IT202000005512A1 - EQUIPMENT AND METHOD FOR SPRAY PAINTING OF THREE-DIMENSIONAL OBJECTS - Google Patents

Description

Description

of industrial invention entitled:

EQUIPMENT AND METHOD FOR SPRAY PAINTING

OF THREE-DIMENSIONAL OBJECTS

[001] The present invention relates to an apparatus and a method for carrying out the painting of objects having comparable dimensions in the three directions of space. In particular, the present invention relates to a spray booth comprising two anthropomorphic arms which allow to paint said three-dimensional objects as they pass.

[002] In art? It is known to have painting booths which have oscillating arms for painting panels with a prevalently flat extension. By predominantly flat extension panel we mean a panel in which two of the three dimensions of the panel are larger. large by an order of magnitude compared to the third dimension. Typically the measurements of these panels vary from 100x300x18 mm to 1250x2400x30 mm.

[003] In art? it is known to use spray booths which have a plenum with different shapes. In this context, ? well to remember that the plenum? a blowing ceiling, capable of generating a uniformly distributed and controlled flow of air. The combination of the flow of delivery and suction of the air, combined with the shape of the ceiling, allows to generate a flow of air with a shape and dimensions that allow to reduce the overspray phenomenon.

[004] For example, EP2808091B1 by the same applicant reveals a semi-cylindrical plenum with the longitudinal axis of the semi-cylinder perpendicular to the direction of travel of the piece to be painted.

[005] IT102019000009711 by the same applicant reveals a plenum with a symmetrical M shape, comprising, from the respective peripheries to the center of the blowing ceiling itself:

- two first descending surface portions inclined towards the periphery;

- two second lateral surface portions parallel to the conveyor belt of the pieces to be painted;

- two third descending surface portions with inclination towards the center, opposite to that of the first portions;

- a fourth central surface portion parallel to said conveyor belt, plus close to the conveyor belt with respect to the lateral parallel sections.

[006] In art? it is also known to carry out the painting of said panels with a prevalently flat extension on five of the six sides of the panel in a single painting station, what will it be like? best explained in the description of Figure 1.

[007] EP2756889A1 by Venjakob Maschinenb GmbH & CO describes a device for painting objects, comprising a belt conveyor that carries objects to be painted, at least one spraying robot and at least one device for painting the surface of the object, in which the spraying robot? programmed to paint the side surfaces, while the surface device? programmed to paint the upper surface of the object.

[008] A limitation of the apparatus described by EP2756889A1? that of being suitable for the painting of products with a prevalently flat extension, but of not being able to paint objects that have three comparable dimensions, why? the surface device has only one degree of freedom? and therefore can not? rise above the object to be painted or change the painting angle.

[009] In the same way, other solutions on the market have the limit of presenting arms that have a plurality of elements. of spraying tools equipped with different fixed angles between the spray guns that constrain the degrees of freedom? of the movement of the machine.

[0010] In fact, typically the prior art apparatuses have two arms, each of which carries at least two guns which have: the first gun an optimal inclination to paint a head or tail edge and a longitudinal edge, and the second gun an optimal inclination for painting a tail or head edge and the opposite longitudinal edge of said panel. Both guns thanks to their inclination are suitable for spraying the leading edge (or tail) and the longitudinal edges, even if the latter have the need? to be sprayed also by the second arm for complete coverage, while the leading edge (or tail) is already? perfectly covered thanks to the contribution of these two guns and their inclination. The second arm also has two guns: both, thanks to their inclination, are suitable for spraying the tail (or head) edge and the longitudinal edges, superimposing the layer of paint on that deposited by the two previously described. It should be noted that in their oscillating movement, which serves primarily to paint the main side of the panel facing upwards, said spray guns dispense paint only when it is probable. to hit the piece to be painted. On the other hand, when the gun, in its oscillation movement, moves away from the piece to be painted, the paint supply is interrupted to avoid waste of paint and to avoid dirtying the interior of the spray booth.

[0011] In this context,? It should be noted that each point of the predominant surface of the predominantly flat extension panel, painted with an apparatus of the known art as described above (two oscillating arms each of which has two spray guns oriented in a different way), receives approximately four depositions of paint, one for each gun in work.

[0012] Purpose of the present invention? provide an apparatus and method for painting objects having three similar dimensions in space, where the prevailing side does not? plan or? shaped, which allows you to paint as you pass.

[0013] This purpose? obtained with an apparatus and a method having the characteristics of the independent claims. Advantageous embodiments and refinements are specified in the claims dependent thereon.

[0014] The apparatus according to the present invention? a spray booth inside which two anthropomorphic arms are installed, on each of which? only one spray gun fitted. Said booth carries out the painting as it passes, without this? that it is necessary to stop the movement of the conveyor system that carries the pieces to be painted.

[0015] The apparatus according to the present invention has more? embodiments: a) Spray booth which includes a semi-cylindrical plenum and two anthropomorphic arms fixed to the structure which therefore only exploit their degrees of freedom? to reach the pieces to be painted;

b) Spray booth which includes a semi-cylindrical plenum and two anthropomorphic arms each linked to an oscillating axis which therefore exploit a further degree of freedom? to reach the pieces to be painted;

c) Spray booth that includes an M-shaped plenum (gull wing) and two anthropomorphic arms fixed to the structure which therefore only exploit their degrees of freedom? to reach the pieces to be painted;

d) Spray booth that includes an M-shaped plenum (gull wing) and two anthropomorphic arms each linked to its own oscillating axis or both constrained to the same oscillating axis which therefore exploit a further degree of freedom? to reach the pieces to be painted.

[0016] In a known way, the cabin can? be provided upstream with a piece reading system, which allows said anthropomorphic arms to perform the best trajectory for painting the single piece to be painted.

[0017] In a known way, the pieces to be painted are transported under the anthropomorphic arms by a belt conveyor which can be equipped with a paint recovery and cleaning system, or covered with disposable paper.

[0018] In a known way, the lateral area of the cabin can be present a dry overspray suction and filtration system with disposable filters or with forced circulation of water.

[0019] A first advantage of the present invention consists in the possibility? to paint three-dimensional objects as they pass, with an important increase in productivity, which can? be increased from three to four times compared to the apparatuses that paint the same objects with the necessity? to stop the conveyance of the pieces during the painting operation. The mode? of work according to the present invention allows a speed? of line (and therefore of production) up to about 4 m / min, compared to the alternative of the state of the art where working in a static way the equivalent speed? line settles around 1 m / min. Wanting to translate the speed? of line in capacity? production expressed in pieces / min, about 8-10 pieces / min can be reached with respect to the data of the state of the art in modality? static which settles around 2.5-3 pcs / min.

[0020] A second advantage of the present invention consists in the installation of a single gun on each anthropomorphic arm, which does not limit the degrees of freedom. of the movement of the gun itself and reduces the cost of the spray booth as well as the operating and maintenance costs of the booth (nozzles, consumables). This aspect ? probably the one of greatest advantage, as the installation of a single gun and the possibility? to follow the elevation profile of the articles to be painted, thanks to the lack of positioning constraints of the spray gun according to the present invention,? what makes painting possible in cos? high speed / productivity without where necessarily to stop the pieces. The state of the art working at guns with fixed inclinations is not? able to exploit the numerous degrees of freedom? of anthropomorphic robots, for which the machines of the known art equipped with anthropomorphic robots, having a? set? of guns with predetermined fixed angles do not have the same potential? of the present invention.

[0021] A third advantage? given by the possibility? to carry out color / paint product changes in a shorter time and with lower costs than the prior art apparatuses which provide arms equipped with a plurality of of spray guns. For example, to enhance this aspect we can take the case of a color change in the present invention, where, given the small number of spray guns installed, a product change time of about 20-25 seconds is required compared to the state of the ? art, in which the guns are typically four or more, and the time required, also causes the connecting pipes between the various guns,? about 80-90 seconds. Analyzing then the same phenomenon from the economic point of view, therefore of expense linked to the painting product that must be disposed of and to the detergent for cleaning, one can? hypothesize a consumption of about 200-250 ml for the present invention, against 600-800 ml of the state of the art product. Considering a cost of about 8? / L and a number of color changes equal to 20 changes / shift, there is a net saving of about 88? in turn. To these must be added the greater volume of detergent necessary to clean a greater volume of pipes (since there is a greater number of pipes and pipe lengths as well as at least double the guns which have an internal volume / capacity which obviously must be clean). ? conceivable that the difference in quantity? of detergent used between the present invention and the state of the art can affect a further 8? a cleaning cycle, from which always in the case of 20 color changes per shift leads to a total of about 160?.

[0022] A fourth advantage? given by the double chance? to paint the pieces as they pass, what? a method connected with greater productivity, and with stationary pieces, which? a method to be used when said pieces have particularly complicated shapes, always using the same spray booth.

[0023] Last but not least advantage? the extreme versatility? of the spray booth according to the present invention: a single apparatus can be used to paint three-dimensional objects and panels with a prevalently flat extension, even if these have portions that are normally difficult to paint such as Jpull edges or undercuts.

Further advantages and features of the present invention are described in the following description in which exemplary embodiments are explained in detail based on the drawings:

Figure 1 Example of ashlar or shaped panel, axonometric view;

Figure 2 Examples of objects having three comparable dimensions and edges;

Figure 3 Embodiment a): spray booth comprising a semi-cylindrical plenum and two anthropomorphic arms fixed to the structure in cross section;

Figure 4 Embodiment b) spraying booth comprising a semi-cylindrical plenum and two anthropomorphic arms each linked to its own oscillating axis;

Figure 4A Top view of a spray booth b);

Figure 5 Embodiment c) spray booth comprising an M-shaped plenum (gull wing) and two anthropomorphic arms fixed to the structure; Figure 6 Embodiment d) spraying booth comprising an M-shaped plenum (gull wing) and two anthropomorphic arms each linked to an oscillating axis or both constrained to the same oscillating axis; Figure 6A Top view of a spray booth d).

[0025] Figure 1 shows in an axonometric view an example of an ashlar or shaped door. The article 10 has two sides of prevalent extension, the upper side 1 and the opposite lower side not visible in the Figure; a leading edge 2, a trailing edge 5, and two longitudinal edges 3 and 4. The shaping or embossing? clearly visible in the Figure on the prevailing side 1. In the present description, the leading edge 2, the trailing edge 5 and the two right 3 and left 4 longitudinal edges are grouped together in the term lateral edges. Painting five on six sides of the article 10 means painting the main side 1 and the side edges 2, 3, 4, 5.

Figure 2 shows a couple of examples of artifacts having three comparable dimensions. In fact, the wave panel 6 has dimensions of approximately 900x300x200 mm. The curved panel 7 has dimensions of approximately 800x600x200 mm.

[0027] Figure 2 also shows a panel 8 with a prevalently flat extension provided with an edge 9 Jpull, and another panel 11 with a prevalently flat extension equipped with an undercut edge 12.

[0028] These images provide non-limiting examples of the objects which? It is possible to paint in transit using the apparatus according to the present invention.

[0029] The apparatus according to the present invention has more? embodiments: a) Spray booth 30 which comprises a semi-cylindrical plenum 31 and two anthropomorphic arms 21 fixed to the structure which therefore only exploit their degrees of freedom? to reach the pieces to be painted (Figure 3);

b) Spray booth 40 which comprises a semi-cylindrical plenum 31 and two anthropomorphic arms 22 each linked to its own oscillating axis 0 which therefore exploit a further degree of freedom? to reach the pieces to be painted (Figure 4);

c) Spray booth 50 which includes an M-shaped plenum (gull wing) 51 and two anthropomorphic arms 21 fixed to the structure which therefore only exploit their degrees of freedom? to reach the pieces to be painted (Figure 5);

d) Spray booth 60 which includes an M-shaped plenum (gull wing) 51 and two anthropomorphic arms 22 each linked to an oscillating axis O or both constrained to the same oscillating axis which therefore exploit a further degree of freedom? to reach the pieces to be painted (Figure 6).

[0030] Each anthropomorphic arm 21 or 22? equipped with a single spray gun 23 which therefore has no movement restrictions, n? as for the angles, n? as regards its distance from the conveyor belt or from the piece to be painted.

[0031] Figure 3 shows a cross section of a spray booth 30 which comprises a semi-cylindrical plenum 31 and two anthropomorphic arms 21 fixed to the structure. The P axis of the semi-cylindrical plenum? perpendicular to the Z direction of advancement of the pieces to be painted, indicated by the bold arrow. The anthropomorphic arms 21 are fixed to the frame of the cabin, preferably to the ceiling of the cabin 30 or alternatively to the side walls. Typically the speed? of oscillation of the anthropomorphic arms 21 with respect to the point of attachment to the cabin? of the order of 2 m / sec.

[0032] Figure 3 also shows a reading system 32 for the pieces to be painted and a transport system 33 for the pieces to be painted. Said transport system? typically a closed belt conveyor provided with a motorized roller and an idle roller.

[0033] Figure 4 shows a cross section of a spray booth 40 which comprises a semi-cylindrical plenum 31 and two anthropomorphic arms 22 each connected to its own oscillating axis. The P axis of the semi-cylindrical plenum? perpendicular to the Z direction of advancement of the pieces to be painted, indicated by the bold arrow.

[0034] Figure 4 also shows a reading system 32 for the pieces to be painted and a transport system 33 for the pieces to be painted. Said transport system? typically a closed belt conveyor provided with a motorized roller and an idle roller.

[0035] Figure 4A shows a top view of a spray booth 40 according to embodiment b), in particular the axis P of the semi-cylindrical plenum and the axes O of oscillation on which said anthropomorphic arms 22 are constrained. The P axis and the O axis are parallel to each other and are perpendicular to the direction of advancement of the pieces to be painted, shown by the arrow Z. Typically the speed? of oscillation of the anthropomorphic arms 22 along their axis O? of the order of 2 m / sec.

[0036] Figure 5 shows a cross section of a spray booth 50 according to embodiment c), which comprises an M (gull wing) plenum 51, a reading system 52 and a transport system 53 of the pieces to be paint. Said transport system? typically a closed belt conveyor provided with a motorized roller and an idle roller.

[0037] Said M-shaped plenum 51 symmetrical from the respective peripheries to the center of the blowing ceiling itself comprises:

- two first descending lateral surface portions 54 inclined towards the periphery;

- two second lateral surface portions 55 parallel to the conveyor belt of the pieces to be painted;

- two third descending surface portions 56 with inclination towards the center, opposite to that of the first portions;

- a fourth central surface portion 57 parallel to said conveyor belt, plus close to the conveyor belt with respect to the lateral parallel sections.

[0038] The axis of symmetry P of the plenum to M? perpendicular to the direction of advancement of the pieces to be painted. The anthropomorphic arms 21 are fixed to the frame of the cabin, preferably to the ceiling of the cabin 50 or alternatively to vertical walls. Typically the speed? of oscillation of the anthropomorphic arms 21 with respect to their point of attachment to the cabin? of the order of 2 m / sec.

[0039] The M-shape of the plenum box 51 has the advantage of better compressing the vortex of overspray which is formed following the spray action of the guns, maximizing the transfer efficiency of the coating product.

[0040] Figure 6 shows a cross section of a spray booth 60 according to embodiment d), which comprises an M-shaped plenum 51, a reading system 52 and a transport system 53 for the pieces to be painted. Said transport system? typically a closed belt conveyor provided with a motorized roller and an idle roller. The axis of symmetry P of the plenum to M? perpendicular to the direction of advancement of the pieces to be painted. The anthropomorphic arms 22 are each connected to its own oscillating axis O, or to the same oscillating axis O. The shape of the M-shaped plenum 51? identical to that shown in Figure 5 and described above.

[0041] Figure 6A shows a top view of the spray booth 60 according to embodiment d), in particular the P axis of the M-shaped plenum and the oscillation axes O on which said anthropomorphic arms 22 are constrained. Said axes P and O are parallel to each other and are perpendicular to the direction of advancement of the pieces to be painted shown by the arrow Z. Typically the speed? of oscillation of the anthropomorphic arms 22 along the axis O? of the order of 2 m / sec.

[0042] Each of the fixed anthropomorphic arms 21 or oscillating arms 22 carries a single spray gun 23, which has no constraint in its movement.

[0043] Thanks to the absence of movement constraints, substantially the gun 23? able to follow all the side edges 2, 3, 4, 5 with an appropriate inclination, while the oscillation of the anthropomorphic arm 21 or 22 allows to paint the prevailing side 1 of the panels. In this oscillation said gun 23 has a speed? of the order of 2 m / sec.

[0044]? It should be noted that while in the prior art equipment the paint supply must be interrupted during the painting of a single panel to avoid the booth from getting dirty, with the apparatus according to the present invention the gun 23 mounted on an anthropomorphic arm delivers paint continuously for all the time in which the piece to be painted remains reachable by said anthropomorphic arm 21 or 22. This? an advantage, since any interruption in the supply of the paint potentially leads to a clogging of the gun 23, with a consequent risk of machine stoppage. Furthermore, the presence of a gun 23 only for each anthropomorphic arm 21 or 22 makes the color changes particularly rapid with respect to the known art, furthermore involving a lower waste of solvents for cleaning.

[0045] In addition, the numerous degrees of freedom? of the anthropomorphic arms allow to follow the piece in order to carry out painting by interpolating the different axes differently from what happens with oscillating arms that have only one degree of freedom? and who therefore are not able to chase n? let alone interpolate the axes to perform these operations.

[0046] The method according to the present invention comprises the following steps:

- Provide an apparatus 30, 40 50, 60 equipped with two anthropomorphic arms 21 or 22, each of which mounts a single spray gun 23;

- Continuously transport the pieces to be painted 6, 7, 8, 10, 11 under the two anthropomorphic arms without ever stopping the transport 33 or 53;

- Carry out the continuous painting of said pieces, with the guns 23 which follow the pieces and assume the inclinations suitable for painting each side edge 2, 3, 4, 5 and the main side 1, said side 1 being painted with an oscillating movement which also follows the elevation profile of the pieces to be painted.

[0047]? It should be noted that in the case of the apparatuses 30 and 50 equipped with two anthropomorphic arms 21 fixed to the structure, the oscillating movement which allows the prevailing side 1 to be painted? performed by a movement / oscillation of the arm 21 itself with respect to its point of attachment to the cabin.

[0048] On the other hand, in the case of the apparatuses 40 and 60 equipped with two anthropomorphic arms 22 connected to an oscillating axis (s) 0, the oscillating movement which allows the prevailing side 1 to be painted? obtained through the oscillation along the axis O and / or of the arm 22 itself.

[0049] When choosing the solution a) 30 or c) 50 with the anthropomorphic arms 21 fixed to the cabin,? on average it is necessary to use anthropomorphic arms pi? large who can reach all the necessary positions.

[0050] On the other hand, when one chooses solution b) 40 or d) 60 with oscillating arms 22,? possible to use anthropomorphic arms of larger dimensions? small, which are compensated by the fact that said arms are mounted in an oscillating manner, which adds a further degree of freedom to the movements of the arms.

[0051] Is it part of the choices available to the man of art to opt for one or the other solution, also on the basis of the size of the pieces to be painted, their repetitiveness? and the overall dimensions of the spray booth.

[0052] Thanks to the numerous degrees of freedom? of the anthropomorphic arm? possible to compensate for the lack of a gun per arm compared to the known art, where the two guns already have? intrinsically two angles defined, while in the solution according to the present invention the angles for painting the edges (both longitudinal and heads / tails) can vary continuously as the geometry varies. Here, in fact, the only gun for each anthropomorphic arm will go? for example to invert the angle to paint the longitudinal edges at each oscillation inversion, while for example to paint the head and tail edges it will use? a constant and common angle on both arms if the head and tail edges are symmetrical, while if they are different said angle of inclination of the spray gun 23 will vary? according to the shape to be painted (see the examples panel 8 for with edge 9 Jpull or panel 11 with edge 12 undercut).

In a further embodiment,? It is also possible to paint pieces with particularly complex geometries even in a stationary way, by means of two distinct stops under each anthropomorphic arm, to ensure that each of the two arms can complete any numerous trajectories and applications that it would not be able to perform if the speed? of continuous feed along the Z axis was too high.

[0054] Obviously, in this case the advantage linked to greater productivity is lost. of the painting to the passage, succeeding for? to paint objects with a very complex geometry inside the same spray booth that allows you to paint objects with a more complex geometry. simple to the passage, without the need? to have an additional spray booth in which the pieces are painted while still.

1 predominant side

2 leading edge

3 right longitudinal edge

4 left longitudinal edge

5 tail edge

6 wave panel

7 curved panel

8 panel with Jpull edge

9 Jpull edge

10 panel

11 panel with undercut edge

12 undercut

21 fixed anthropomorphic arm

22 oscillating anthropomorphic arm

23 spray gun

30 spray booth with semi-cylindrical plenum and two fixed anthropomorphic arms 31 semi-cylindrical plenum

32 reading system

33 transport system

40 spray booth with semi-cylindrical plenum and two oscillating anthropomorphic arms

50 spray booth with M-shaped plenum (gull wing) and two fixed anthropomorphic arms

51 plenum at M

52 reading system

53 transport system

54 descending portions

55 portions of parallel lateral

56 portions descending towards the center

57 central portion

60 spray booth with M-shaped plenum (gull wing) and two oscillating anthropomorphic arms

Claims (10)

Claims 1) Spray booth (30, 40, 50, 60) for painting pieces (6, 7, 8, 10, 11) to be painted including: ? a transport system (33, 53) of said pieces to be painted, preferably in the form of a closed belt conveyor provided with a motorized roller and an idle roller; ? a plenum (31, 51); ? optionally a reading system (32, 52) of the pieces to be painted; ? optionally a filtration system; characterized by the fact of understanding ? two anthropomorphic arms (21, 22) capable of moving in all directions of space; ? each anthropomorphic arm being equipped with a single spray gun (23); and by the fact of paint said pieces (6, 7, 8, 10, 11) at the passage, that is? without stopping the movement of the transport system (33, 53) of the pieces to be painted during the painting action. 2) Spray booth (30, 40) for painting upon passage of pieces to be painted (6, 7, 8, 10, 11) according to claim 1, in which said plenum (31) has a semi-cylindrical shape, with the? longitudinal axis P of the semi-cylinder perpendicular to the direction Z of advancement of said pieces to be painted. 3) Spray booth (50, 60) for painting when pieces to be painted (6, 7, 8, 10, 11) pass according to claim 1, in which said plenum (51) has a symmetrical M shape, with the axis P of symmetry of the M perpendicular to the direction Z of advancement of the said pieces to be painted, called plenum comprising: - two first lateral surface portions (54) descending inclined towards the periphery; - two second lateral surface portions (55) parallel to the conveyor belt of the pieces to be painted; - two third descending surface portions (56) with an inclination towards the center, opposite to that of the first portions; - a fourth central surface portion (57) parallel to said conveyor belt, plus close to the conveyor belt with respect to the lateral parallel sections. 4) Spray booth (30, 50) for painting upon passage of pieces to be painted (6, 7, 8, 10, 11) according to one of claims 1-3, in which said two anthropomorphic arms (21) are fixed to the cabin frame, preferably to the cabin ceiling (30, 50) or alternatively to the vertical walls. 5) Spray booth (40) for painting upon passage of pieces to be painted (6, 7, 8, 10, 11) according to one of claims 1 or 2, in which said two anthropomorphic arms (22) are each connected to a oscillating axis O, perpendicular to the Z direction of advancement of the pieces to be painted. 6) Spray booth (60) for painting upon passage of pieces to be painted (6, 7, 8, 10, 11) according to one of claims 1 or 3, in which said two anthropomorphic arms (22) are each connected to a oscillating axis O, perpendicular to the direction Z of advancement of the pieces to be painted, or alternatively said two anthropomorphic arms (22) are connected to the same oscillating axis O, perpendicular to the direction Z of advancement of the pieces to be painted. 7) Method for the continuous painting of pieces to be painted (6, 7, 8, 10, 11) by means of a spray booth (30, 40, 50, 60) according to claims 1-6 comprising the following steps: - Provide a spray booth (30, 40, 50, 60) equipped with two anthropomorphic arms (21 or 22), each of which mounts a single spray gun (23); - Continuously transport the pieces to be painted (6, 7, 8, 10, 11) under the anthropomorphic arms (21 or 22) by means of a transport system (33, 53); - Carry out the continuous painting of said pieces (6, 7, 8, 10, 11), with the guns (23) that follow the said pieces and assume the suitable inclinations to paint each side edge (2, 3, 4, 5 ) and the prevailing side (1), called side (1) being painted with an oscillating movement that also follows the altimetric profile of the pieces. 8) Method for the continuous painting of pieces to be painted (6, 7, 8, 10, 11) according to claim 7, in which in the case of booths (30 and 50) equipped with two anthropomorphic arms (21) fixed to the walls of the booth, the oscillating movement that allows you to paint the main side (1)? performed by oscillations of the arm (21) itself with respect to its attachment point to the cabin. 9) Method for the continuous painting of pieces to be painted (6, 7, 8, 10, 11) according to claim 7, in which in the case of the apparatuses (40 and 60) equipped with anthropomorphic arms (22) oscillating along one or two axes O, the oscillating movement that allows the prevailing side to be painted (1)? obtained by swinging the arm along the O axis and / or by the movement of the arm (22) itself. 10) Method for the continuous painting of pieces to be painted (6, 7, 8, 10, 11) according to one or more? of claims 7-9, in which for pieces to be painted which have particularly complex geometries, the transport system (33, 53) of said pieces to be painted is temporarily blocked so as to stop said pieces to be painted in correspondence with said anthropomorphic arms (21 or 22).