| 摘要 |
PROBLEM TO BE SOLVED: To automatically judge the completion of a washing process at the time of changing a color. SOLUTION: A second arm 16 of coating robot 11 is provided with a coating control device 10 having a coating supply passage 21 for supplying a coating material fed from a coating supply source to a coating gun 18. As the preceding coating material is washed and removed with a thinner, the mass of the thinner passed through the coating supply passage 21 is gradually changed. Therefore, a system controller 20 judges the completion of the washing based on the measurement result of the mass of the thinner measured by a mass flowmeter 26. As a result the completion of washing the coating supply passage 21 can be automatically judged by judging whether the coating material is contained in the thinner by measuring the mass of the thinner used for washing the coating supply passage 21 with the mass flowmeter 26, and the completion of the washing can be accurately judged even when an environmental condition such as temperature and a coating material characteristic is changed.
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