line a3 applied at height h2 = 5 mm, coating line a4 applied at tilt angle θ = 0 degrees, height h2 = 8 mm , Coating line a5 applied at tilt angle θ = 30 degrees, height h2 = 8 mm, coating line a6 applied at tilt angle θ = -30 degrees, height h2 = 8 mm, tilt angle θ = 0 degrees, high The coating line a7 coated at h2 = 11 mm, the coating line a8 coated at a tilt angle θ = 30 degrees and the height h2 = 11 mm, and the coating line a8 coated at a tilt angle θ = -30 degrees and a height h2 = 11 mm. The coating line a9 is coated.

The offset data acquisition unit 201 acquires the coordinates of the end portions of the coating lines a1 and a2 shown in FIG. 7 by using the camera 150 provided on the elevating plate 131. The coordinates x11 and x12 of the end portion of the coating line a1 in the x-axis direction and the coordinates y11 and y12 of the end portion in the y-axis direction are obtained. Similarly, the coordinates x21, x22 of the end portion of the coating line a2 in the x-axis direction, and the coordinates y11, y12 of the end portion in the y-axis direction are obtained. The coordinates xa1 of the center line of the coating line a1 in the x-axis direction are obtained by (x11 + x12) / 2. The line width D1 of the coating line a1 is obtained at x11-x12. The coordinates xa2 of the center line of the coating line a2 in the x-axis direction are obtained by (x21 + x22) / 2. The line width D2 of the coating line a2 is obtained at x21-x22. The starting point of the coating lines a1 and a2 in the y-axis direction is y11. The end points of the coating lines a1 and a2 in the y-axis direction are y12.

The offset values Δx05 and Δy05 when applied at a rotation angle φ = 0 degree, a tilt angle θ = 0 degree, and a height h2 = 5 mm are expressed as follows. The jet coating nozzle 121 when the coating line a1 is coated moves from the start coordinates (X11 = 30, Y11 = 10, Z11 = 5) to the end point coordinates (X12 = 30, Y12 = 40, Z12 = 5). ing.
Δx05 = X11-xa1 = X12-xa1 = 30-xa1
Δy05 = (Y11 + Y12) / 2- (y11 + y12) / 2 = 25- (y11 + y12) / 2
When the tilt angle θ = 0 degrees, the liquid agent L is discharged downward, so that Δx05 = 0. Further, in this example, since the coating speed and the nozzle height h2 are not large values, Δy05 = 0 approximately.

The offset values Δx35 and Δy35 when applied at a rotation angle of φ = 0 degrees, a tilt angle of θ = 30 degrees, and a height of h2 = 5 mm are expressed as follows. The jet coating nozzle 121 when the coating line a2 is coated moves from the start coordinates (X21 = 30, Y21 = 10, Z21 = 5) to the end coordinate (X22 = 30, Y22 = 40, Z22 = 5). ..
Δx35 = X21-xa2 = X22-xa2 = 30-xa2
Δy35 = (Y21 + Y22) / 2- (y11 + y12) / 2 = 25- (y11 + y12) / 2
When the tilt angle θ = 0 degrees, the liquid agent L is tilted in the −x-axis direction and discharged, so that Δx35 has a negative value. Further, in this example, since the coating speed and the nozzle height h2 are not large values, Δy35 = 0 approximately.

As described above, the offset data acquisition unit 201 acquires offset values Δx and Δy for each combination of rotation angle φ, tilt angle θ, height h2, hydraulic pressure, and coating speed, and offset values are stored in the second database 212. Store Δx and Δy.

As shown in FIG. 8, the coating target information acquisition unit 202 acquires the three-dimensional data of the printed circuit board P and the component E arranged on the printed circuit board P and stores them in the RAM. The coating target information acquisition unit 202 may acquire three-dimensional data based on the CAD (Computer Aided Design) data of the printed substrate P on which the component E is arranged, and may acquire three-dimensional data based on the image captured by the three-dimensional camera. Data may be acquired. The three-dimensional data includes the coordinates in the x-axis direction and the y-axis direction of the printed circuit board P, the coordinates in the x-axis direction and the y-axis direction of the position where the component E is arranged, and the height h3. In this example, the height is h3 = 3 mm.

The coating area acquisition unit 203 acquires the coordinates of the planned coating area R to which the liquid agent L is applied among the printed circuit board P and the parts E arranged on the printed circuit board P. The coordinates of the planned coating area R to which the liquid agent L is applied are specified based on the input of the user. In this example, it is the base portion of the surface of the component E that appears in the x-axis direction. The start coordinates of the planned coating area R are x31, y31, and z31, and the end coordinates are x32, y32, and z32.

The nozzle coordinate setting unit 204 sets the rotation angle φ and tilt angle θ of the second discharge unit 120 for applying the liquid agent L to the planned coating area R, and the start coordinates and end point coordinates of the jet application nozzle 121. do. Since the nozzle coordinate setting unit 204 has the height h3 of the component E, the height h2 of the jet coating nozzle 121 is set to the height h3 or higher. The nozzle coordinate setting unit 204 sets the rotation angle φ and the tilt angle θ so that the liquid agent L can be discharged from the jet coating nozzle 121 toward the planned coating region R. When the start and end coordinates are specified by the user on the three-dimensional data of the printed circuit board P, the normal of the surface located at the specified coordinates is projected onto the xy plane from the vector V and the angle β in the x-axis direction. As shown in 1, the rotate angle φ and the tilt angle θ are set.

Since the nozzle coordinate setting unit 204 has an angle β = 0, the rotation angle φ = 0 degrees and the tilt angle θ = 30 degrees are set. Jet coating nozzle based on the offset value Δx35 and offset value Δy35 stored in the second database 212, and the start coordinates (x31, y31, z31) and end coordinates (x32, y32, z32) of the planned coating area R. The start coordinates (X31, Y31, Z31) and the end point coordinates (X32, Y32, Z32) of the coating by 121 are set. Δx35 and Δy35 are offset values when the height h2 = 5 mm, the rotate angle φ = 0 degree, and the tilt angle θ = 30 degrees of the jet coating nozzle 121.

The nozzle coordinate setting unit 204 sets the start coordinates and the end point coordinates of the tip portion 122 of the jet coating nozzle 121 as follows.
Start point coordinates (X31, Y31, Z31) =
(X31 + Δx35, y31 + Δy35, z31 + 5mm),
End point coordinates (X32, Y32, Z32) =
(X32 + Δx35, y32 + Δy35, z32 + 5mm)

The control command transmission unit 205 outputs the rotation angle φ, tilt angle θ, start coordinates, and end point coordinates set by the nozzle coordinate setting unit 204 to the second control unit 300.

The second control unit 300 has a second discharge unit 120, a tilt unit 130, and a three-axis robot unit based on the rotate angle φ, tilt angle θ, start coordinates, and end point coordinates output from the first control unit 200. It controls 140 and. As a result, the liquid agent L is discharged while the tip portion 122 of the jet coating nozzle 121 of the second discharge unit 120 moves from the start coordinate to the end point coordinate, and the liquid agent L is applied to the printed circuit board P.

As described above, according to the coating device 100 of the present embodiment, when the planned coating area R is specified by the user, the nozzle coordinate setting unit 204 uses the jet coordinate setting unit 204 to direct the liquid agent L from the jet coating nozzle 121 toward the planned coating area R. The rotation angle φ and the tilt angle θ are set so that the discharge can be performed. As a result, it can be applied to the side surface of the tall component mounted on the printed circuit board P and the lead portion hidden under the component. Further, when the start coordinate and the end point coordinate of the planned coating area R are specified by the user by the offset values Δx35 and Δy35 stored in the second database 212, the start coordinate and the end point coordinate of the jet coating nozzle 121 are set. Since the second database 212 stores the offset values Δx and Δy for each combination of the rotate angle φ, the tilt angle θ, the height h2, the hydraulic pressure, and the coating speed, the jet is determined by the accurate offset values Δx and Δy. The start coordinates and end coordinates of the coating nozzle 121 are set. As a result, it is possible to reduce the number of places that cannot be coated and easily create a coating program.

(Modification example)
In the above-described embodiment, the offset data acquisition unit 201 acquires offset values Δx and Δy for each combination of the rotate angle φ, the tilt angle θ, and the height h2. An example of storing the offset values Δx and Δy in the second database 212 has been described. The offset data acquisition unit 201 linearly interpolates the offset values Δx and Δy acquired for each combination of the rotate angle φ, the tilt angle θ, and the height h2, and as shown in FIG. 9, the offset at an arbitrary height h2. The values Δx and Δy may be calculated. When the offset values Δx and Δy are obtained in three steps of height h2 of 5 mm, 8 mm and 11 mm, the offset values Δx and Δy at heights h2 other than 5 mm, 8 mm and 11 mm can be calculated by linear interpolation. Can be done. The height h2 of the jet coating nozzle 121 can be set to an arbitrary height according to the height h3 of the component E arranged on the printed circuit board P. By doing so, the height h2 can be set to a height other than 5 mm, 8 mm, and 11 mm. As a result, the height h2 can be set as low as possible, and the effect of reducing the variation in coating can be obtained. Here, the interpolation method may be complemented by Lagrange interpolation or spline interpolation other than linear interpolation. In addition, the interpolation algorithm has the effect of reducing the number of offset data points and shortening the time required to perform the coating test.

In the above-described embodiment, an example in which the offset data acquisition unit 201 sets the hydraulic pressure to 150 kPa and the coating speed to 100 mm / sec and executes the coating test process has been described. The offset data acquisition unit 201 may set the hydraulic pressure and the coating speed to other values and execute the coating test process. By setting the hydraulic pressure and the coating speed to the values to be actually applied and performing the coating test, the liquid agent L can be accurately applied to the planned coating area R.

In the above-described embodiment, an example in which the offset database 210 stores the offset values Δx and Δy obtained by the coating test has been described. If the offset database 210 can obtain the offset values Δx and Δy for each combination of the rotate angle φ, the tilt angle θ, and the height h2, the method of obtaining the offset values Δx and Δy is not limited, and the calculated offset value Δx , Δy may be stored. Specifically, theoretical calculation is performed from the initial velocity of the liquid agent L discharged from the jet coating nozzle 121 arranged at the rotate angle φ, the tilt angle θ, and the height h2, the viscosity of the liquid agent L, the density of the liquid agent L, the hydraulic pressure, and the coating speed. It may be calculated by.

In the above-described embodiment, the position of the second discharge portion 120 is specified by the coordinates of the tip portion 122 of the jet coating nozzle 121, but the coordinates that specify the position of the second discharge portion 120 are the coordinates of the second discharge portion. Anything can be used as long as the position of 120 can be specified, and the position of the second discharge unit 120 may be specified by the coordinates of the second rotation axis 134.

In the above-described embodiment, an example in which the planned coating area R is designated by a straight line from the start coordinate to the end coordinate has been described, but the planned coating area R is a curved path including an arc shape from the start coordinate to the end coordinate. It may be specified by a point at an arbitrary position on the printed circuit board P. By doing so, the liquid agent L can be applied to the component E having various shapes and the printed circuit board P having the circuit pattern.

In the above-described embodiment, an example in which the coating device 100 applies the liquid agent L in a line shape by the second discharging portion 120 has been described. The coating device 100 may apply the liquid agent L to the printed circuit board P as long as the liquid agent L can be applied to the printed circuit board P, and the liquid agent L may be applied over a wide range by the first ejection unit 110. As shown in FIG. 10, the coating area acquisition unit 203 sets the coordinates (x41, y41, z41), coordinates (x42, y42, z42), and coordinates (x43, y43, z43) as the planned coating area R to which the liquid agent L is applied. ), And the case where the area surrounded by the coordinates (x44, y44, z44) is accepted will be described. In this example, the base portion of the surface of the component E that appears in the x-axis direction is included.

Next, the nozzle coordinate setting unit 204 sets the start coordinates and the end point coordinates of the film coat nozzle 111 of the first discharge unit 110 for applying the liquid agent L to the planned coating area R. When the planned coating area R is received on the three-dimensional data of the printed circuit board P, it is determined whether or not the surface perpendicular to the printed circuit board P is included in the planned coating area R. When a plane perpendicular to the printed substrate P is included in the planned coating region R, the deviation direction and the linear shape are shown in Table 2 from the vector V obtained by projecting the normal of this plane onto the xy plane and the angle β in the x-axis direction. Set the direction in which the area extends.

Since the angle β = 0, the nozzle coordinate setting unit 204 sets the deviation direction and the extending direction of the linear region in the x-axis direction. Next, the x-axis of the component E is based on the length r1 from the center to the end of the linear region to which the liquid agent L is applied when the height h1 of the film coat nozzle 111 stored in the first database 211. The amount of deviation Δr to which the liquid agent L is applied is set at the base of the surface appearing in the direction. As shown in FIG. 11, assuming that the liquid agent L spreads the liquid film in a fan shape and is discharged linearly from the film coat nozzle 111, and the height h4 to be applied to the base portion of the component E, the deviation amount Δr Is expressed by the following formula.
Δr = r1 (1- (h4 / h1))

The nozzle coordinate setting unit 204 sets the start coordinates and the end point coordinates of the film coat nozzle 111 as follows by using the deviation direction and the deviation amount Δr.
Start point coordinates (X41, Y41, Z41) = (x41 + Δr, y41, h2),
End point coordinates (X42, Y42, Z42) = (x42 + Δr, y42, h2)
As a result, the liquid agent L is applied to the region including the base portion of the surface of the component E that appears in the x-axis direction.

When the planned coating area R remains, the nozzle coordinate setting unit 204 uses the wrap width ΔW, which is the width of overlapping coating, as shown in FIG. Set the end point coordinates. The wrap width ΔW may use a value stored in advance in the first database 211, or may be specified by the user.
Start point coordinates (X43, Y43, Z43) = (X41 + r1-ΔW, Y41, Z41)
End point coordinates (X44, Y44, Z44) = (X42 + r1-ΔW, Y42, Z42)
As a result, the liquid agent L is applied to the remaining portion of the planned coating area R without any gaps.

In the above-described embodiment, an example in which the printed circuit board P is fixed to the base portion 144 and the first and second discharge portions 110 and 120 are moved in the xyz axis direction has been described. The coating device 100 only needs to be able to apply the liquid agent L to an arbitrary position on the printed circuit board P from the first and second ejection portions 110 and 120, and moves the printed circuit board P in the xy axis direction to eject the first and second discharges. A structure may be provided in which the portions 110 and 120 are moved in the z direction. Further, it may have a structure in which the first and second discharge units 110 and 120 are fixed and the printed circuit board P is moved in the xyx axis direction. By doing so, the energy consumption of the 3-axis robot unit 140 can be reduced by moving the printed circuit board P having a small mass.

In the above-described embodiment, the example in which the offset database 210 stores the offset values Δx and Δy in the table has been described, but the offset database 210 may store the offset values Δx and Δy as a function. By doing so, the amount of data to be stored can be reduced.

In the above-described embodiment, the example in which the offset database 210 stores the offset value has been described, but the offset value may be stored in a storage unit other than the offset database 210, and the ROM provided in the first control unit 200 or The RAM may function as an offset value storage unit, and the ROM or the RAM may store the offset value. Further, the offset value may be stored in a database capable of communicating with the coating device 100.

An example in which the coating device 100 includes a first control unit 200 and a second control unit 300 has been described. The coating device 100 may include only the first control unit 200, and the first control unit 200 may have the function of the second control unit 300, and may include only the second control unit 300 and the second control unit 300. The control unit 300 may have the function of the first control unit 200. By doing so, the space for arranging the control unit can be reduced.

In the above-described embodiment, the example in which the coating target is the printed circuit board P has been described, but the coating target may be any one on which the surface to which the liquid agent L is applied has a flat plate shape.

The present invention allows for various embodiments and modifications without departing from the broad spirit and scope of the present invention. Moreover, the above-described embodiment is for explaining the present invention, and does not limit the scope of the present invention.

100 ... coating device, 110 ... first ejection unit, 111 ... film coat nozzle, 120 ... second ejection portion, 121 ... jet coating nozzle, 122 ... tip portion, 130 ... tilt portion, 131 ... elevating plate, 132 ... First rotating shaft, 133 ... rotating plate, 134 ... second rotating shaft, 135 ... holding unit, 136 ... supporting rod, 140 ... 3-axis robot unit, 141 ... z-axis driving unit, 142 ... x-axis driving unit, 143 ... y-axis drive unit, 144 ... base unit, 150 ... camera, 200 ... first control unit, 201 ... offset data acquisition unit, 202 ... coating target information acquisition unit, 203 ... coating area acquisition unit, 204 ... nozzle coordinates Setting unit, 205 ... Control command transmission unit, 210 ... Offset database, 211 ... First database, 212 ... Second database, 300 ... Second control unit

Claims (11)

A coating nozzle that applies the liquid agent to the coating target arranged on the xy plane,
A robot unit that moves the coating nozzle in the x and y-axis directions with respect to the coating target,
A tilt portion that tilts the coating nozzle with respect to the coating target,
An offset value storage unit that stores an offset value that is the difference between the coordinates at which the coating nozzle is arranged and the coordinates of the region where the liquid agent is applied when the coating nozzle is tilted and discharged.
A coating area acquisition unit that acquires the coordinates of the area to be applied to which the liquid agent is applied to the application target, and a coating area acquisition unit.
A nozzle coordinate setting unit that sets coordinates for arranging the coating nozzle based on the offset value and the coordinates of the planned coating area.
Equipped with a,
When the nozzle coordinate setting unit determines that the planned coating area includes a plane perpendicular to the xy plane, the nozzle coordinate setting unit sets the direction in which the coating nozzle is tilted based on the normal of the vertical plane.
Coating device. A coating nozzle that applies the liquid agent to the coating target arranged on the xy plane,
A robot unit that moves the coating nozzle in the x and y-axis directions with respect to the coating target,
A tilt portion that tilts the coating nozzle with respect to the coating target,
An offset value storage unit that stores an offset value that is the difference between the coordinates at which the coating nozzle is arranged and the coordinates of the region where the liquid agent is applied when the coating nozzle is tilted and discharged.
A coating area acquisition unit that acquires the coordinates of the area to be applied to which the liquid agent is applied to the application target, and a coating area acquisition unit.
A nozzle coordinate setting unit that sets coordinates for arranging the coating nozzle based on the offset value and the coordinates of the planned coating area.
And a coating target information acquiring unit for acquiring 3-dimensional data of the coating target,
When the nozzle coordinate setting unit determines that the planned coating area includes a plane perpendicular to the xy plane, the nozzle coordinate setting unit sets the direction in which the coating nozzle is tilted based on the normal of the vertical plane.
Coating cloth equipment. The offset value storage unit stores an offset value for each tilt angle of the coating nozzle, and stores the offset value.
The nozzle coordinate setting unit sets the coordinates for arranging the coating nozzle based on the offset value, the coordinates of the planned coating area, and the tilt angle.
The coating device according to claim 1 or 2. A coating test is executed in which the liquid agent discharged from the coating nozzle arranged at an angle is applied to the coating target, the coordinates of the coating nozzle and the coordinates of the coated area are acquired, and the coordinates where the coating nozzle is arranged are obtained. It is provided with an offset data acquisition unit that calculates the difference between the coordinates and the coordinates of the applied area as an offset value and stores the offset value in the offset value storage unit.
The coating device according to any one of claims 1 to 3. The robot unit moves the coating nozzle in the z direction, which is the height direction of the coating target.
The offset data acquisition unit executes a coating test for applying the liquid agent discharged from the coating nozzles arranged at an angle to the coating target at a plurality of heights, and for each height at which the coating nozzles are arranged, The coordinates where the coating nozzle is arranged and the coordinates of the coated area are acquired, and the difference between the coordinates where the coating nozzle is arranged and the coordinates of the coated area is calculated as an offset value, and the coating nozzle is used. Get the offset value for each height placed,
The coating device according to claim 4. The offset data acquisition unit calculates the offset value between the heights of the coating nozzles subjected to the coating test by complementing the offset values for each height of the coating nozzles obtained in the coating test.
The coating device according to claim 5. The coating nozzle advances the liquid agent in the discharge direction and discharges the liquid.
The coating device according to any one of claims 1 to 6. The coating nozzle includes a film coating nozzle that discharges the liquid agent in a conical shape.
When the nozzle coordinate setting unit determines that the planned coating area includes a plane perpendicular to the xy plane, the liquid agent is applied from the height at which the film coating nozzle is arranged and the film coating nozzle arranged at the height. Based on the length of the region, the amount of deviation between the coordinates of the vertical surface and the coordinates of the film coat nozzle for applying the liquid agent to the vertical surface is calculated, and the amount of deviation and the vertical are calculated. The coordinates of the film coat nozzle are set from the coordinates of the surface.
The coating device according to any one of claims 1 to 6. A coating nozzle that applies the liquid agent to the coating target arranged on the xy plane,
A robot unit that moves the coating nozzle in the x and y-axis directions with respect to the coating target,
A tilt portion that tilts the coating nozzle with respect to the coating target,
An offset value storage unit that stores an offset value that is the difference between the coordinates at which the coating nozzle is arranged and the coordinates of the region where the liquid agent is applied when the coating nozzle is tilted and discharged.
A coating area acquisition unit that acquires the coordinates of the area to be applied to which the liquid agent is applied to the application target, and a coating area acquisition unit.
A nozzle coordinate setting unit that sets coordinates for arranging the coating nozzle based on the offset value and the coordinates of the planned coating area.
And a coating target information acquiring unit for acquiring 3-dimensional data of the coating target,
The coating nozzle includes a film coating nozzle that discharges the liquid agent in a conical shape.
When the nozzle coordinate setting unit determines that the planned coating area includes a plane perpendicular to the xy plane, the liquid agent is applied from the height at which the film coating nozzle is arranged and the film coating nozzle arranged at the height. Based on the length of the region, the amount of deviation between the coordinates of the vertical surface and the coordinates of the film coat nozzle for applying the liquid agent to the vertical surface is calculated, and the amount of deviation and the vertical are calculated. The coordinates of the film coat nozzle are set from the coordinates of the surface.
Coating cloth equipment. It is a coating method that applies a liquid agent to a coating target arranged on an xy plane from a coating nozzle.
A step of moving the coating nozzle in the x and y-axis directions with respect to the coating target,
The step of acquiring the coordinates of the area to be applied to which the liquid agent is to be applied to the application target, and
The coating nozzle is based on the offset value, which is the difference between the coordinates at which the coating nozzle is arranged and the coordinates of the region to which the liquid is applied when discharged from the coating nozzle, and the coordinates of the planned coating region. Steps to set the coordinates to place the
Equipped with a,
In the step of setting the coordinates, if it is determined that the planned coating area includes a plane perpendicular to the xy plane, the direction in which the coating nozzle is tilted is set based on the normal of the vertical plane.
Application method. It is a coating method that applies a liquid agent to a coating target arranged on an xy plane from a coating nozzle.
A step of moving the coating nozzle in the x and y-axis directions with respect to the coating target,
The step of acquiring the coordinates of the area to be applied to which the liquid agent is to be applied to the application target, and
The coating nozzle is based on the offset value, which is the difference between the coordinates at which the coating nozzle is arranged and the coordinates of the region to which the liquid is applied when discharged from the coating nozzle, and the coordinates of the planned coating region. Steps to set the coordinates to place the
The step of acquiring the three-dimensional data of the coating target is provided.
The coating nozzle includes a film coating nozzle that discharges the liquid agent in a conical shape.
In the step of setting the coordinates, if it is determined that the planned coating area includes a plane perpendicular to the xy plane, the liquid agent is applied from the height at which the film coat nozzle is arranged and the film coat nozzle arranged at the height. Based on the length of the region to be formed, the amount of deviation between the coordinates of the vertical surface and the coordinates of the film coat nozzle for applying the liquid agent to the vertical surface is calculated, and the amount of deviation and the deviation amount are calculated. Set the coordinates of the film coat nozzle from the coordinates of the vertical plane,
Application method.

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