A device configured to jet one or more droplets of a viscous medium may include a housing having an inner surface at least partially defining a jetting chamber configured to hold the viscous medium, and a flexible jetting nozzle. The flexible jetting nozzle may include a flexible conduit extending between an inlet orifice in an inner surface to an outlet orifice in an outer surface. The device may cause an increase of internal pressure of viscous medium in the jetting chamber to force one or more droplets of viscous medium through the flexible conduit and through the outlet orifice. The flexible jetting nozzle may include a flexible material. The flexible jetting nozzle may deform, to cause a cross-sectional area of the flexible conduit to dilate, in response to the increase of the internal pressure of the viscous medium in the jetting chamber.

A coating apparatus includes a discharge unit, a moving unit, and a controller. The discharge unit includes a nozzle array with a plurality of nozzles, and is configured to discharge a coating material from each of the plurality of nozzles. The moving unit is configured to move a position of the discharge unit with respect to a to-be-coated surface along a plurality of paths. The controller is configured to determine, based on coating information, a width of a recoated portion on which the coating material is discharged in an overlapping manner between two adjacent paths among the plurality of paths, and determine a discharge amount from each of the plurality of nozzles so that a discharge amount from each of nozzles at an end portion of the nozzle array corresponding to the recoated portion is less than a discharge amount from each of other nozzles of the nozzle array.

[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.