JP2002035658A - Coating system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently coat a work in the wide range corresponding to a work shape, to easily cope with the change of the shape of the work flowing on a transporting line, to easily install a coating system in a coating plant, to shorten the construction period and to save the equipment investment. SOLUTION: The coating system 1 has a transporting line 10 for moving a supporting device 12 having a work holding actuator capable of changing the holding state of the work K along a track and a coating apparatus 22 arranged along the transporting line 10 and further has a control device composed of a storage means storing a control data for controlling to change the holding state corresponding to the work shape and arranged apart from the work holding device, of a central control means for controlling drive of the work holding actuator in correspondence with the shape of the work transported near the coating device 22 and based on the control data in the storing means during the coating and arranged apart from the supporting device and of a control signal transmitting means for transmitting the control signal from the central control means to the work holding actuator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a coating system.

[0002]

2. Description of the Related Art In a conventional coating system, for example, as shown in FIG. 16, a transfer device is provided in a factory building 99, and a conveyor 100 is moved along a track of a transfer line to hold a work provided on the conveyor 100. The workpiece K is held by the tool 101, and the workpiece K is coated by the coating device 104 in the coating chamber 103 provided so as to surround the conveyor 100 by the coating casing 102.

[0003] The inlet 102a and the outlet 1 of the coating chamber 103
02b has openings 105 through which the work K can pass.
a and 105b are provided. During the coating by the coating device 104, when the work holder 101 reaches the vicinity of the coating device 104 on the transport device, the work holder 101 is rotated at a constant speed.

[0004]

As described above, the factory building 9
In the transfer device provided in 9, even if a work K of a different shape flows, the work holder 101 only rotates at a constant speed, and even if the position or posture of the coating nozzle of the coating device 104 is variable, In some cases, it was difficult to efficiently paint a wide range of the work K according to the shape of the work.

The present invention has been made in view of such circumstances, and a first object is to enable a wide range of a work to be efficiently coated in accordance with the shape of the work, and a second object. Is to be able to easily cope with a change in the shape of a workpiece flowing in a transport line, and a third object is to be able to easily set up in a painting factory, shorten the construction period, and save capital investment costs. .

[0006]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

According to a first aspect of the present invention, there is provided a transfer line which allows a support device having a work holding actuator for changing a holding state of a work to be movable along a track, and is arranged along the transfer line. A coating device, and further stores control data for variably controlling a holding state corresponding to the workpiece shape, and a storage unit spaced from the support device, and corresponding to the workpiece shape conveyed to the vicinity of the coating device. Controlling the drive of the work holding actuator based on the control data in the storage means during coating, and controlling the central control means to be spaced apart from the supporting device; and transmitting a control signal from the central control means to the work holding actuator. A coating system, comprising: a control device including signal transmission means. ].

According to the first aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data in the holding state corresponding to the work shape in the storage means.
In particular, in the case where control data in a holding state corresponding to a plurality of workpiece shapes is stored in the storage means, a plurality of workpieces flowing on the transport line can be coated according to the respective shapes. Further, there is no need to hold control data for each work holding device.

According to a second aspect of the present invention, there is provided a transfer line capable of moving a work along a track, a coating device arranged along the transfer line, and a work taken out of the transfer line before coating. Returning to the post-transfer line, and holding the work in the vicinity of the coating apparatus during coating and spaced apart from the transfer line, and having a work moving device having a work holding actuator that makes the work holding state variable, A storage unit for storing control data for variably controlling a holding state corresponding to a work shape, and the work holding actuator corresponding to a work shape guided from a transport line before coating, based on the control data in the storage unit during coating. And a control means comprising a central control means for controlling driving. ].

According to the second aspect of the present invention, the first aspect is provided.
In addition to the above-mentioned operation, a work holding actuator that changes the holding position or holding posture of the work is placed on the work moving device that holds the work near the coating device and away from the transfer line, so it can move along the track. It is not necessary to dispose a work holding actuator for each of the supporting devices on the transfer line, and the cost can be reduced.

According to a third aspect of the present invention, there is provided a coating system comprising a coating module arranged adjacent to a transport line capable of moving a work along a trajectory, and control means for controlling coating. A coating module forms a coating room, a coating casing having an opening, a coating device arranged in the coating room, and a work on a transfer line guided into the coating room through the opening, and holds the work being coated near the coating device,
A work moving device that returns the work in the painting room to the transport line through the opening after painting, and the work moving device holds the work being painted and has a work holding actuator that changes the holding state of the work. Storage means for storing the control data of the holding position or the holding posture of the work corresponding to the work shape, and corresponding to the work shape guided from the removal line before painting, the control data in the storage means during painting A coating system comprising central control means for driving and controlling the work holding actuator based on the control. ].

According to the third aspect of the invention, in addition to the functions of the first and second aspects, during the construction of the transfer line, the installation work of the coating casing, the coating apparatus, the work holding apparatus, and the work moving apparatus is performed in parallel. It is possible, and the construction can be shortened, and the capital investment cost can be saved. In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

According to a fourth aspect of the present invention, there is provided an opening / closing door having an opening / closing door and an opening / closing door driving actuator for driving the opening / closing door to open and close, wherein the storage means corresponds to a work type guided from a transport line before painting. And having control data for driving and controlling the door drive actuator, wherein the central control means comprises:
4. The coating system according to claim 3, wherein the drive of the opening / closing door drive actuator is controlled based on control data in the storage unit based on a work type. 5. ].

According to the invention described in claim 4, according to claim 3,
In addition to the action described above, even if the paint sprayed from the coating device collides with the workpiece and scatters, the opening and closing doors are closed for a part or all of the time during painting, so the paint adheres to the transfer line side. Can be difficult.

According to a fifth aspect of the invention, there is provided a work moving device having a work moving actuator for guiding a work from a transfer line before painting and returning the work to the transfer line after coating. Wherein the central control means drives and controls the work moving actuator based on the control data in the storage means based on the type of work to be guided from the transfer line. The coating system according to any one of claims 1 to 4, wherein the coating system is configured as described above. ].

According to the fifth aspect of the present invention, even when a heavy workpiece is mixedly loaded on a transport line and painted, the moving speed of the workpiece moving device is easily reduced, the driving force is reduced, and the vibration is reduced. Reduction can be achieved. That is, the moving speed can be easily varied according to the type of the work.

According to a sixth aspect of the present invention, there is provided a coating apparatus comprising:
A paint spray nozzle opening / closing valve, and a spray nozzle actuator that changes the position or posture of the spray nozzle, and the storage unit controls spray nozzle control data for controlling the position or posture of the spray nozzle corresponding to the workpiece shape,
The central control means stores injection nozzle on / off valve opening / closing control data corresponding to the work shape, and based on the injection nozzle control data and the spray nozzle on / off valve opening / closing control data in the storage means during coating, corresponding to the work shape. The coating system according to any one of claims 1 to 5, wherein the spray nozzle actuator and the spray nozzle opening / closing valve are respectively driven and controlled. ].

According to the sixth aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data related to the paint spraying corresponding to the work shape in the storage means. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a coating system according to the present invention will be described in detail with reference to the drawings, but the present invention is not limited to this embodiment.

First, a coating system will be described with reference to FIGS. 1 is a perspective view of a coating system, FIG. 2 is a schematic configuration diagram of a work holding device, FIG. 3 is a cross-sectional view showing a configuration of a work holding device, and FIG. 4 is a cross-sectional view showing a configuration of a conveyor supporting device.

The coating system 1 includes a work transfer device on a transfer line 10, and a coating module 20 is disposed adjacent to the transfer line 10. Transport line 1
0 indicates that the work K can be moved along the trajectory. A work for exchanging the work K on the transfer line 10 that enables the work K to move along the trajectory and the work K painted by the coating device 22 disposed in the coating module 20 disposed adjacent to the transfer line 10. A moving device A is provided.

In this embodiment, the conveyor 11 can be moved along a track, and the supporting device 1
2 is placed. The work K is supported by the support device 12, and the support device 12
From below. The support device 12 may be fixed to the conveyor 11 or may be detachable. In addition, the transport line 10 may be one in which the independent support device 12 moves by itself or pushed along the track without depending on the conveyor 11.

The transfer line 10 is housed in a housing 14 formed by a transfer casing 13.
4 is provided with a ventilation device 15. Ventilation device 15
Has an exhaust duct 15a, an exhaust fan 15b, and a processing device 15c, and the accommodation chamber 1 is driven by the exhaust fan 15b.
Air in the exhaust duct 15a through the processing device 15c.
Exhausted from outside. The processing device 15c is provided with a filter 15d that captures and separates an organic solvent that is a thinning solution of the paint. Since the outflow of the organic solvent can be reduced as described below, the installation of the processing device 15c may be cancelled.

A plurality of coating modules 20 are arranged adjacent to and along the transport line 10. In the coating module 20, the upstream side of the transport line 10 is used for undercoating, and the downstream side is used for topcoating.

The coating module 20 is provided with a coating casing 21, a coating device 22, a work holding device 23 constituting a part of the work moving device A, and a cleaning device described below. Transfer line 1 with painted casing 21
A coating room 25 is provided independently of the coating room 25. In the coating room 25, a coating device 22, a work holding device 23, and a cleaning device are arranged.

A ventilation device 26 is provided on a floor member 21 a of the coating casing 21 which will be described later.
5 and independently. The ventilation device 26 has an exhaust duct 26a, an exhaust fan 26b, and a processing device 26c. The air in the coating chamber 25 is driven from the exhaust port 26e provided on the floor by the driving of the exhaust fan 26b to the exhaust duct 26a via the processing device 26c. It is exhausted more outdoors. The processing device 26c is provided with a filter 26d for capturing and separating the organic solvent.

By ventilating the coating room 25 with the ventilation device 26, the ventilation device 15 of the storage room 14 can reduce the amount of mist-like paint leaking from the coating casing 21 through the opening 28 described below. Clogging due to the organic solvent can be prevented, and it can be used up to the original organic solvent adsorption capacity. Note that the amount of the organic solvent leaking through the opening 28 can be reduced.

The coating device 22 is disposed in a coating room 25, and applies a coating material to a work K held by a work holding device 23 located at a coating position by a coating robot 22a.

The work holding device 23 and the exchange moving device 3
0, the work moving device A is configured to move the work K from the support device 12 to the vicinity of the coating device 22;
The upper work K is held from below.

The work holding device 23 includes the coating casing 2
The work holding device 23 is mounted on the floor 21a of the first unit 21 and grounded, as shown in FIGS.
f, the main arm 23a, the sub-arms 23b and 23c, and the work holders 23b1 and 23c that form the support extending upward.
One. The main arm 23a is rotatable or rotatable about an axis separated from the work holders 23b1 and 23c1 in the driving unit 23f. Sub arm 23b,
Reference numeral 23c is connected to the main arm 23a so as to be rotatable or rotatable around an axis. Work holder 23b1,
23c1 is a main arm 23a and sub-arms 23b, 23c
Arm 23 at a position away from the connection center axis
b, 23c, and the work K is detachable.

The driving section 23f is provided with a main motor M1 for driving the main arm 23a, and the main motor M1 causes the main arm 23a to rotate or rotate about a support shaft 23g as a fulcrum. At both ends of the main arm 23a, independently of the main motor M1, first sub-motors M2 for driving the sub-arms 23b and 23c are arranged. This first sub motor M2
, The sub-arms 23b and 23c can be freely operated with the support shaft 23h as a fulcrum without being restricted by the rotation or rotation of the main arm 23a.

At both ends of the main arm 23a, independent of the main motor M1 for driving the main arm 23a, a second auxiliary motor M for driving the work holders 23b1 and 23c1 is provided.
3 are arranged. The work holders 23b1 and 23c1 can be freely operated via the belts 23i and 23j without being restricted by the rotation or rotation of the main arm 23a by the driving of the second sub motor M3.

The work holders 23b1, 23c1
Can be rotated or rotatable around the axis of the support shaft 23h with respect to the sub-arms 23b and 23c.
, And by rotating or rotating the work holders 23b1 and 23c1, the outer periphery of the work can be easily and reliably painted.

The work holding device 23 is provided with the main arm 2.
The sub-arms 23b, 23c are pivotally or rotatably connected to the support arm 23h around the support shaft 23h, and the sub-arms 23b, 23c are located at positions separated from the connection center axis of the main arm 23a and the sub-arms 23b, 23c. 23c, a workpiece holder 23b, 2 on which the workpiece is detachable.
3c, when the main arm 23a rotates or rotates,
By rotating and placing the sub-arms 23b and 23c near the main rotation center axis, the inertial mass around the main rotation center axis can be reduced, so that the rotation or the start and stop of the main arm 23a are promptly performed. be able to.

The main arm 23a has work holders 23b1 and 23c1 at a plurality of positions on the same circumference from the rotation center axis, and can hold a plurality of works on the main arm 23a. The amount of work stored on the line 10 can be reduced. Also, if the work K is 1
Since the paint is successively guided into the paint casing 21, the color change can be immediately performed.

The coating casing 21 is provided with an opening / closing door 27 for partitioning the coating chamber 25 and the transport line 10. The opening 28 is closed by the opening / closing door 27 during coating by driving of a door opening / closing device described below. I have.

The exchange moving device 30 is a robot, and the outdoor turntable 31 having the loaders 31a and 31b is turned by 90 degrees so that the work at the work change position and the work on the transfer line can be exchanged.

Next, the construction of the work holders 23b1 and 23c1 will be described in detail.
Since c1 has the same configuration, the work holder 23b1 will be described with reference to FIG.

The sub-arm 23b of the work holding device 23 is provided with a mounting portion 233, and a pin portion 233a of the mounting portion 233 is provided with a column 230 extending upward. The support 230 includes the mounting plate 234 and the pipe 23.
5 and is integrally fixed by welding 236 through a welding hole 237 in a state where the mounting plate 234 and the pipe 235 are mounted on the pin portion 233a.

A metal holding jig 3 to which the work K is fixed
00 is provided with a foot 301 extending downward,
01, a cap 302 is fixed by welding 303,
A cap 302 is provided at the tip of the foot portion 301 to form a pipe-shaped portion whose upper part is closed and whose lower part is opened. The stopper 304 is located above the cap 302.
Are fixed to the feet 301 by welding.

On the other hand, the tip of the support 230 is
02, and a supporting portion for supporting the foot portion 301 in the pipe 235 is supported by the support portion 23.
0. The support part 230 is made of metal,
3, sub arm 23b, main arm 23a, and drive unit 23f
Are grounded via the internal electrical conduction path.

Next, the supporting device 12 for the conveyor 11 is shown in FIG.
It will be described based on. The pipe 401 of the support part 400 is fixed to the attachment part 11 a of the conveyor 11 by welding 402. The support portion 400 is provided with a second support portion 500 extending upward. The second support portion 500 is made of metal, and a cap 502 is welded to a lower portion of the pipe 501.
The end of the second support 500 is formed in a pipe shape which is closed at the top and open at the bottom. Pipe 5
01 so that the foot 503 protrudes downward inside
04. Foot 503 to pipe 401
And the cap 502 is inserted outside the pipe 401. The pipe 501, the cap 502, and the foot 503 are integrally fixed by welding 504 via a welding hole 505. At a position above the cap 502, a stopper 506 is fixed to the pipe 501 by welding.

On the other hand, the tip of the second support 500 is formed into a pipe shape that can be stored in the cap 302 of the holding jig 300, and the supporting portion that contacts and supports the foot 301 of the holding jig 300 in the pipe 501. Are provided on the second support 500.

As described above, the shape of the tip of the support 400 and the shape of the tip of the second support 500 are formed in the same manner as the shape of the tip of the support 230 of the work moving device A. I have.

On one side of the loader 31a or 31b of the exchange moving device 30, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the supporting device 12
The holding jig 300 is removed from the second support 500
By inserting the tip of the foot 301 of the holding jig 300 into the pipe 235 of the strut 230 of the work moving device A, the tip of the strut 230 is moved to the foot 3 of the holding jig 300.
The unpainted work K can be moved from the support device 12 to the work moving device A by placing the holding jig 300 on the work moving device A so as to be housed in the cap 302 provided at the distal end of the work 01. Become.

Similarly, the loader 31 of the exchange moving device 30
a or 31b, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the holding jig 300 is grasped and removed from the support 230 of the work moving device A. By inserting the tip of the foot 301 of the holding jig 300 into the pipe 501 of the support 500, the tip of the second support 500 is attached to the cap 302 of the tip of the foot 301 of the holding jig 300. The work moving device A for the painted work K by placing the holding jig 300 on the support device 12 so as to be stored in
From the support device 12 to the support device 12 becomes possible.

The loader 31a of the exchange moving device 30
Alternatively, while holding the pipe 501 between the stopper 506 of the second support 500 and the cap 502,
The work K is detached from the support part 400 integrally with the second support part 500 and the holding jig 300 and is moved to the work moving device A, and the other of the loaders 31a or 31b is used for the second work.
The pipe 501 between the stopper 506 of the support 500 and the cap 502 is gripped, and the workpiece moving device A sends the workpiece K
May be removed integrally with the second support 500 and the holding jig 300 and moved to the support 400.

Next, an embodiment of the cleaning device and the ventilation device in the embodiment of the coating system will be described. FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

The coating system 1 of this embodiment is similar to the coating system shown in FIG.
4 are denoted by the same reference numerals as those in FIG.

The coating casing 21 is provided with a coating chamber 22 which forms a part of a coating chamber 25 by a partition wall 21b.
0 is formed, and the coating device 22 is disposed in the coating device housing chamber 220. The painting robot 22a of the painting device 22 is moved from the small robot opening 21b1 of the partition wall 21b to the painting room 2
5, and the work K is painted. A high voltage generator 221 is provided outside the coating casing 21, and the high voltage generator 221 is connected to a high voltage line 2 for applying a negative charge.
22, connected to the tip of the painting robot 22a,
A negative charge is given to the paint in this tip. The work K is made of metal and grounded, and is an electrodeposition coating that gives a high voltage difference between the paint in the coating device 22 and the work K, so that the paint does not easily scatter other than the work K.

The coating system 1 is provided with a washing device 24. The washing device 24 is provided with a water curtain 24a for allowing washing water to flow down along three inner walls 21c and a partition wall 21b of the coating casing 21. The washing water flowing down like a waterfall is collected in a discharge groove 24b formed in the floor 21a. The discharge groove 24b is formed below the coating casing 21, and the washing water collected in the discharge groove 24b is guided to the separation tank 24d via the discharge pipe 24c. The washing water stored in the separation tank 24d is supplied to the circulation pump 24
By driving e, the washing water is sent from the supply pipe 24f to the upper part of the four inner walls of the coating casing 21 and overflows from the sump weir 24g to cause the washing water to flow down along the three inner walls 21c and the partition wall 21b. ing. The mist-like paint sprayed from the painting device 22 and reaching the inner walls on the four sides is washed away with the washing water.

A dispersant 90 is added to the separation tank 24d, and the dispersant 90 makes the paint in the wash water non-adhesive and dispersed. The washing water in the separation tank 24d is driven by a separation pump 91 via a circulating pipe 92 to drive the centrifuge 9
3, and the paint residue 94 is separated by the centrifugal separator 93.

The coating system 1 includes a ventilation device 26.
The outside air is taken in from outside through the outside air intake 26i, and the temperature and humidity of the outside air taken in by the air conditioner 26j are set to desired values and sent to the ventilation room 26l through the duct 26k. The outside air is supplied from the ventilation room 261 to the coating room 25 and the coating device accommodating room 22 through the ventilation air outlet 21d1 formed on the ceiling 21d of the coating casing 21.
Flow into 0. The air that has flowed into the coating apparatus storage chamber 220 flows to the lower part of the coating chamber 25 through the small robot opening 21b1. The floor 21a has an exhaust port 26e connected to the outlet 24b, and air for ventilation is supplied from above to the floor 21a.
Flows into the gas-liquid separation chamber 26l from the discharge groove 24b. A water draining plate 26h is disposed in the gas-liquid separation chamber 261 to prevent moisture from entering the exhaust duct 26a by driving the exhaust fan 26b. The air conditioner 26j may include an air fan inside, or may include only the exhaust fan 26b.

In the discharge groove 24b, ventilation air, washing water,
If the paint mist is discharged and only the painting robot 22a is kept clean, the paint mist and dust easily flow downward and are discharged. Further, since the flow direction of the cleaning water coincides with the flow direction of the air, the cleaning water and the paint mist can be more reliably discharged.

FIG. 6 is a block diagram showing the configuration of control of the coating system. A paint factory computer 189 is connected to the internal bus 900 of the paint factory.
A first coating system computer 902, a second coating system computer 903, and a plurality of coating system computers are connected to each other to exchange information.

This first coating system computer 90
Since a plurality of coating system computers, such as the second and second coating system computers 903, are similarly configured and controlled, only the configuration of the first coating system computer 902 will be described.

A memory 904 is connected to the first coating system computer 902, and controls the transfer line actuator 910. Transfer line actuator 9
Reference numeral 10 controls the movement drive actuator 912 based on the work identification information of the work identification sensor 911 installed on the transport line 10.

The first coating system computer 9
02, a first coating module CPU 920, a second coating module CPU 930, and a plurality of coating modules C
PUs are connected to each other to exchange information.

This first coating module CPU 920,
The plurality of coating module CPUs such as the second coating module CPU 930 are configured in the same manner and perform control, so that the first coating module CPU 9
Only the configuration of No. 20 will be described.

The first coating module CPU 920 is connected to a memory 921 and has a door driving actuator 92
2. Controls the painting robot drive actuator 923, main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 926, and exchange movement device drive actuator 927.

In the control of the coating system, for example, three-dimensional data input of the outer shape for each work type is input to the memory 904 in the first coating system computer 902.

Based on the input data, the first software creates each data of the injection nozzle operation control, the injection timing and the injection speed control. In addition, each data of the work position and the posture control is created by the second software. Also, the third
From the weight for each work type and the injection timing data according to the first software, data creation of main arm operation control and sub arm operation control, creation of control data of a repositioning robot, and creation of open / close control data of an opening / closing door are performed by software. .
Further, from the paint color data, paint switch valve drive control data creation, cleaning control at the time of paint switch, injection nozzle opening / closing timing, air supply valve opening / closing timing, thinner supply valve opening / closing timing data creation are performed.

The above data is stored in the memory 90 as a storage device.
4 is stored in a setup step before painting.

The position and orientation of the injection nozzle and the holding of the work when the painter skilled in the art actually applies the coating for each work type without using the teaching software such as the first software and the second software. The state (= position, posture) may be measured, and data may be created directly from the measured values.

In the work transfer control, for example, a pallet holding the work K is sequentially supplied to the transfer line 10 based on a coating plan under the control of the transfer line actuator 910. The identification of the work K is recognized assuming that the work K flows in an order based on the painting plan, or the identification data attached to the pallet is read in the middle of the transport line 10 to recognize the identification of the work K. Corresponding to the identification of the work K, corresponding to each data in the storage device, the opening / closing door drive actuator 922, the painting robot drive actuator 92
3. Main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 92
6. Drive and control each actuator of the exchange moving device drive actuator 927.

Next, the operation of the control system of the coating system shown in FIG. 6 will be described with reference to FIGS. 7 and 8.

In FIG. 7A, the coating casing 21
The opening 28 is closed by the opening / closing door 27, the coating device 22 is driven in the coating room 25, and the coating robot 22a holds the sub-arm 23c of the work holding device 23 to apply the coating material to the work K3 located at the coating position P1. Start painting to apply. The coating is performed by rotating the work K3 by 90 degrees by the work holder 23c1 of the sub arm 23c at a predetermined timing, and applying the paint to the entire work K3.

On the other hand, the outdoor turntable 31 of the exchange moving device having the loaders 31a and 31b is turned by 90 degrees, and the work reloading position P2 outside the closed door 27 is closed.
Work K of the work holder 23b1 located at
1, the loader 31b extends and lifts (lifts up) and engages (hanger chuck), while the loader 31b extends and rises to the unpainted work K2 held by the support device (pallet) 12 on the transport line 10. Lift up) and engage (hanger chuck).

Thereafter, the outdoor turntable 31 of the exchange moving device 30
Is rotated by 180 degrees, and the unpainted work K2 on the work holder 23b1 located at the work change position P2 is lowered (lifted down) by the loader 31b and disengaged (hanger unchuck) from the loader 31b. On the other hand, the work K1 painted on the support device (pallet) 12 is similarly delivered from the loader 31a. Further, after this, the outdoor rotary table 31 turns 90 degrees, and the state shown in FIG.

In FIG. 7B, the painted work K
The supporting device (pallet) 12 holding 1 is moved in the direction of the next process section (pallet positioning release and pallet feed), the opening and closing door 27 is opened, and the painting continued from FIG. Complete.

The supporting device (pallet) 12 holding the unpainted work K2 is sent from the pre-process section to a predetermined position (pallet positioning), and the state shown in FIG. 7C is obtained. In FIG. 7C, the sub arm (sub arm) 23b holding the unpainted work K2 is turned by 90 degrees, and the unpainted work K2 held by the work holder 23b1 passes through the opening 28 and is placed on the work. It moves from the replacement position P2 to the intermediate position P3, and the state shown in FIG.

In FIG. 7 (D), the main arm (index) 23a rotates by 180 degrees, and the positions of the sub arm 23b holding the unpainted work K2 and the sub arm 23c holding the painted work K3 are switched. That is, the painted work K3 moves to the painting position P3, and the unpainted work K2 moves to the painting position P1, and the state shown in FIG.

In FIG. 7E, the sub arm 23c is
After turning 80 degrees, the painted work K3 moves from the middle position P3 to the work replacement position P2.
7 is closed, painting is started, and the state returns to the state shown in FIG.

The work holder 23b1 or the work holder 23c1 to be located at the painting position P1.
Has 9 workpieces, each of which is turned three times during painting.
Rotate by 0 degrees. As a result, the work can be divided into four times, and the entire circumference of 360 degrees can be painted through the painting on four sides at 90 degrees. Paint, swirl, paint, swirl, paint, swirl,
After the coating of the entire circumference is completed by the coating, a sub-arm (sub-arm) for moving the unpainted work K2 shown in FIG. 7C from the work replacement position P2 to the intermediate position P3 through the opening 28. The work holder 23c1 of the other sub-arm (sub-arm) 23c is also rotated by 90 degrees at the same time as the rotation of 23b by 90 degrees or during the rotation of the main turntable 180 by 180 degrees.

The timing chart of FIG. 8 illustrates the above contents. The work K2 before painting on the transport line 10 is moved to the painting position P1 via the work replacement position P2 and the intermediate position P3, and the completed work K3 at the painting position P1 is moved to the intermediate position P3 and the work replacement position P2.
And moves onto the transport line 10 via the. In the timing chart, the painting of the fourth side of the work K is completed.
The opening operation of the opening and closing door 27 is started two seconds before, and the opening and closing door 27 is fully opened almost at the same time as the end of the painting. This makes it possible to reduce the cycle time even if a slightly mist of paint flows out of the opening 28.

As described above, the work moving device A moves the work holder 23b between the painting position P1 and the work replacement position P2 at which the work can be detached from the work holder.
A work holding device 23 having a main arm 23b that is rotatable or rotatable around an axis separated from the first and second 23c1
And a replacement moving device 30 that enables the work at the work transfer position P2 to be replaced with the work on the transfer line 10. By simply rotating or rotating the main arm 23a, the work is moved to the painting position P1. Since the work can be moved to and from the work change position P2 where the work can be detached from the work holding device, quick movement is possible.

Further, the work moving device A is
Since the work K is moved from the position to the vicinity of the coating device 22 and the work K at the upper position is held from below, the work transfer device of the transfer line 10 or the work moving device for moving the work K of the transfer line 10 to the vicinity of the coating device 22 Even if garbage or paint falls from A, work K during painting or work K whose paint has not completely dried after painting
The surface of the workpiece K is not roughened. Further, even when the work K is painted, the paint does not easily adhere to the work transfer device itself on the transfer line 10, so that maintenance and inspection of the work transfer device A can be simplified.

The coating casing 2 having the opening 28
The work moving device A moves the work K from the support device 12 to the vicinity of the coating device 22 and the movement from the vicinity of the coating device 22 to the support device 12 through the opening 28. As a result, the transport line 10 is located outside the coating chamber 25, and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, so that the paint sprayed from the coating device 22 collides with the workpiece K or the like. Even if the paint scatters, the scattered paint is less likely to reach the transport line 10 and the paint is less likely to adhere.

During the construction of the transport line 10, the coating casing 21, the coating device 22, and the work moving device A
Installation work is possible, construction work can be shortened, and capital investment costs can be saved.

As a control target of the coating control, there is control of the work moving device A. Work position and posture control are simultaneously performed by the main arm operation control, the sub arm operation control of the work moving device A, and the control of the work holding device. Further, it controls the transfer robot, that is, the exchange moving device 30.

The control object of the coating control includes the opening and closing control of the opening and closing door 27.

Further, as a control object of the coating control, there is a control of a coating robot 22a of the coating apparatus 22, a coating selection control, an injection nozzle movement control and an attitude control, an injection timing (injection valve opening / closing control), and an injection speed control (pump). Is possible by controlling the number of revolutions), and cleaning control accompanying the switching of paint.

FIG. 9 is a view showing paint spraying by the painting robot. FIG. 9 (A) is a side view and FIG. 9 (B) is a plan view.
In the work moving device A, the work K rotates about the Z axis as a fulcrum,
The paint is sprayed from the paint spray nozzle 22a1 of the painting robot 22a.

The tip of the paint spray nozzle 22a1 has the coordinates P
_N (Px, Py, Pz) and the paint spray nozzle 22a
The injection direction of 1 is However, l, m, and n are the direction cosine with respect to the x-axis, the y-axis, and the z-axis, respectively.

In this embodiment, the work K is rotated about the Z axis as a support shaft, and the paint jet nozzle 22 of the painting robot 22a is rotated.
The control for moving the position a1 is performed, and the paint is sprayed to paint the entire work K.

FIG. 10 is a diagram showing changes in the paint spray timing of the painting robot, the tip position of the paint spray nozzle, the spray direction, and the work holding state of the work holding device. The paint spray nozzle 22a1 opens and changes the position of the spraying direction in a certain period, paints, closes and stops the coating in a certain period, rotates the work, and changes the position of the spraying direction in a certain period to paint. Painting is performed by repeating this.

In this embodiment, the work K is rotated from 0 ° to 90 ° about the Z-axis as a fulcrum, and during a certain period t1 during this rotation.
Does not perform the paint spraying, and performs the paint spraying while changing the position of the spraying direction during the period t2, which is the rotation angle α rotated by 90 degrees. Similarly, the work K is rotated from 90 degrees to 180 degrees around the Z axis.
The paint is not sprayed during a certain period t1 during this rotation, and paint is sprayed while changing the position of the spray direction during the rotation angle α rotated by 180 degrees. Similarly, the work K is rotated from 180 degrees to 270 degrees around the Z axis, and during a certain period t1 during which the work K is not sprayed, the work K is rotated by 270 degrees.
During the period of the rotation angle α rotated by degrees, the paint spraying is performed by changing the position of the spraying direction.

Similarly, the workpiece K is rotated from 270 degrees to 360 degrees about the Z axis as a fulcrum. During this rotating period t1, the paint is not sprayed, and during the period of the rotation angle Xw rotated 360 degrees, the spray direction is changed. Change the position and spray paint to complete painting. The injection direction is also a function of time, and l =
_{f l (t), m =} f m (t), the _n = f n (t).

In each of the embodiments shown in FIGS. 9 and 10, a work holding device 23b1 or 23c1 serving as a work holding device 23 during painting by a painting robot 22a is provided.
Is stopped, but in addition to the painting robot 22a, the work K
May be changed. Thereby, the relative speed between the coating robot 22a and the workpiece K where the coating film is desired to be thickened is decreased, and the relative speed of the portion where the coating film is desired to be thinned is increased, so that a free coating skill can be implemented.

FIG. 11 is a view showing a work holding device according to another embodiment. In this embodiment, the work moving device A can rotate the Z axis around the Y axis, and the work K has two degrees of freedom, the Z axis and the X axis. The paint is sprayed while changing the posture of the work K.

FIG. 12 and FIG. 13 are configuration diagrams showing paint spraying of the painting robot. The paint spray nozzle 22a1 of the paint robot 22a is provided with a spray on-off valve 22a2,
Opening / closing is controlled by a painting robot drive actuator (not shown). The paint injection nozzle 22a1 has a hose 22a
3 is connected, and the paint supply device 22 is connected through a hose 22a3.
The paint corresponding to the specification required for the work K is supplied from a4. The high voltage generator 221 gives the paint in the paint spray nozzle 22a1 a charge having a high negative value.

As shown in FIG. 13, the paint color changing valves V1 to Vn, which form part of the paint supply device 22a4,
Each of the supply hoses 22a41 is connected, and each of the paint tanks T1 is driven by the drive of each of the injection pumps P10.
Is supplied via the supply hose 22a41, that is, it corresponds to the color changing valves V1 to Vn, and n colors can be changed.

When the color is changed, air is supplied from the cleaning device 22a5 to the paint spray nozzle 22a1 by operating the valve Va, and thinner is supplied by operating the valve Vb.
By supplying the air and the thinner, the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3.

In this embodiment, the paint switching valves V1 to Vn are used, and the color change and cleaning are performed as shown in Table 1.

In Table 1, ○ indicates the valve opening,
Indicates that the valve is closed. In addition, A ... is washed B. Painted in the color 1 (for example, black) C ... Painted in the color 2 (for example, red) d ... Painted in the color of n (for example, blue) When the color of the paint is changed, air is supplied by the operation of the valve Va, thinner is supplied by the operation of the valve Vb, and the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3 by the supply of the air and the thinner. Change the color of the paint.

FIG. 14 is a view showing a painting operation for one day.
For example, a small, small-capacity paint tank unit is used to paint black, red, white, and blue in the morning, and the work is stopped during lunch break. In the afternoon, the blue paint is continued, and black, red, and white paints are performed using a large-capacity paint tank unit.

As described above, the coating system 1 includes the transport line 10 that enables the workpiece K to move along the trajectory, and the coating apparatus 2 that is disposed along the transport line 10.
2, the work K is taken out of the transfer line 10 before coating, returned to the transfer line 10 after coating, and the work K is held near the coating device 22 during coating and separated from the transfer line 10 while holding the work. And a work moving device A that holds a work holding actuator that makes variable.

Further, a memory 904 as storage means for storing control data for variably controlling a holding state corresponding to a work shape, and a memory means for storing the in-coating means corresponding to the work shape guided from the transport line 10 before painting. A coating system computer which constitutes control means including central control means for drivingly controlling the work holding actuator based on the control data. Accordingly, since the work holding actuator that changes the holding position or the holding posture of the work is arranged in the work moving device A that holds the work in the vicinity of the coating device and separated from the transport line, the work holding actuator can be moved along the track. Support device 12 on transport line 10
There is no need to dispose a work holding actuator for each, and the cost can be reduced.

The coating system 1 is composed of a coating module 20 which is disposed adjacent to the transport line 10 which enables the work K to move along the track, and a coating system computer which constitutes a control means for controlling the coating. The coating module 20 forms a coating chamber 25 and has a coating casing 21 having an opening 27, a coating device 22 disposed in the coating chamber 25, and guides a work K on the transport line 10 into the coating chamber 25 through the opening 28. , The work being painted is applied to the coating device 22
After the coating, the work K in the coating room 25 is opened
8 and a work moving device A that returns to the transfer line 10 through the transfer line 8.

The work moving device A holds the work K during painting and also has a work holding actuator for making the work holding state variable.

The painting system computer constituting the control means is guided from the memory 904 as storage means for storing control data of the holding position or the holding posture of the work corresponding to the work shape, and from the carry-out line 10 before painting. Central control means for driving and controlling the work holding actuator based on the control data in the during-coating storage means corresponding to the work shape. Therefore, the installation work of the coating casing 21, the coating device 22, the work holding device 23, and the work moving device A can be performed in parallel during the construction of the transport line 10, and the construction can be shortened, and the capital investment cost can be saved. In addition, since the transport line 10 is located outside the coating room 25 and the transport line is separated from the coating device 22 and has an opening therebetween, the paint sprayed from the coating device 22 collides with the work or the like and scatters. Even so, the scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

The opening and closing door 27 and the opening and closing door 2
7 has an opening / closing door drive actuator for driving the opening / closing of the door 7, and the storage means has control data for driving and controlling the opening / closing door drive actuator in accordance with the type of work guided from the transport line 10 before painting.

The central control means constituted by the coating system computer drives and controls the opening / closing door drive actuator based on the control data in the storage means based on the type of work, so that the paint sprayed from the coating device 22 collides with the work or the like. Even if it scatters, the opening / closing door 27 is closed for a part or all of the period during the coating, so that the coating can be less likely to adhere to the transport line 10 side.

The work moving device A has a work moving actuator for guiding the work K from the transfer line 10 before painting and returning the work K to the transfer line 10 after painting. The memory 904 as storage means has control data for driving and controlling the work moving actuator corresponding to the work type. Further, the central control means drives and controls the work moving actuator based on the control data in the storage means based on the type of work to be guided from the transport line 10.
This makes it possible to easily reduce the moving speed of the work moving device K, reduce the driving force, and reduce the vibration even when the heavy work K is mixedly loaded on the transport line 10 for painting. That is, the moving speed can be easily varied according to the type of the work.

The coating device 22 has a paint spray nozzle opening / closing valve and a spray nozzle actuator for changing the position or posture of the spray nozzle, and the storage means stores the position or posture of the spray nozzle corresponding to the workpiece shape. Injection nozzle control data to be controlled and ejection nozzle opening / closing valve opening / closing control data corresponding to the workpiece shape are stored.

The central control means controls the drive of the spray nozzle actuator and the spray nozzle open / close valve based on the spray nozzle control data and the spray nozzle open / close valve open / close control data in the in-coating storage means, corresponding to the workpiece shape. As described above, the painting corresponding to the work shape can be performed only by storing the control data related to the paint ejection corresponding to the work shape in the storage unit. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

FIG. 15 is a view showing another embodiment of the coating system. The coating system 1 includes a transport line 10 that enables the support device 12 to move along a track. The support device 12 has a work holding actuator 600 that makes the holding state of the work K variable, and the support device 1
2, a power supply system (not shown) is connected.

A coating device 22 is provided along the transport line 10, and a coating robot 22a of the coating device 22 is provided.
Performs painting by spraying paint on the work K.

The coating system 1 stores control data for variably controlling the holding state corresponding to the workpiece shape, and also includes storage means 601 that is disposed separately from the support device 12.
And drive control of the work holding actuator 600 based on the control data in the in-coating storage means 601 corresponding to the shape of the work conveyed to the vicinity of the coating device 22;
Central control means 602 spaced from support device 12
And a control device 610 including a data signal line 603 for transmitting a control signal from the central control means 602 to the work holding actuator 600 and a control signal transmitting means 605 such as a rotary contact electrode data transfer device 604. .

As described above, the control data in the holding state corresponding to the workpiece shape is simply stored in the storage means 601.
Coating corresponding to the work shape becomes possible. In particular, the storage means 6 stores control data in a holding state corresponding to a plurality of workpiece shapes.
In the case where the number is stored as 01, a plurality of works K flowing on the transport line 10 can be coated according to their respective shapes. Further, there is no need to hold control data for each support device 12.

[0111]

As described above, according to the first aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data in the holding state corresponding to the work shape in the storage means. In particular, in the case where control data in a holding state corresponding to a plurality of workpiece shapes is stored in the storage means, a plurality of workpieces flowing on the transport line can be coated according to the respective shapes. Further, there is no need to hold control data for each supporting device.

According to the second aspect of the present invention, in addition to the effects of the first aspect, the work holding actuator for changing the work holding position or the holding posture is held near the coating apparatus and separated from the transfer line to hold the work. Therefore, it is not necessary to dispose a work holding actuator for each of the work holding devices on the transfer line that is movable along the trajectory, and the cost can be reduced.

According to the third aspect of the present invention,
In addition to the effects of the above, during the construction of the transfer line, the installation work of the coating casing, the coating device, the work holding device, and the work moving device can be performed in parallel, and the work can be shortened, and the capital investment cost can be saved. In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

According to the fourth aspect of the present invention, in addition to the effect of the third aspect, even if the paint sprayed from the coating apparatus collides with a work or the like and scatters, the opening and closing door is partially or entirely during the painting. Is closed, so that the paint can hardly adhere to the transfer line side.

According to the fifth aspect of the present invention, even when a heavy workpiece is mixedly loaded on a transport line and painted, the moving speed of the workpiece moving device can be easily reduced to reduce the driving force and the vibration. Can be planned. That is, the moving speed can be easily varied according to the type of the work.

According to the sixth aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data related to the paint spraying corresponding to the work shape in the storage means. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

[Brief description of the drawings]

FIG. 1 is a perspective view of a coating system.

FIG. 2 is a schematic configuration diagram of a work holding device.

FIG. 3 is a cross-sectional view illustrating a configuration of a work holder.

FIG. 4 is a cross-sectional view showing a configuration of a conveyor supporting device.

FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

FIG. 6 is a block diagram illustrating a configuration of control of a coating system.

FIG. 7 is a schematic configuration diagram showing an operation of the coating system.

FIG. 8 is a timing chart of the operation of the coating system.

FIG. 9 is a view showing paint spraying of a painting robot.

FIG. 10 is a diagram illustrating a change in a paint spray timing of a paint robot, a tip position of a paint spray nozzle, a spray direction, and a work holding state of a work holding device.

FIG. 11 is a diagram showing a work holding device according to another embodiment.

FIG. 12 is a configuration diagram showing paint spraying of a painting robot.

FIG. 13 is a configuration diagram showing paint spraying of a painting robot.

FIG. 14 is a diagram showing a painting operation for one day.

FIG. 15 is a view showing another embodiment of the coating system.

FIG. 16 is a schematic configuration diagram of a conventional coating system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coating system 10 Transport line 12 Support device 22 Coating device 23 Work holding device 25 Painting room 30 Exchange moving device A Work moving device

[Procedure amendment]

[Submission date] December 12, 2000 (200.12.
12)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Painting system

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a coating system.

[0002]

2. Description of the Related Art In a conventional coating system, for example, as shown in FIG. 16, a transfer device is provided in a factory building 99, and a conveyor 100 is moved along a track of a transfer line to hold a work provided on the conveyor 100. The workpiece K is held by the tool 101, and the workpiece K is coated by the coating device 104 in the coating chamber 103 provided so as to surround the conveyor 100 by the coating casing 102.

[0003] The inlet 102a and the outlet 1 of the coating chamber 103
02b has openings 105 through which the work K can pass.
a and 105b are provided. During the coating by the coating device 104, when the work holder 101 reaches the vicinity of the coating device 104 on the transport device, the work holder 101 is rotated at a constant speed. An exhaust device 106 for directly discharging the air in the coating room 103 to the outside of the factory building 99 was provided in the coating casing 102.

[0004]

As described above, the factory building 9
In the transfer device provided in 9, even if a work K of a different shape flows, the work holder 101 only rotates at a constant speed, and even if the position or posture of the coating nozzle of the coating device 104 is variable, In some cases, it was difficult to efficiently paint a wide range of the work K according to the shape of the work.

The present invention has been made in view of such circumstances, and a first object is to enable a wide range of a work to be efficiently coated in accordance with the shape of the work, and a second object. Is to be able to easily cope with a change in the shape of a workpiece flowing in a transport line, and a third object is to be able to easily set up in a painting factory, shorten the construction period, and save capital investment costs. .

[0006]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

According to a first aspect of the present invention, there is provided a transfer line which allows a support device having a work holding actuator for changing a holding state of a work to be movable along a track, and is arranged along the transfer line. A coating device, and further stores control data for variably controlling a holding state corresponding to the workpiece shape, and a storage unit spaced from the support device, and corresponding to the workpiece shape conveyed to the vicinity of the coating device. Controlling the drive of the work holding actuator based on the control data in the storage means during coating, and controlling the central control means to be spaced apart from the supporting device; and transmitting a control signal from the central control means to the work holding actuator. A coating system, comprising: a control device including signal transmission means. ].

According to the first aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data in the holding state corresponding to the work shape in the storage means.
In particular, in the case where control data in a holding state corresponding to a plurality of workpiece shapes is stored in the storage means, a plurality of workpieces flowing on the transport line can be coated according to the respective shapes. Further, there is no need to hold control data for each work holding device.

According to a second aspect of the present invention, there is provided a transfer line capable of moving a work along a track, a coating device arranged along the transfer line, a work taken out of the transfer line before painting, and a work taken after painting. Returning to the transfer line, and holding the work in the vicinity of the coating apparatus during coating and separated from the transfer line, and having a work moving device having a work holding actuator that makes the work holding state variable,
Further, a storage means for storing control data for variably controlling a holding state corresponding to the work shape, and a work shape corresponding to the work shape guided from the transport line before painting, and the work holding based on the control data in the storage means during painting. A control means comprising: a central control means for driving and controlling the actuator. ].

According to the second aspect of the present invention, the first aspect is provided.
In addition to the above-mentioned operation, a work holding actuator that changes the holding position or holding posture of the work is placed on the work moving device that holds the work near the coating device and away from the transfer line, so it can move along the track. It is not necessary to dispose a work holding actuator for each of the supporting devices on the transfer line, and the cost can be reduced.

According to a third aspect of the present invention, there is provided a coating system comprising a coating module capable of being arranged adjacent to a transport line capable of moving a work along a track, and control means for controlling coating. The module forms a coating room and has a coating casing with an opening, a coating device arranged in the coating room, and a work on the transport line guided into the coating room through the opening, and holds the work being coated near the coating device,
A work moving device that returns the work in the painting room to the transport line through the opening after painting, and the work moving device holds the work being painted and has a work holding actuator that changes the holding state of the work. Is a storage means for storing control data of the holding position or the holding posture of the work corresponding to the work shape, and corresponds to the work shape guided from the transport line before coating, based on the control data in the storage means during coating A coating system comprising central control means for driving and controlling the work holding actuator. ].

According to the third aspect of the invention, in addition to the functions of the first and second aspects, during the construction of the transfer line, the installation work of the coating casing, the coating apparatus, the work holding apparatus, and the work moving apparatus is performed in parallel. It is possible, and the construction can be shortened, and the capital investment cost can be saved. In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

According to a fourth aspect of the present invention, there is provided an opening / closing door having an opening / closing door and an opening / closing door driving actuator for driving the opening / closing door to open and close, wherein the storage means corresponds to a work type guided from a transport line before painting. And having control data for driving and controlling the door drive actuator, wherein the central control means comprises:
4. The coating system according to claim 3, wherein the drive of the opening / closing door drive actuator is controlled based on control data in the storage unit based on a work type. 5. ].

According to the invention described in claim 4, according to claim 3,
In addition to the action described above, even if the paint sprayed from the coating device collides with the workpiece and scatters, the opening and closing doors are closed for a part or all of the time during painting, so the paint adheres to the transfer line side. Can be difficult.

According to a fifth aspect of the invention, there is provided a work moving device having a work moving actuator for guiding a work from a transfer line before painting and returning the work to the transfer line after coating. Wherein the central control means drives and controls the work moving actuator based on the control data in the storage means based on the type of work to be guided from the transfer line. The coating system according to any one of claims 1 to 4, wherein the coating system is configured as described above. ].

According to the fifth aspect of the present invention, even when a heavy workpiece is mixedly loaded on a transport line and painted, the moving speed of the workpiece moving device is easily reduced, the driving force is reduced, and the vibration is reduced. Reduction can be achieved. That is, the moving speed can be easily varied according to the type of the work.

According to a sixth aspect of the present invention, there is provided a coating apparatus comprising:
A paint spray nozzle opening / closing valve, and a spray nozzle actuator that changes the position or posture of the spray nozzle, and the storage unit controls spray nozzle control data for controlling the position or posture of the spray nozzle corresponding to the workpiece shape,
The central control means stores injection nozzle on / off valve opening / closing control data corresponding to the work shape, and based on the injection nozzle control data and the spray nozzle on / off valve opening / closing control data in the storage means during coating, corresponding to the work shape. The coating system according to any one of claims 1 to 5, wherein the spray nozzle actuator and the spray nozzle opening / closing valve are respectively driven and controlled. ].

According to the sixth aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data related to the paint spraying corresponding to the work shape in the storage means. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a coating system according to the present invention will be described in detail with reference to the drawings, but the present invention is not limited to this embodiment.

First, a coating system will be described with reference to FIGS. 1 is a perspective view of a coating system, FIG. 2 is a schematic configuration diagram of a work holding device, FIG. 3 is a cross-sectional view showing a configuration of a work holding device, and FIG. 4 is a cross-sectional view showing a configuration of a conveyor supporting device.

The coating system 1 includes a work transfer device on a transfer line 10, and a coating module 20 is disposed adjacent to the transfer line 10. Transport line 1
0 indicates that the work K can be moved along the trajectory. A work for exchanging the work K on the transfer line 10 that enables the work K to move along the trajectory and the work K painted by the coating device 22 disposed in the coating module 20 disposed adjacent to the transfer line 10. A moving device A is provided.

In this embodiment, the conveyor 11 can be moved along a track, and the supporting device 1
2 is placed. The work K is supported by the support device 12, and the support device 12
From below. The support device 12 may be fixed to the conveyor 11 or may be detachable. In addition, the transport line 10 may be one in which the independent support device 12 moves by itself or pushed along the track without depending on the conveyor 11.

The transfer line 10 is housed in a housing 14 formed by a transfer casing 13.
4 is provided with a ventilation device 15. Ventilation device 15
Has an exhaust duct 15a, an exhaust fan 15b, and a processing device 15c, and the accommodation chamber 1 is driven by the exhaust fan 15b.
Air in the exhaust duct 15a through the processing device 15c.
Exhausted from outside. The processing device 15c is provided with a filter 15d that captures and separates an organic solvent that is a thinning solution of the paint. Since the outflow of the organic solvent can be reduced as described below, the installation of the processing device 15c may be cancelled.

A plurality of coating modules 20 are arranged adjacent to and along the transport line 10. In the coating module 20, the upstream side of the transport line 10 is used for undercoating, and the downstream side is used for topcoating.

The coating module 20 is provided with a coating casing 21, a coating device 22, a work holding device 23 constituting a part of the work moving device A, and a cleaning device described below. Transfer line 1 with painted casing 21
A coating room 25 is provided independently of the coating room 25. In the coating room 25, a coating device 22, a work holding device 23, and a cleaning device are arranged.

A ventilation device 26 is provided on a floor member 21 a of the coating casing 21 which will be described later.
5 and independently. The ventilation device 26 has an exhaust duct 26a, an exhaust fan 26b, and a processing device 26c. The air in the coating chamber 25 is driven from the exhaust port 26e provided on the floor by the driving of the exhaust fan 26b to the exhaust duct 26a via the processing device 26c. It is exhausted more outdoors. The processing device 26c is provided with a filter 26d for capturing and separating the organic solvent.

By ventilating the coating room 25 with the ventilation device 26, the ventilation device 15 of the storage room 14 can reduce the amount of mist-like paint leaking from the coating casing 21 through the opening 28 described below. Clogging due to the organic solvent can be prevented, and it can be used up to the original organic solvent adsorption capacity. Note that the amount of the organic solvent leaking through the opening 28 can be reduced.

The coating device 22 is disposed in a coating room 25, and applies a coating material to a work K held by a work holding device 23 located at a coating position by a coating robot 22a.

The work holding device 23 and the exchange moving device 3
0, the work moving device A is configured to move the work K from the support device 12 to the vicinity of the coating device 22;
The upper work K is held from below.

The work holding device 23 includes the coating casing 2
The work holding device 23 is mounted on the floor 21a of the first unit 21 and grounded, as shown in FIGS.
f, the main arm 23a, the sub-arms 23b and 23c, and the work holders 23b1 and 23c that form the support extending upward.
One. The main arm 23a is rotatable or rotatable about an axis separated from the work holders 23b1 and 23c1 in the driving unit 23f. Sub arm 23b,
Reference numeral 23c is connected to the main arm 23a so as to be rotatable or rotatable around an axis. Work holder 23b1,
23c1 is a main arm 23a and sub-arms 23b, 23c
Arm 23 at a position away from the connection center axis
b, 23c, and the work K is detachable.

The driving section 23f is provided with a main motor M1 for driving the main arm 23a, and the main motor M1 causes the main arm 23a to rotate or rotate about a support shaft 23g as a fulcrum. At both ends of the main arm 23a, independently of the main motor M1, first sub-motors M2 for driving the sub-arms 23b and 23c are arranged. This first sub motor M2
, The sub-arms 23b and 23c can be freely operated with the support shaft 23h as a fulcrum without being restricted by the rotation or rotation of the main arm 23a.

At both ends of the main arm 23a, independent of the main motor M1 for driving the main arm 23a, a second auxiliary motor M for driving the work holders 23b1 and 23c1 is provided.
3 are arranged. The work holders 23b1 and 23c1 can be freely operated via the belts 23i and 23j without being restricted by the rotation or rotation of the main arm 23a by the driving of the second sub motor M3.

The work holders 23b1, 23c1
Can be rotated or rotatable around the axis of the support shaft 23h with respect to the sub-arms 23b and 23c.
, And by rotating or rotating the work holders 23b1 and 23c1, the outer periphery of the work can be easily and reliably painted.

The work holding device 23 is provided with the main arm 2.
The sub-arms 23b, 23c are pivotally or rotatably connected to the support arm 23h around the support shaft 23h, and the sub-arms 23b, 23c are located at positions separated from the connection center axis of the main arm 23a and the sub-arms 23b, 23c. 23c, a workpiece holder 23b, 2 on which the workpiece is detachable.
3c, when the main arm 23a rotates or rotates,
By rotating and placing the sub-arms 23b and 23c near the main rotation center axis, the inertial mass around the main rotation center axis can be reduced, so that the rotation or the start and stop of the main arm 23a are promptly performed. be able to.

The main arm 23a has work holders 23b1 and 23c1 at a plurality of positions on the same circumference from the rotation center axis, and can hold a plurality of works on the main arm 23a. The amount of work stored on the line 10 can be reduced. Also, if the work K is 1
Since the paint is successively guided into the paint casing 21, the color can be changed immediately.

The coating casing 21 is provided with an opening / closing door 27 for partitioning the coating chamber 25 and the transport line 10.
8 is closed.

The exchange moving device 30 is a robot, and the outdoor turntable 31 having the loaders 31a and 31b is turned by 90 degrees so that the work at the work change position and the work on the transfer line can be exchanged.

Next, the construction of the work holders 23b1 and 23c1 will be described in detail.
Since c1 has the same configuration, the work holder 23b1 will be described with reference to FIG.

The sub-arm 23b of the work holding device 23 is provided with a mounting portion 233, and a pin portion 233a of the mounting portion 233 is provided with a column 230 extending upward. The support 230 includes the mounting plate 234 and the pipe 23.
5 and is integrally fixed by welding 236 through a welding hole 237 in a state where the mounting plate 234 and the pipe 235 are mounted on the pin portion 233a.

A metal holding jig 3 to which the work K is fixed
00 is provided with a foot 301 extending downward,
01, a cap 302 is fixed by welding 303,
A cap 302 is provided at the tip of the foot portion 301 to form a pipe-shaped portion whose upper part is closed and whose lower part is opened. The stopper 304 is located above the cap 302.
Are fixed to the feet 301 by welding.

On the other hand, the tip of the support 230 is
02, and a supporting portion for supporting the foot portion 301 in the pipe 235 is supported by the support portion 23.
0. The support part 230 is made of metal,
3, sub arm 23b, main arm 23a, and drive unit 23f
Are grounded via the internal electrical conduction path.

Next, the supporting device 12 for the conveyor 11 is shown in FIG.
It will be described based on. The pipe 401 of the support part 400 is fixed to the attachment part 11 a of the conveyor 11 by welding 402. The support portion 400 is provided with a second support portion 500 extending upward. The second support portion 500 is made of metal, and a cap 502 is welded to a lower portion of the pipe 501.
The end of the second support 500 is formed in a pipe shape which is closed at the top and open at the bottom. Pipe 5
01 so that the foot 503 protrudes downward inside
04. Foot 503 to pipe 401
And the cap 502 is inserted outside the pipe 401. The pipe 501, the cap 502, and the foot 503 are integrally fixed by welding 504 via a welding hole 505. A stopper 506 is fixed to the pipe 501 by welding 507 at a position above the cap 502.

On the other hand, the tip of the second support 500 is formed into a pipe shape that can be stored in the cap 302 of the holding jig 300, and the supporting portion that contacts and supports the foot 301 of the holding jig 300 in the pipe 501. Are provided on the second support 500.

As described above, the shape of the tip of the support 400 and the shape of the tip of the second support 500 are formed in the same manner as the shape of the tip of the support 230 of the work moving device A. I have.

On one side of the loader 31a or 31b of the exchange moving device 30, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the supporting device 12
The holding jig 300 is removed from the second support 500
By inserting the tip of the foot 301 of the holding jig 300 into the pipe 235 of the strut 230 of the work moving device A, the tip of the strut 230 is moved to the foot 3 of the holding jig 300.
The unpainted work K can be moved from the support device 12 to the work moving device A by placing the holding jig 300 on the work moving device A so as to be housed in the cap 302 provided at the distal end of the work 01. Become.

Similarly, the loader 31 of the exchange moving device 30
a or 31b, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the holding jig 300 is grasped and removed from the support 230 of the work moving device A. By inserting the tip of the foot 301 of the holding jig 300 into the pipe 501 of the support 500, the tip of the second support 500 is attached to the cap 302 of the tip of the foot 301 of the holding jig 300. The work moving device A for the painted work K by placing the holding jig 300 on the support device 12 so as to be stored in
From the support device 12 to the support device 12 becomes possible.

The loader 31a of the exchange moving device 30
Alternatively, while holding the pipe 501 between the stopper 506 of the second support 500 and the cap 502,
The work K is detached from the support part 400 integrally with the second support part 500 and the holding jig 300 and is moved to the work moving device A, and the other of the loaders 31a or 31b is used for the second work.
The pipe 501 between the stopper 506 of the support 500 and the cap 502 is gripped, and the workpiece moving device A sends the workpiece K
May be removed integrally with the second support 500 and the holding jig 300 and moved to the support 400.

Next, an embodiment of the cleaning device and the ventilation device in the embodiment of the coating system will be described. FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

The coating system 1 of this embodiment is similar to the coating system shown in FIG.
4 are denoted by the same reference numerals as those in FIG.

The coating casing 21 is provided with a coating chamber 22 which forms a part of a coating chamber 25 by a partition wall 21b.
0 is formed, and the coating device 22 is disposed in the coating device housing chamber 220. The painting robot 22a of the painting device 22 is moved from the small robot opening 21b1 of the partition wall 21b to the painting room 2
5, and the work K is painted. A high voltage generator 221 is provided outside the coating casing 21, and the high voltage generator 221 is connected to a high voltage line 2 for applying a negative charge.
22, connected to the tip of the painting robot 22a,
A negative charge is given to the paint in this tip. The work K is made of metal and grounded, and is an electrostatic coating that applies a high voltage difference between the paint in the coating device 22 and the work K, so that the paint does not easily scatter outside the work K.

The coating system 1 is provided with a washing device 24. The washing device 24 is provided with a water curtain 24a for allowing washing water to flow down along three inner walls 21c and a partition wall 21b of the coating casing 21. The washing water flowing down like a waterfall is collected in a discharge groove 24b formed in the floor 21a. The discharge groove 24b is formed below the coating casing 21, and the washing water collected in the discharge groove 24b is guided to the separation tank 24d via the discharge pipe 24c. The washing water stored in the separation tank 24d is supplied to the circulation pump 24
By driving e, the washing water is sent from the supply pipe 24f to the upper part of the four inner walls of the coating casing 21 and overflows from the sump weir 24g to cause the washing water to flow down along the three inner walls 21c and the partition wall 21b. ing. The mist-like paint sprayed from the painting device 22 and reaching the inner walls on the four sides is washed away with the washing water.

A dispersant 90 is added to the separation tank 24d, and the dispersant 90 makes the paint in the wash water non-adhesive and dispersed. The washing water in the separation tank 24d is driven by a separation pump 91 via a circulating pipe 92 to drive the centrifuge 9
3, and the paint residue 94 is separated by the centrifugal separator 93.

The coating system 1 includes a ventilation device 26.
The outside air is taken in from outside through the outside air intake 26i, and the temperature and humidity of the outside air taken in by the air conditioner 26j are set to desired values and sent to the ventilation room 261 through the duct 26k. The outside air is supplied from the ventilation room 261 to the coating room 25 and the coating device accommodating room 22 through the ventilation air outlet 21d1 formed on the ceiling 21d of the coating casing 21.
Flow into 0. The air that has flowed into the coating apparatus storage chamber 220 flows to the lower part of the coating chamber 25 through the small robot opening 21b1. The floor 21a has an exhaust port 26e connected to the discharge groove 24b, and air for ventilation is supplied from above to the floor 21a.
Flows into the gas-liquid separation chamber 26l from the discharge groove 24b. A water draining plate 26h is arranged in the gas-liquid separation chamber 26l to prevent moisture from entering the exhaust duct 26a by driving the exhaust fan 26b. The air conditioner 26j may include an air fan inside, or may include only the exhaust fan 26b.

In the discharge groove 24b, ventilation air, washing water,
If the paint mist is discharged and only the painting robot 22a is kept clean, the paint mist and dust easily flow downward and are discharged. Further, since the flow direction of the cleaning water coincides with the flow direction of the air, the cleaning water and the paint mist can be more reliably discharged.

FIG. 6 is a block diagram showing the configuration of control of the coating system. A paint factory computer 189 is connected to the internal bus 900 of the paint factory.
A first coating system computer 902, a second coating system computer 903, and a plurality of coating system computers are connected to each other to exchange information.

This first coating system computer 90
Since a plurality of coating system computers, such as the second and second coating system computers 903, are similarly configured and controlled, only the configuration of the first coating system computer 902 will be described.

A memory 904 is connected to the first coating system computer 902, and controls the transfer line actuator 910. Transfer line actuator 9
Reference numeral 10 controls the movement drive actuator 912 based on the work identification information of the work identification sensor 911 installed on the transport line 10.

The first coating system computer 9
02, a first coating module CPU 920, a second coating module CPU 930, and a plurality of coating modules C
PUs are connected to each other to exchange information.

This first coating module CPU 920,
The plurality of coating module CPUs such as the second coating module CPU 930 are configured in the same manner and perform control, so that the first coating module CPU 9
Only the configuration of No. 20 will be described.

The first coating module CPU 920 is connected to a memory 921 and has a door driving actuator 92
2. Controls the painting robot drive actuator 923, main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 926, and exchange movement device drive actuator 927.

In the control of the coating system, for example, three-dimensional data input of the outer shape for each work type is input to the memory 904 in the first coating system computer 902.

Based on the input data, the first software creates each data of the injection nozzle operation control, the injection timing and the injection speed control. In addition, each data of the work position and the posture control is created by the second software. Also, the third
From the weight for each work type and the injection timing data according to the first software, data creation of main arm operation control and sub arm operation control, creation of control data of a repositioning robot, and creation of open / close control data of an opening / closing door are performed by software. .
Further, from the paint color data, paint switch valve drive control data creation, cleaning control at the time of paint switch, injection nozzle opening / closing timing, air supply valve opening / closing timing, thinner supply valve opening / closing timing data creation are performed.

The above data is stored in the memory 90 as a storage device.
4 is stored in a setup step before painting.

The position and orientation of the injection nozzle and the holding of the work when the painter skilled in the art actually applies the coating for each work type without using the teaching software such as the first software and the second software. The state (= position, posture) may be measured, and data may be created directly from the measured values.

In the work transfer control, for example, a pallet holding the work K is sequentially supplied to the transfer line 10 based on a coating plan under the control of the transfer line actuator 910. The identification of the work K is recognized assuming that the work K flows in an order based on the painting plan, or the identification data attached to the pallet is read in the middle of the transport line 10 to recognize the identification of the work K. Corresponding to the identification of the work K, corresponding to each data in the storage device, the opening / closing door drive actuator 922, the painting robot drive actuator 92
3. Main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 92
6. Drive and control each actuator of the exchange moving device drive actuator 927.

Next, the operation of the control system of the coating system shown in FIG. 6 will be described with reference to FIGS. 7 and 8.

In FIG. 7A, the coating casing 21
The opening 28 is closed by the opening / closing door 27, the coating device 22 is driven in the coating room 25, and the coating robot 22a holds the sub-arm 23c of the work holding device 23 to apply the coating material to the work K3 located at the coating position P1. Start painting to apply. The coating is performed by rotating the work K3 by 90 degrees by the work holder 23c1 of the sub arm 23c at a predetermined timing, and applying the paint to the entire work K3.

On the other hand, the outdoor turntable 31 of the exchange moving device having the loaders 31a and 31b is turned by 90 degrees, and the work reloading position P2 outside the closed door 27 is closed.
Work K of the work holder 23b1 located at
1, the loader 31b extends and lifts (lifts up) and engages (hanger chuck), while the loader 31b extends and rises to the unpainted work K2 held by the support device (pallet) 12 on the transport line 10. Lift up) and engage (hanger chuck).

Thereafter, the outdoor turntable 31 of the exchange moving device 30
Is rotated by 180 degrees, and the unpainted work K2 on the work holder 23b1 located at the work change position P2 is lowered (lifted down) by the loader 31b and disengaged (hanger unchuck) from the loader 31b. On the other hand, the work K1 painted on the support device (pallet) 12 is similarly delivered from the loader 31a. Further, after this, the outdoor rotary table 31 turns 90 degrees, and the state shown in FIG.

In FIG. 7B, the painted work K
The supporting device (pallet) 12 holding 1 is moved in the direction of the next process section (pallet positioning release and pallet feed), the opening and closing door 27 is opened, and the painting continued from FIG. Complete.

The supporting device (pallet) 12 holding the unpainted work K2 is sent from the pre-process section to a predetermined position (pallet positioning), and the state shown in FIG. 7C is obtained. In FIG. 7C, the sub arm (sub arm) 23b holding the unpainted work K2 is turned by 90 degrees, and the unpainted work K2 held by the work holder 23b1 passes through the opening 28 and is placed on the work. It moves from the replacement position P2 to the intermediate position P3, and the state shown in FIG.

In FIG. 7 (D), the main arm (index) 23a rotates by 180 degrees, and the positions of the sub arm 23b holding the unpainted work K2 and the sub arm 23c holding the painted work K3 are switched. That is, the painted work K3 moves to the painting position P3, and the unpainted work K2 moves to the painting position P1, and the state shown in FIG.

In FIG. 7E, the sub arm 23c is
After turning 80 degrees, the painted work K3 moves from the middle position P3 to the work replacement position P2.
7 is closed, painting is started, and the state returns to the state shown in FIG.

The work holder 23b1 or the work holder 23c1 to be located at the painting position P1.
Has 9 workpieces, each of which is turned three times during painting.
Rotate by 0 degrees. As a result, the work can be divided into four times, and the entire circumference of 360 degrees can be painted through the painting on four sides at 90 degrees. Paint, swirl, paint, swirl, paint, swirl,
After completing the coating of the entire circumference by the coating, a sub-arm (sub-arm) 23b for moving the unpainted work K2 shown in FIG. 7C from the work transfer position P2 to the intermediate position P3 through the opening 28. The work holder 23c1 of the other sub-arm (sub-arm) 23c is also rotated by 90 degrees at the same time as the 90-degree rotation or during the 180-degree rotation of the main arm 23a.

The timing chart of FIG. 8 illustrates the above contents. The work K2 before painting on the transport line 10 is moved to the painting position P1 via the work replacement position P2 and the intermediate position P3, and the completed work K3 at the painting position P1 is moved to the intermediate position P3 and the work replacement position P2.
And moves onto the transport line 10 via the. In the timing chart, the painting of the fourth side of the work K is completed.
The opening operation of the opening and closing door 27 is started two seconds before, and the opening and closing door 27 is fully opened almost at the same time as the end of the painting. This makes it possible to reduce the cycle time even if a slightly mist of paint flows out of the opening 28.

As described above, the work moving device A moves the work holder 23b between the painting position P1 and the work replacement position P2 at which the work can be detached from the work holder.
A work holding device 23 having a main arm 23b that is rotatable or rotatable around an axis separated from the first and second 23c1
And a replacement moving device 30 that enables the work at the work transfer position P2 to be replaced with the work on the transfer line 10. By simply rotating or rotating the main arm 23a, the work is moved to the painting position P1. Since the work can be moved to and from the work change position P2 where the work can be detached from the work holding device, quick movement is possible.

Further, the work moving device A is
Since the work K is moved from the position to the vicinity of the coating device 22 and the work K at the upper position is held from below, the work transfer device of the transfer line 10 or the work moving device for moving the work K of the transfer line 10 to the vicinity of the coating device 22 Even if garbage or paint falls from A, work K during painting or work K whose paint has not completely dried after painting
The surface of the workpiece K is not roughened. Further, even when the work K is painted, the paint does not easily adhere to the work transfer device itself on the transfer line 10, so that maintenance and inspection of the work transfer device A can be simplified.

The coating casing 2 having the opening 28
The work moving device A moves the work K from the support device 12 to the vicinity of the coating device 22 and the movement from the vicinity of the coating device 22 to the support device 12 through the opening 28. As a result, the transport line 10 is located outside the coating chamber 25, and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, so that the paint sprayed from the coating device 22 collides with the workpiece K or the like. Even if the paint scatters, the scattered paint is less likely to reach the transport line 10 and the paint is less likely to adhere.

During the construction of the transport line 10, the coating casing 21, the coating device 22, and the work moving device A
Installation work is possible, construction work can be shortened, and capital investment costs can be saved.

As a control target of the coating control, there is control of the work moving device A. Work position and posture control are simultaneously performed by the main arm operation control, the sub arm operation control of the work moving device A, and the control of the work holding device. Further, it controls the transfer robot, that is, the exchange moving device 30.

The control object of the coating control includes the opening and closing control of the opening and closing door 27.

Further, control of the coating robot 22a of the coating apparatus 22 is a control object of the coating control, which includes control of paint selection, control of movement and attitude of a spray nozzle, control of a spray timing (open / close control of a spray valve), and control of a spray speed, that is, time. There are control of the injection amount per hit (possible by controlling the number of revolutions of the pump), cleaning control accompanying the paint switching, and the like.

FIG. 9 is a view showing paint spraying by the painting robot. FIG. 9 (A) is a side view and FIG. 9 (B) is a plan view.
In the work moving device A, the work K rotates about the Z axis as a fulcrum,
The paint is sprayed from the paint spray nozzle 22a1 of the painting robot 22a.

The tip of the paint spray nozzle 22a1 has the coordinates P
_N (Px, Py, Pz) and the paint spray nozzle 22a
The injection direction of 1 is However, l, m, and n are the direction cosine with respect to the x-axis, the y-axis, and the z-axis, respectively.

In this embodiment, the work K is rotated about the Z axis as a support shaft, and the paint jet nozzle 22 of the painting robot 22a is rotated.
The control for moving the position a1 is performed, and the paint is sprayed to paint the entire work K.

FIG. 10 is a diagram showing changes in the paint spray timing of the painting robot, the tip position of the paint spray nozzle, the spray direction, and the work holding state of the work holding device. The paint spray nozzle 22a1 opens and changes the position of the spraying direction in a certain period, paints, closes and stops the coating in a certain period, rotates the work, and changes the position of the spraying direction in a certain period to paint. Painting is performed by repeating this.

In this embodiment, the work K is rotated from 0 ° to 90 ° about the Z-axis as a fulcrum, and during a certain period t1 during this rotation.
Does not perform the paint spraying, and performs the paint spraying while changing the position of the spraying direction during the period t2, which is the rotation angle α rotated by 90 degrees. Similarly, the work K is rotated from 90 degrees to 180 degrees around the Z axis.
The paint is not sprayed during a certain period t1 during this rotation, and paint is sprayed while changing the position of the spray direction during the rotation angle α rotated by 180 degrees. Similarly, the work K is rotated from 180 degrees to 270 degrees around the Z axis, and during a certain period t1 during which the work K is not sprayed, the work K is rotated by 270 degrees.
During the period of the rotation angle α rotated by degrees, the paint spraying is performed by changing the position of the spraying direction.

Similarly, the workpiece K is rotated from 270 degrees to 360 degrees about the Z axis as a fulcrum. During this rotating period t1, the paint is not sprayed, and during the period of the rotation angle Xw rotated 360 degrees, the spray direction is changed. Change the position and spray paint to complete painting. The injection direction is also a function of time, and l =
_{f l (t), m =} f m (t), the _n = f n (t).

In each of the embodiments shown in FIGS. 9 and 10, a work holding device 23b1 or 23c1 serving as a work holding device 23 during painting by a painting robot 22a is provided.
Is stopped, but in addition to the painting robot 22a, the work K
May be changed. Thereby, the relative speed between the coating robot 22a and the workpiece K where the coating film is desired to be thickened is decreased, and the relative speed of the portion where the coating film is desired to be thinned is increased, so that a free coating skill can be implemented.

FIG. 11 is a view showing a work holding device according to another embodiment. In this embodiment, the work moving device A can rotate the Z axis around the Y axis, and the work K has two degrees of freedom, the Z axis and the X axis. The paint is sprayed while changing the posture of the work K.

FIG. 12 and FIG. 13 are configuration diagrams showing paint spraying of the painting robot. The paint spray nozzle 22a1 of the paint robot 22a is provided with a spray on-off valve 22a2,
Opening / closing is controlled by a painting robot drive actuator (not shown). The paint injection nozzle 22a1 has a hose 22a
3 is connected, and the paint supply device 22 is connected through a hose 22a3.
The paint corresponding to the specification required for the work K is supplied from a4. The high voltage generator 221 gives the paint in the paint spray nozzle 22a1 a charge having a high negative value.

As shown in FIG. 13, the paint color changing valves V1 to Vn, which form part of the paint supply device 22a4,
Each of the supply hoses 22a41 is connected, and each of the paint tanks T1 is driven by the drive of each of the injection pumps P10.
Is supplied via the supply hose 22a41, that is, n colors can be changed corresponding to the color changing valves V1 to Vn.

When the color is changed, air is supplied from the cleaning device 22a5 to the paint spray nozzle 22a1 by operating the valve Va, and thinner is supplied by operating the valve Vs.
By supplying the air and the thinner, the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3.

In this embodiment, the paint switching valves V1 to Vn are used, and the color change and cleaning are performed as shown in Table 1.

In Table 1, ○ indicates the valve opening,
Indicates that the valve is closed. In addition, A ... is washed B. Painted in the color 1 (for example, black) C ... Painted in the color 2 (for example, red) d ... Painted in the color of n (for example, blue) When the color of the paint is changed, air is supplied by the operation of the valve Va, thinner is supplied by the operation of the valve Vs, and the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3 by the supply of the air and the thinner. Change the color of the paint.

FIG. 14 is a view showing a painting operation for one day.
For example, a small, small-capacity paint tank unit is used to paint black, red, white, and blue in the morning, and the work is stopped during lunch break. In the afternoon, the blue paint is continued, and black, red, and white paints are performed using a large-capacity paint tank unit.

As described above, the coating system 1 includes the transport line 10 that enables the workpiece K to move along the trajectory, and the coating apparatus 2 that is disposed along the transport line 10.
2, the work K is taken out of the transfer line 10 before coating, returned to the transfer line 10 after coating, and the work K is held near the coating device 22 during coating and separated from the transfer line 10 while holding the work. And a work moving device A that holds a work holding actuator that makes variable.

Further, a memory 904 as storage means for storing control data for variably controlling a holding state corresponding to a work shape, and a memory means for storing the in-coating means corresponding to the work shape guided from the transport line 10 before painting. A coating system computer which constitutes control means including central control means for drivingly controlling the work holding actuator based on the control data. Accordingly, since the work holding actuator that changes the holding position or the holding posture of the work is arranged in the work moving device A that holds the work in the vicinity of the coating device and separated from the transport line, the work holding actuator can be moved along the track. Support device 12 on transport line 10
There is no need to dispose a work holding actuator for each, and the cost can be reduced.

The coating system 1 includes a coating module 20 that can be arranged adjacent to the transport line 10 that enables the workpiece K to move along the track, and a coating system computer that constitutes control means for controlling the coating. The coating module 20 forms a coating chamber 25 and has a coating casing 21 having an opening 28, a coating device 22 disposed in the coating chamber 25, and guides a work K on the transport line 10 into the coating chamber 25 through the opening 28. The painting device 22
After the coating, the work K in the coating room 25 is opened
8 and a work moving device A that returns to the transfer line 10 through the transfer line 8.

The work moving device A holds the work K during painting and also has a work holding actuator for making the work holding state variable.

The coating system computer constituting the control means includes a memory 904 as storage means for storing control data of a holding position or a holding posture of the work corresponding to the shape of the work, and a work guided from the transport line 10 before coating. Central control means for driving and controlling the work holding actuator based on the control data in the in-coating storage means corresponding to the shape. Therefore, the installation work of the coating casing 21, the coating device 22, the work holding device 23, and the work moving device A can be performed in parallel during the construction of the transport line 10, and the construction can be shortened, and the capital investment cost can be saved. In addition, since the transport line 10 is located outside the coating room 25 and the transport line is separated from the coating device 22 and has an opening therebetween, the paint sprayed from the coating device 22 collides with the work or the like and scatters. Even so, the scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

The opening and closing door 27 and the opening and closing door 2
7 has an opening / closing door drive actuator for driving the opening / closing of the door 7, and the storage means has control data for driving and controlling the opening / closing door drive actuator in accordance with the type of work guided from the transport line 10 before painting.

The central control means constituted by the coating system computer drives and controls the opening / closing door drive actuator based on the control data in the storage means based on the type of work, so that the paint sprayed from the coating device 22 collides with the work or the like. Even if it scatters, the opening / closing door 27 is closed for a part or all of the period during the coating, so that the coating can be less likely to adhere to the transport line 10 side.

The work moving device A has a work moving actuator for guiding the work K from the transfer line 10 before painting and returning the work K to the transfer line 10 after painting. The memory 904 as storage means has control data for driving and controlling the work moving actuator corresponding to the work type. Further, the central control means drives and controls the work moving actuator based on the control data in the storage means based on the type of work to be guided from the transport line 10.
This makes it possible to easily reduce the moving speed of the work moving device K, reduce the driving force, and reduce the vibration even when the heavy work K is mixedly loaded on the transport line 10 for painting. That is, the moving speed can be easily varied according to the type of the work.

The coating device 22 has a paint spray nozzle opening / closing valve and a spray nozzle actuator for changing the position or posture of the spray nozzle, and the storage means stores the position or posture of the spray nozzle corresponding to the workpiece shape. Injection nozzle control data to be controlled and ejection nozzle opening / closing valve opening / closing control data corresponding to the workpiece shape are stored.

The central control means controls the drive of the spray nozzle actuator and the spray nozzle open / close valve based on the spray nozzle control data and the spray nozzle open / close valve open / close control data in the in-coating storage means, corresponding to the workpiece shape. As described above, the painting corresponding to the work shape can be performed only by storing the control data related to the paint ejection corresponding to the work shape in the storage unit. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

FIG. 15 is a view showing another embodiment of the coating system. The coating system 1 includes a transport line 10 that enables the support device 12 to move along a track. The support device 12 has a work holding actuator 600 that makes the holding state of the work K variable, and the support device 1
2, a power supply system (not shown) is connected.

A coating device 22 is provided along the transport line 10, and a coating robot 22a of the coating device 22 is provided.
Performs painting by spraying paint on the work K.

The coating system 1 stores control data for variably controlling the holding state corresponding to the workpiece shape, and also includes storage means 601 that is disposed separately from the support device 12.
And drive control of the work holding actuator 600 based on the control data in the in-coating storage means 601 corresponding to the shape of the work conveyed to the vicinity of the coating device 22;
Central control means 602 spaced from support device 12
And a control device 610 including a data signal line 603 for transmitting a control signal from the central control means 602 to the work holding actuator 600 and a control signal transmitting means 605 such as a rotary contact electrode data transfer device 604. .

As described above, the control data in the holding state corresponding to the workpiece shape is simply stored in the storage means 601.
Coating corresponding to the work shape becomes possible. In particular, the storage means 6 stores control data in a holding state corresponding to a plurality of workpiece shapes.
In the case where the number is stored as 01, a plurality of works K flowing on the transport line 10 can be coated according to their respective shapes. Further, there is no need to hold control data for each support device 12.

[0111]

As described above, according to the first aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data in the holding state corresponding to the work shape in the storage means. In particular, in the case where control data in a holding state corresponding to a plurality of workpiece shapes is stored in the storage means, a plurality of workpieces flowing on the transport line can be coated according to the respective shapes. Further, there is no need to hold control data for each supporting device.

According to the second aspect of the present invention, in addition to the effects of the first aspect, the work holding actuator for changing the work holding position or the holding posture is held near the coating apparatus and separated from the transfer line to hold the work. Therefore, it is not necessary to dispose a work holding actuator for each of the work holding devices on the transfer line that is movable along the trajectory, and the cost can be reduced.

According to the third aspect of the present invention,
In addition to the effects of the above, during the construction of the transfer line, the installation work of the coating casing, the coating device, the work holding device, and the work moving device can be performed in parallel, and the work can be shortened, and the capital investment cost can be saved. In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the transport line, and the paint is less likely to adhere.

According to the fourth aspect of the present invention, in addition to the effect of the third aspect, even if the paint sprayed from the coating apparatus collides with a work or the like and scatters, the opening and closing door is partially or entirely during the painting. Is closed, so that the paint can hardly adhere to the transfer line side.

According to the fifth aspect of the present invention, even when a heavy workpiece is mixedly loaded on a transport line and painted, the moving speed of the workpiece moving device can be easily reduced to reduce the driving force and the vibration. Can be planned. That is, the moving speed can be easily varied according to the type of the work.

According to the sixth aspect of the present invention, the painting corresponding to the work shape can be performed only by storing the control data related to the paint spraying corresponding to the work shape in the storage means. In particular, when control data relating to paint spraying corresponding to a plurality of workpiece shapes is stored in the storage means, it is possible to paint a plurality of workpieces flowing on the transport line according to the respective shapes.

[Brief description of the drawings]

FIG. 1 is a perspective view of a coating system.

FIG. 2 is a schematic configuration diagram of a work holding device.

FIG. 3 is a cross-sectional view illustrating a configuration of a work holder.

FIG. 4 is a cross-sectional view showing a configuration of a conveyor supporting device.

FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

FIG. 6 is a block diagram illustrating a configuration of control of a coating system.

FIG. 7 is a schematic configuration diagram showing an operation of the coating system.

FIG. 8 is a timing chart of the operation of the coating system.

FIG. 9 is a view showing paint spraying of a painting robot.

FIG. 10 is a diagram illustrating a change in a paint spray timing of a paint robot, a tip position of a paint spray nozzle, a spray direction, and a work holding state of a work holding device.

FIG. 11 is a diagram showing a work holding device according to another embodiment.

FIG. 12 is a configuration diagram showing paint spraying of a painting robot.

FIG. 13 is a configuration diagram showing paint spraying of a painting robot.

FIG. 14 is a view showing a painting operation for one day.

FIG. 15 is a view showing another embodiment of the coating system.

FIG. 16 is a schematic configuration diagram of a conventional coating system.

[Description of Signs] 1 coating system 10 transport line 12 support device 22 coating device 23 work holding device 25 coating room 30 exchange moving device A work moving device

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Claims (6)

[Claims] A supporting device having a work holding actuator capable of changing a holding state of a work, comprising: a transport line capable of moving along a track; and a coating device arranged along the transport line. Storing control data for variably controlling a holding state corresponding to a work shape, storing means separated from the support device, and corresponding to the shape of the work conveyed to the vicinity of the coating device; A control device, comprising: a central control unit that drives and controls the work holding actuator based on control data and is disposed separately from a support device; and a control signal transmitting unit that transmits a control signal from the central control unit to the work holding actuator. And a coating system comprising: 2. A transfer line for moving a work along a track, a coating device arranged along the transfer line, a work taken out of the transfer line before painting, and returned to the transfer line after painting, and And a work moving device having a work holding actuator for changing a work holding state in the vicinity of the coating apparatus during coating and at a distance from the transfer line, and further having a holding state corresponding to the work shape. Storage means for storing control data for variable control;
And a central control means for controlling the operation of the work holding actuator based on the control data in the storage means during coating. 3. A coating system comprising: a coating module arranged adjacent to a transfer line for enabling a workpiece to move along a track; and a control means for controlling coating, wherein the coating module forms a coating chamber. A coating casing with an opening, a coating device placed in the coating room, and a work on the transfer line guided into the coating room through the opening, the work being painted is held near the coating device, and the work in the coating room is opened after painting. The work moving device holds the workpiece during painting and has a work holding actuator that changes the holding state of the work, and the control means controls the work corresponding to the work shape. Storage means for storing the control data of the holding position or holding posture of the work ,
A coating system comprising a central control means for driving and controlling the work holding actuator based on control data in the storage means during coating. 4. An opening and closing door having an opening and closing door and an opening and closing door driving actuator for driving the opening and closing of the opening and closing door, wherein the storage means drives the opening and closing door driving actuator in accordance with a work type guided from a transport line before painting. 4. The control device according to claim 3, further comprising control data for controlling, wherein the central control unit drives and controls the opening / closing door drive actuator based on control data in the storage unit based on a work type. 5. Painting system. 5. A work moving device having a work moving actuator for guiding a work from a transfer line before painting and returning the work to the transfer line after painting, wherein the storage means stores the work moving actuator in accordance with the type of work. The apparatus further comprises control data for driving control, wherein the central control means drives and controls the work moving actuator based on the control data in the storage means based on the type of work to be guided from the transfer line. The coating system according to any one of claims 1 to 4. 6. A coating apparatus, comprising: a paint spray nozzle opening / closing valve;
It has an injection nozzle actuator that can change the position or attitude of the injection nozzle, and the storage means is injection nozzle control data that controls the position or attitude of the injection nozzle corresponding to the work shape, and the opening and closing of the injection nozzle corresponding to the work shape The central control means stores the spray nozzle actuator and the spray nozzle based on the spray nozzle control data and the spray nozzle open / close valve open / close control data in the storage means during painting, corresponding to the workpiece shape. The coating system according to any one of claims 1 to 5, wherein the nozzle on-off valves are each driven and controlled.