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公开(公告)号：US20230321838A1
公开(公告)日：2023-10-12
申请号：US18185161
申请日：2023-03-16
申请人： ABB Schweiz AG
发明人： Kisumi Iida , Takahiro Tawata , Norio Umezawa
CPC分类号： B25J11/0075 , B25J9/1664 , B25J13/089
摘要： A coating device has a coating head that dispenses coating material toward a vehicle body. The coating device also includes a supply device that has a circulation path for circulating the coating material between a reservoir storing the coating material and the coating head, and is capable of controlling the pressure of the coating material flowing through the circulation path. The coating device includes an arm having the coating head and the supply device, wherein the coating robot performs coating of the vehicle body while moving the coating head wherein the coating head moves at a first speed toward a coating start position to start coating the vehicle and moves at a second speed different from the first speed when it reaches a specific position in a movement path to the coating start position.
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公开(公告)号：US20230100988A1
公开(公告)日：2023-03-30
申请号：US17756571
申请日：2020-06-18
申请人： ABB Schweiz AG
发明人： Takahiro Tawata
摘要： The present disclosure provides a painting robot and a painting method using the painting robot. The painting robot includes: an arm control unit which controls operation of the robot arm; a head control unit which controls driving of nozzles of the nozzle head; a distance measuring device which measures the distance between the painting portions and the nozzle discharging surface; and an image processing portion which forms a three-dimensional model for painting, which is a three-dimensional model, based on the painting coverage of the vehicle expected to be painted. The head control unit, based on the distances measured between the painting portions in the three-dimensional model for painting and an imaginary nozzle head or the distances measured by distance measuring device, controls to discharge paint from nozzles with distances within the prescribed range, and to not discharge paint from nozzles outside the prescribed range.
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公开(公告)号：US20220305662A1
公开(公告)日：2022-09-29
申请号：US17582849
申请日：2022-01-24
申请人： ABB SCHWEIZ AG
发明人： Takahiro Tawata
摘要： Provided are a painting robot system that may perform painting well not only on a forward path but also on a backward path, and a painting method. An image processing portion (210) included in a painting robot system (11) creates image data for a forward path in a state of having first strip image data of a strip shape corresponding to nozzles (54A) in a first nozzle column (55A) and second strip image data of a strip shape corresponding to nozzles (54B) in a second nozzle column (55B), the image processing portion (210) creates the second strip image data as image data for a backward path in a state of deviating relative to the first strip image data, and the amount of position deviation is set as the following position: the Pth nozzle (54B) in the second nozzle column (54B) lands first relative to the Pth nozzle (54A) in the first nozzle column (54A) with an adjacent landing position at a distance of multiplying the number (N) by twice of the distance (L1).
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公开(公告)号：US20220168769A1
公开(公告)日：2022-06-02
申请号：US17420013
申请日：2019-08-09
申请人： ABB Schweiz AG
摘要： An inkjet coating machine is provided to prevent the components in the paint from precipitating. The inkjet coating machine includes: a robot arm having a chuck at a front end and a nozzle head unit detachably mounted on the chuck. The nozzle head unit includes a nozzle head having a nozzle for spraying the paint, a nozzle control unit for controlling driving of the nozzle, and a head-side circulation path enabling the paint to circulate within the nozzle head. The nozzle head, the nozzle control unit and the head-side circulation path are integrally configured. The coating machine further includes a standby holding unit that holds at least one nozzle head unit in standby and a head replacement unit that replaces the nozzle head unit.
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公开(公告)号：US20230338976A1
公开(公告)日：2023-10-26
申请号：US18186909
申请日：2023-03-20
申请人： ABB Schweiz AG
发明人： Takahiro Tawata , Norio Umezawa , Kisumi Iida
CPC分类号： B05B12/087 , B05B13/0431 , B05B13/0452 , B25J11/0075
摘要： A painting robot capable of reducing the influence of pressure fluctuations when paint is discharged or stopped. The painting robot includes a robot arm having a painting head unit attached to its tip, a paint supply mechanism provided between robot arm and painting head unit; and a control unit. The paint supply mechanism includes a paint circulation channel; paint transfer means and regulating valves provided in the middle of the paint circulation channel. The control unit is configured with a feedback control unit that calculates a pressure calculation value for executing feedback control .
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公开(公告)号：US20230302479A1
公开(公告)日：2023-09-28
申请号：US18182302
申请日：2023-03-10
申请人： ABB Schweiz AG
发明人： Kisumi Iida , Takahiro Tawata , Norio Umezawa
CPC分类号： B05B13/0431 , B25J11/0075 , B05B15/58 , B05B12/087 , B25J15/0019 , B25J9/1664 , B05B12/008
摘要： [Problem to be solved] Provided is a painting robot capable of realizing at least one of improvement in movement performance, reduction of the influence of a water head pressure difference, and prevention of occurrence of a state in which the pressure cannot be adjusted by a first adjustment valve and a second adjustment valve.
[Means for solving the problems] The painting robot 10 comprises a robot arm R1 attaching the painting head unit 50 to the tip, a paint supply mechanism 70 disposed between the robot arm R1 and the painting head unit 50, and a control unit 100, the control unit 100 comprising a paint supply means 90, a paint supply control unit 140 that performs control of at least one actuation of the paint supply means 91, the first adjustment valve 92 and the second adjustment valve 93 so as to be a pressure set point read from the control memory 141, and controls operation of at least one of the paint supply means 90 and the paint recovery means 91 while adjusting the openness of the first adjustment valve 92 and the second adjustment valve 93 within a predetermined adjustment range when controlling the pressure of the paint to be a pressure set point.-
公开(公告)号：US11701678B1
公开(公告)日：2023-07-18
申请号：US17753811
申请日：2020-06-29
申请人： ABB Schweiz AG , Piotr Stasiak , Takahiro Tawata
发明人： Piotr Stasiak , Takahiro Tawata
CPC分类号： B05B13/0431 , B05B12/08 , B25J9/1674 , B25J11/0075 , B25J13/087 , B25J19/0025
摘要： An inkjet-type vehicle painting machine capable of keeping temperature elevation of a nozzle head to a certain temperature or less. The painting robot comprises a power supply means for supplying power to drive a piezoelectric substrate of a nozzle head, and a robot arm for moving the nozzle head. The nozzle head is provided in an explosion-proof housing equipped with an explosion-proof construction. A heat dissipation means that dissipates heat generated from the nozzle head within the explosion-proof housing is attached to the nozzle head. A temperature measurement means for measuring the temperature of the heat dissipation means is attached to the heat dissipation means.
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公开(公告)号：US11845270B2
公开(公告)日：2023-12-19
申请号：US17631696
申请日：2020-04-07
申请人： ABB Schweiz AG
发明人： Takahiro Tawata
CPC分类号： B41J2/04526 , B05C5/00 , B25J11/0075 , B41J2/04586 , B41J3/4073
摘要： Provided are an ink-jet type vehicle coating machine and an ink-jet type vehicle coating method that enable formation of a uniform coating film thickness at a coating portion including an end of a vehicle. In a state where a longitudinal direction of a nozzle head 53 is orthogonal to a scanning direction, a first nozzle array 55A and a second nozzle array 55B are disposed such that droplets discharged from nozzles 54 of the second nozzle array 55B are discharged to intermediate portions between droplets discharged from nozzles 54 adjacent to each other in the first nozzle array 55A. In addition, on the basis of trajectory data for moving the nozzle head 53, attitude data for keeping the longitudinal direction of the nozzle head 53 perpendicular to a main scanning direction of the nozzle head 53 is formed. An arm control unit 110 controls a robot arm on the basis of the trajectory data and attitude data such that, in a state where the nozzle head 53 performs coating while moving in the main scanning direction, the longitudinal direction of the nozzle head 53 is kept perpendicular to the main scanning direction.
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公开(公告)号：US20230211367A1
公开(公告)日：2023-07-06
申请号：US17753811
申请日：2020-06-29
申请人： Piotr Stasiak , Takahiro Tawata , ABB Schweiz AG
发明人： Piotr Stasiak , Takahiro Tawata
CPC分类号： B05B13/0431 , B25J11/0075 , B05B12/08 , B25J9/1674 , B25J13/087 , B25J19/0025
摘要： An inkjet-type vehicle painting machine capable of keeping temperature elevation of a nozzle head to a certain temperature or less. The painting robot comprises a power supply means for supplying power to drive a piezoelectric substrate of a nozzle head, and a robot arm for moving the nozzle head. The nozzle head is provided in an explosion-proof housing equipped with an explosion-proof construction. A heat dissipation means that dissipates heat generated from the nozzle head within the explosion-proof housing is attached to the nozzle head. A temperature measurement means for measuring the temperature of the heat dissipation means is attached to the heat dissipation means.
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公开(公告)号：US20230134252A1
公开(公告)日：2023-05-04
申请号：US17937078
申请日：2022-09-30
申请人： ABB Schweiz AG
发明人： Takahiro Tawata , Norio Umezawa
摘要： A painting robot includes a painting head mounted on the tip end side of a robot arm, a coating material supply passage connected to the coating material supply side of the painting head, a return flow passage which recovers coating material that was not ejected from the nozzles, and a bypass flow passage that is provided in the robot arm and allows coating material to flow through in parallel to the painting head. The painting robot further includes a shutoff valve, a control unit which controls the opening and closing of the shutoff valve, and a first air bubble removal member and second air bubble removal member which are provided in a stable part of the robot arm.
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