JP2000210603A - Automatic coating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently coat a part to be coated which has recurring compli cated shapes. SOLUTION: A vertically moving device 5 having a vertically moving rod 5a is assembled downward to a ceiling travelling truck 4 mounted to move back and forth and left and right. A reciprocator 7 extending in the back and forth direction is attached to the lower end of the vertically moving rod 5a. A coating unit 9 formed by positioning and arranging many spray nozzles 15 to conform the shape and dimension of the part to be coated is supported by a slide table 8 of the reciprocator 7. A coating material is sprayed toward the part to be coated from many spray nozzles 15 while moving the spray unit 9 in the front and back direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic coating apparatus for automatically coating a complex-shaped portion to be coated, such as a long and a hull of a hull block.

[0002]

2. Description of the Related Art In the case of applying a coating to a complicated-shaped portion to be coated, such as a long structure and a skin of a hull block, which is a large-sized structure, the position of a spray nozzle and spraying are adjusted in accordance with the shape of the portion to be coated. Recently, articulated robots that can automatically control angles and the like and automatically control spray nozzles to be turned on and off have been used.

[0003]

However, in the case of painting by the above-mentioned articulated robot, not only a lot of time is required for creating an operation program such as teaching, but also there is only one place where the paint is sprayed by the spray nozzle. Therefore, there is a problem that it takes a long time to paint a large structure. Some spray nozzles are provided. However, they are used for changing the color of paint, or when a nozzle is clogged, and cannot spray two or more spray nozzles at the same time. On the other hand, automatic coating equipment that incorporates a spray nozzle on a reciprocator that is a linear reciprocating device has been used, but reciprocators cannot be applied to parts with large shapes and large structures. However, objects to be painted are limited to relatively small structures.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic coating apparatus capable of efficiently coating a structure having a portion to be coated having a complicated shape repeatedly.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a support rod which is supported so as to be movable in the front-rear direction and extends vertically, and a plurality of support rods mounted horizontally on the support rod. A coating unit having a stepped arm and a number of spray nozzles attached to predetermined positions of the respective arms at predetermined positions and directed in a predetermined direction is provided.

[0006] While moving the coating unit in the front-rear direction, the paint is simultaneously sprayed from a number of spray nozzles from a direction corresponding to the shape of the portion to be coated, so that the coating can be performed efficiently.

[0007] Also, at least one of the arms attached to the support rod can be moved vertically, and the spray nozzle can be moved along the arm to change the position. By doing so, it can be easily applied to the coated parts having different shapes and dimensions.

Further, a vertically extending support rod supported so as to be able to move in the front-rear direction, a plurality of arms mounted horizontally on the support rod, and a coating sharing area at a required position of each arm. The support rod of the coating unit having a large number of spray nozzles attached in a predetermined direction is defined so as to be supported by a reciprocator supported by an elevating device so as to be able to move in the front-rear direction, and the elevating device is By adopting a configuration in which the apparatus is mounted on an overhead traveling carriage mounted on a gantry so as to be able to move back and forth, left and right, it can be easily applied to large structures.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show an embodiment of the present invention, and show, as an example, a case where the present invention is applied to the coating of a part 2 of a hull block 1 and a skin 3. That is, a large base 6 that straddles the hull block 1
The overhead traveling carriage 4 is provided on the upper side so as to be able to move in the front-rear direction (X direction) and the left and right direction (Y direction), and the lifting device 5 attached to the ceiling traveling carriage 4 is moved up and down with the lifting rod 5 a facing downward. The reciprocator 7 is attached freely to the lower end of the elevating rod 5a, and the longitudinal center of the reciprocator 7 extending horizontally in the front-rear direction is attached.
So that the coating unit 9 can uniformly coat the longitudinals 2 arranged in the left-right direction and the skin 3 between the longitudinals 2.

The coating unit 9 is configured as shown in an enlarged manner in FIGS. That is, the upper end of the support rod 10 arranged in the vertical direction is attached to the slide table 8 of the reciprocator 7, and the support rod 10 is provided with a short length on the front surface of the lower end so as to form a branch as a whole. The lower arm 11 is mounted horizontally so as to extend in the left-right direction, and the middle arm 12 having the same length as the lower arm 11 is extended in the left-right direction on the front surface at a position above the lower arm 11 by a required amount. Attached in a horizontal state, and on the rear side opposite to the middle stage arm 12,
A rear middle arm 13 having a required length longer than that of the middle arm 12 is mounted horizontally so as to protrude in the left-right direction. An upper arm 14 having substantially the same length as the middle arm 13 is mounted horizontally so as to project in the left-right direction, and the height position of the arms 12, 13, 14 of the respective stages can be changed by a known slide mechanism. In addition, a spray nozzle 15 is attached to each of the arms 11, 12, 13, and 14 of the above-described stages at a paint spray angle determined in accordance with the shape and size of the portion to be coated, and a total of eleven spray nozzles are provided. The spray nozzle 15 is attached, and is attached so that the position can be changed in the horizontal direction along the arms 11, 12, 13, and 14.

The spray nozzles 15 are attached so that the paint film thickness distributions of the respective spray nozzles 15 are investigated, and the overlapping portions of the paint spray areas of the adjacent spray nozzles 15 are uniform. In the case of the present embodiment, the lower arm 11 has a web 2a
One spray nozzle 15 is attached to each of the right and left ends of the lower region of the target 2 so as to face outward in the left-right direction.
One spray nozzle 15 is attached to each of the left and right ends at the left and right ends toward the outside in the left and right direction. The rear middle arm 13 covers the width direction area of the skin 3. One spray nozzle 15 is attached to each of the left and right ends and the central part, and each spray nozzle 15 is attached downward, and the left and right ends of the upper end of the web 2a of the longitudinal 2 and the lower surface of the flange 2b are targeted. At a position slightly inward from the part, a spray nozzle 15 for each one is attached obliquely upward (approximately 45 ° with respect to the vertical line) outward in the left-right direction via an auxiliary arm 16. One spray nozzle 15 is attached to each of the left and right ends of the upper surface of the flange 2b of the longe 2 so as to be directed obliquely downward (approximately 30 ° with respect to the vertical line) in the left-right direction. The range of paint sharing is determined. Further, each spray nozzle 15 is assembled with a nozzle tip 15a having a size suitable for the range of the coating.

In FIGS. 1 to 3, 15A, 1
5B is a paint spraying area by each spray nozzle 15, 17 is a motor for moving the slide table 8 of the reciprocator 7, 18 is a drive and stop command to the motor 17, and a spray and stop command of paint by the spray nozzle 15. 2 shows a control panel for issuing a command.

When coating the long 2 and the skin 3 of the hull block 1, automatic operation is performed based on the pattern selected by the control panel 18. In the present invention, the operation of the overhead traveling carriage 4 and the lifting / lowering device 5 causes the coating unit 9 to be positioned in advance between the adjacent longes 2 to be coated.
And moving the coating unit 9 in the longitudinal direction of the longitudinal 2 while moving the spray unit 1
5, the paint is sprayed all at once, and the paint is applied. In this coating, in FIG. 2 and FIG. 5 spray nozzles 1 indicated by
5 do not interfere with each other, but the spraying areas 15A and 15B interfere with each other, so that the painting is performed simultaneously in the painting mode A when only the spraying area 15A is used, and then in the painting mode B when only the spraying area 15B is used. Basically, the coating modes A and B are not simultaneously executed so as to perform the coating. or,
If the surface to be coated is reduced due to a change in the object to be coated, the necessary spray nozzle 15 is selected and used.

Next, a specific painting operation will be described with reference to the flowcharts of FIGS.

First, the rise time is set in the control panel 18, and the counter C1 for the coating mode A and the counter C2 for the coating mode B are cleared, so that the coating unit 9 is at the origin (one stroke end). It is confirmed whether or not it is not at the origin, and if it is not at the origin, the coating unit 9 is moved to the origin at a required speed. Next, the speed instruction signal is confirmed, and the moving speed of the coating unit 9 is selected. In this case, the moving speed of the coating unit 9 determines the coating film thickness, for example, 45 m / min, 50 m / min, 55 m / min.
It is set as follows. Subsequently, the number of coatings is confirmed and set. In this case, if the number of coatings is one, 1 is substituted for the variable V, and if the number of coatings is two or three, two and three are similarly substituted for the variable V.

When the above setting is completed, first, the coating mode A is automatically selected as the outward coating, so that the movement of the coating unit 9 in the front-rear direction is started and at the same time, the coating in the coating mode A is performed. Is sprayed. When the painting unit 9 reaches the stroke end,
At the same time, the spraying of the paint was stopped, where
After 1 is added to the counter C1, the value of the counter C1 is compared with the variable V. That is, in the above-described confirmation of the number of coatings, if the number of coatings is set to two, for example, the value of the variable V is one greater than the value of the counter C1, so the coating unit 9 remains in the coating mode A.
The return pass painting where the return is made is performed.

Next, when the return-path painting is completed, at that point, 1 is added to the value of the counter C1 and then the variable V
Is compared. In this case, since the value of the counter C1 matches the variable V, the mode is switched from the painting mode A to the painting mode B, and then the outward painting in the painting mode B is performed.

When the outward coating in the coating mode B is completed, 1 is added to the counter C2, and the value of the counter C2 is compared with the variable V. In this case, since the value of the variable V is one greater than the value of the counter C2, subsequently, the return path painting is performed in the painting mode B, and the counter C2 is further incremented by one.
Is added to the value of the variable V, and it is confirmed that the value of the counter C2 matches the value of the variable V. Then, the painting operation is completed.

In the above, if the number of coatings is set to one, after the outward coating in the coating mode A is performed,
The return pass painting in painting mode B will be performed,
If the number of paintings is set to three, the painting mode A
, The outward coating, the outward coating, the outward coating in the coating mode B, the outward coating, and the outward coating are sequentially performed.

When the painting of one part to be painted is completed as described above, the painting unit 9 is moved to the next row by the operation of the overhead traveling carriage 4 and the elevating device 5, and the same operation as described above is repeated. To

As described above, in the present invention, since the spray coating operation can be performed by the eleven spray nozzles 15 with one apparatus, the coating time can be greatly reduced, and the coating speed and the pass rate can be reduced. By selecting the number, for example, a film thickness of 200 μm / one coating, 300 μm
Various coating specifications such as / 2 coatings can be supported. In addition, since each spray nozzle 15 is assembled with a nozzle tip 15a having a size corresponding to the coating sharing range, it is possible to obtain a coating having a uniform film thickness.
Efforts such as film thickness inspection can be reduced.

When the apparatus of the present invention is applied to an apparatus in which the height of the longes 2 and the distance between the longes 2 are different and the distance between the longes 2 is smaller than that shown in FIG. The position of the upper arm 14 is lowered along the support rod 10, and the spray nozzle 15 is moved inward along the arms 13, 14 or the like.
The number of spray nozzles is increased / decreased, the injection angle or the nozzle position is adjusted, etc., depending on the size of the nozzle. Accordingly, it is possible to cope with a wide range of workpiece shapes, and it is possible to easily apply a small object to be coated.

In the above embodiment, the paint is sprayed simultaneously by the six or five spray nozzles 15.
It is advantageous to operate the units in parallel, but if the capacity is large enough, one unit is also possible.
Further, in the embodiment, an example in which the hull block 1 is applied to the longi 2 portion having the same shape has been described. However, the present invention is also effective in the case of similar shapes but different sizes. It goes without saying that various changes can be made without departing from the spirit and scope of the present invention.

[0025]

As described above, according to the automatic coating apparatus of the present invention, a vertically extending supporting rod supported so as to be movable in the front-rear direction and a plurality of stages attached to the supporting rod in a horizontal state are provided. And a painting unit having a large number of spray nozzles each of which is provided in a predetermined direction with a painting sharing area defined at a required position of each arm. The coating time can be greatly reduced as compared with the case described above, and at least the upper arm of the arms attached to the support rod can be moved up and down, and the spray nozzle is moved along the arm. By adopting a structure that allows movement and change of position, it can be easily applied to parts to be painted with different shapes and dimensions. Further, a supporting rod supported so as to be movable in the front-rear direction and extending in the vertical direction, a plurality of stages of arms attached to the supporting rod in a horizontal state, and a coating sharing range are respectively defined at required positions of the respective arms. The support rod of the coating unit having a large number of spray nozzles attached in a predetermined direction is supported by a reciprocator supported by an elevating device so as to be movable in the front-rear direction, and the elevating device is mounted on a gantry. By being mounted on an overhead traveling carriage mounted to be able to move back and forth, left and right, it is extremely advantageous especially when applied to large structures where the parts to be coated with complicated shapes repeatedly appear. Demonstrates excellent effects.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an embodiment of an automatic coating apparatus according to the present invention.

FIG. 2 is an enlarged view of a coating unit.

FIG. 3 is a right side view of FIG. 2;

FIG. 4 is a flowchart of a first half of a painting operation.

FIG. 5 is a flowchart of the latter half of the painting operation.

[Explanation of symbols]

 Reference Signs List 4 overhead traveling cart 5 lifting device 6 gantry 7 reciprocator 8 slide table 9 painting unit 10 support rod 11 lower arm 12 middle arm 13 middle arm 15 spray nozzle 15a nozzle tip

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Kazunari Shueda 2-1, Showa-cho, Kure-shi, Hiroshima Pref. Ishikawajima-Harima Heavy Industries Co., Ltd. No. 1-115, Ishikawajima-Harima Heavy Industries, Ltd., Toji Technical Center (72) Inventor Atsushi Tezuka 3-1-1-15, Toyosu, Koto-ku, Tokyo Ishikawajima, Harima Heavy Industries Co., Ltd., Toji Technical Center (72) Inventor Suzuki et al. 2-1, Showa-cho, Kure-shi, Hiroshima Ishikawajima-Harima Heavy Industries Co., Ltd.Kure No. 1 Plant (72) Inventor Yoshinobu Oka 1 Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Pref. F term (reference) 4F035 AA03 CB02 CC01 CD02 CD03 CD05 CD06 CD12

Claims (3)

[Claims] 1. A support rod supported so as to be movable in the front-rear direction and extending vertically, a plurality of arms attached to the support rod in a horizontal state, and a coating sharing range at a required position of each arm. An automatic coating apparatus, comprising: a coating unit having a plurality of spray nozzles mounted in a predetermined direction while defining a spray nozzle. 2. The apparatus according to claim 1, wherein at least the upper arm of the arms attached to the support rod can be moved vertically, and the spray nozzle can be moved along the arm to change the position. 2. The automatic coating apparatus according to 1. 3. A vertically extending support rod which is supported so as to be movable in the front-rear direction, a plurality of arms mounted horizontally on the support rod, and a coating sharing area at a required position of each arm. The support rod of the coating unit having a large number of spray nozzles attached in a predetermined direction is defined so as to be supported by a reciprocator supported by an elevating device so as to be able to move in the front-rear direction, and the elevating device is An automatic coating apparatus having a configuration mounted on an overhead traveling carriage mounted on a gantry so as to be able to move back and forth, left and right.