JP2002143736A - Automatic coating apparatus for lower part of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coating robot having a simple structure, capable of transporting a work unit to the outside of a carrier, and comprising elevator mechanism whose stroke is made wide while allowing the lower part of a vehicle to run. SOLUTION: A transversely moving mechanism of a spray unit 22 comprises a transverse rail 213 attached in one end of the upper face of a lower part carrier 21, a slide block 214 movable along the rail, and a relay guide 216 movable in horizontal direction between a self-running type work unit 22 and the slide block 214 through guide rollers 215, 224. A multistep type pantograph 225 is attached to the stand frame 225 of the spray unit 22 and a spray nozzle 227 is disposed on the upper part of the pantograph and made movable up and down by an air cylinder 226.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle lower part automatic painting apparatus for automatically painting a lower part of a vehicle such as a large truck.

[0002]

2. Description of the Related Art In automobiles such as passenger cars and trucks, rust prevention coating may be applied under the vehicle at the time of vehicle inspection or the like. In this painting work, lift the vehicle with a lift,
It is common for an operator to enter the area underneath and use a spray nozzle (spray gun), but this is a difficult task facing upwards, and paint dripping or spraying on the worker's face There is a serious problem of hygiene such as inhalation of the paint, and improvement has been desired.

There have been proposed a variety of bogie type painting robots for painting while moving under the vehicle. Generally, the spray nozzle for painting can be rotated and swung by remote control so that the direction of the paint can be arbitrarily controlled. However, in general, the range of painting in the width direction is different between the wheel part and the part without the wheel, and there is a problem that the robot running only inside the wheel does not reach the inside of the chassis of the vehicle and paint residue remains. Was.

A trolley type robot is divided into a lower trolley running along a running rail in the vehicle length direction of the vehicle and a spray unit mounted on the lower trolley and capable of self-running in a direction perpendicular to the running rail. However, if the spray unit can be moved to the outside of the lower bogie while traveling is stopped, the remaining paint will not occur, but a moving mechanism that moves the spray unit on the right outside of the lower bogie, moves it within the width of the lower bogie There is a problem that three moving mechanisms, a moving mechanism and a moving mechanism for moving the lower bogie on the left outside, are required, and the structure of the robot becomes extremely complicated.

In a truck, for example, the differential gear case of the drive wheels is usually the lowest, but the robot must be designed to pass through the bottom of such a vehicle, so that the spray nozzle is fixed. There is also a problem that the distance of the vertical movement is limited even in the case of the vertical type or the vertical type, and the paint does not reach the inside of the chassis of the vehicle where the painting is indispensable, and the paint remains.

When an ordinary lifting jack is to be mounted on a paint truck, a large lifting stroke has a large overall size and cannot be accommodated in the truck. Therefore, the pit must be dug deeply or the platform for supporting the vehicle must be raised. It is necessary to respond to such equipment. In the case of electric jacks, it is necessary to take thorough insulation measures due to water wetting.In addition, since the electric jack is strong, even if it comes into contact with a part of the vehicle while ascending, it will try to rise as it is. May be damaged.

[0007]

SUMMARY OF THE INVENTION The present invention solves such problems in the prior art, and enables the working unit to move to the outside of the lower bogie during a stoppage of travel with a simple configuration, or The purpose of this system is to realize an automatic painting system at the bottom of the vehicle using a floor-traveling painting robot that can be stored in a compact size and adopts a lifting and lowering mechanism with a large stroke so that the bottom of the vehicle can be moved freely and no remaining paint remains in the chassis. I do.

[0008]

SUMMARY OF THE INVENTION The present invention provides a pair of pedestals provided at positions for supporting wheels of a vehicle, and a position inside the pair of pedestals lower than the surface of the pedestal in a vehicle length direction. In a vehicle lower automatic painting apparatus comprising an installed traveling rail and a painting robot that travels on the traveling rail and automatically paints a lower part of the vehicle, the painting robot includes:
A lower bogie equipped with a paint tank and a coating pump and running along the running rail with running wheels, and a spray unit mounted on the lower bogie and capable of self-running in a direction perpendicular to the running rail by a traversing mechanism. And the spray unit is a vehicle lower automatic coating apparatus characterized by having an elevating mechanism with a spray nozzle mounted on the upper part, desirably the traversing mechanism is provided on the upper surface of the lower bogie. A traversing rail that is not longer than the width of the lower bogie attached to one end in the traversing direction, and a slide block movable within the length along the traversing rail,
A guide roller mounted on the side facing the spray unit of the slide block in two vertical stages, a guide roller mounted on the side facing the traverse rail of the spray unit in two vertical stages, and a parallel vertical direction. A relay guide having two flanges, one flange being sandwiched between the guide rollers on the side of the slide block and the other flange being no longer than the width of the lower carriage sandwiched between the guide rollers on the side of the spray unit; Wherein the guide roller is rotatable within the range of the length of the relay guide, or the vehicle lower automatic coating device is characterized in that the lifting mechanism is a spray unit base. A pair of lower frames attached to the frame in an inverted C shape, and pins X connected at the ends thereof and pin-connected near the center of the length. -Shaped first intermediate frame, an X-shaped second intermediate frame that is pin-connected at its tip and pin-connected near the center of its length, and a pair of C-shaped that is pin-connected at its upper end The above-mentioned automatic painting apparatus for a vehicle lower part is a multi-stage pantograph in which a pair of frames composed of an upper frame and an upper frame are opposed to each other on the underframe.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention, first, a spray unit is of a self-propelled type equipped with a paint tank, and its moving range is linearly moved along a traversing rail. By regulating the block through a relay guide that moves linearly, the spray unit can be linearly moved to a position outside the lower bogie with a simple configuration.

Second, the spray unit can be housed compactly and the up-and-down stroke can be increased by using a multi-stage pantograph-type elevating mechanism for the spray nozzle.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing a painting place in an example in which a lower part of a truck T which is a large vehicle is automatically painted by a painting robot, FIG. 2 is a side view, and FIG. 3 is a plan view. 1 is a paint shop,
Reference numeral 11 denotes a pair of mounts provided at positions supporting the wheels of the truck T to be painted.
Slope T for riding on the vehicle, T is a truck stopped on the gantry 11, 2 is a painting robot for painting the lower surface of the truck T, 12 is a traveling mechanism of the painting robot 2, and 121 is a gantry.
11 A traveling rail of the painting robot 2 which is installed at a position lower than the surface of the inner base 11 in the vehicle length direction of the truck T, 12
2 is a traveling motor, 123 is a traveling wire connecting the traveling motor 122 and the painting robot 2, 124 is an electric cable, 125
Is an electric cable reel, 126 is an air hose, 127 is an air hose reel, and 3 is a central control panel.

FIG. 4 is a side view of the painting robot 2, FIG. 5 is a plan view of the same, and FIG. 6 is a front view as seen from the running direction. twenty one
Is a lower truck, 22 is a spray unit, and the painting robot 2 as a floor traveling robot has traveling wheels 212 and travels on a traveling rail 121 installed in the longitudinal direction of the truck T. Mounted on the lower trolley 21, traversing,
That is, it has a double structure including the spray unit 22 which can run in the width direction of the track T. Similar to the spray unit 22, the lower carriage 21 is a self-propelled type controlled by remote control from the central control panel 3, and travels by being pulled by a traveling wire 123 wound around a traveling motor 122.

An electric cable is provided on the lower carriage 21 of the painting robot 2 so that painting work can be performed at any position in the traveling range.
124 and an air hose 126 are connected to each other, and are wound on an electric cable reel 125 and an air hose reel, respectively, as the vehicle travels. 211 is the lower bogie 21
, 212 is a traveling wheel, 213 is a traversing rail provided on the upper surface of the lower bogie 21 in a direction perpendicular to the traveling direction, 214 is a slide block that moves along the traversing rail 213, 216 is a slide block 214 and a spray unit. Relay guides, 217a and 21 respectively, which engage with guide rollers 22 through guide rollers.
7b is a traversing limit switch for detecting the traversing range of the spray unit 22, 222 is a traversing wheel of the spray unit 22, of which 222a is a powered wheel, 222b is a driven wheel without power, and 223 is a powered wheel. An air motor that drives the traversing wheels 222a, 229 is a paint tank mounted on the lower bogie 21, and 230 is a paint pump also mounted on the lower bogie 21.

Next, the traversing mechanism of the present invention will be described with reference to the drawings. FIG. 7 is a partial perspective view showing a main part of the traversing mechanism of the spray unit 22 mounted on the lower carriage 21. A state in which the spray unit 22 and the traversing mechanism are all stored within the range of the underframe 211 of the lower bogie 21 as shown in FIG. 5 and the lifting mechanism of the spray unit 22 to be described later is folded is referred to as a reference state. In this state, the painting robot 2 can freely move in the vehicle length direction of the truck T through the inside of the wheels. In the position without wheels, the spray unit 22 is moved to the underframe 211 by the traversing mechanism described below.
To the outside of the vehicle, and can freely paint parts that cannot be reached from inside the wheels, such as the inside of the chassis.

As shown in FIG. 5 and FIG.
A traversing rail 213 having the full width of the lower bogie 21 is attached to one end of the upper surface of the underframe 211 in the traversing direction, and the slide block 214 moves along the traversing rail within the length of the traversing rail 213. It is possible. Slide block 21
The guide roller 215 is attached to the side facing the spray unit 22 of FIG. 4 in two vertical steps, which vertically sandwiches the flange portion of the relay guide 216 that is the full width of 21 of the lower bogie 21. In.

The relay guide 216 has a section H of, for example, an H-section steel.
With two parallel vertical flanges, one flange being sandwiched between the guide rollers 215 on the side of the slide block 214 and the other flange being mounted on the side of the spray unit 22 as described above. Between the guide rollers 224. Either guide roller 215, 2
24 is also rotatable within the length of the relay guide 216.

Slide block 214, guide roller 215
Are designed to stop at the end of the traversing rail 213 or the relay guide 216.
22 can move to a state where the slide block 214 moves to the end of the traversing rail 213 and the relay guide 216 is fully extended. That is, according to the present invention, the spray unit 22 can traverse to the outside of the lower carriage 21 via the relay guide 216.

FIG. 8 is a front view of the spray unit 22 shown in a raised state. Reference numeral 221 denotes a frame of the play unit 22. Reference numeral 225 denotes a multi-stage pantograph as a lifting mechanism, and a pair of lower frames 225a attached to the underframe 221 in an inverted C shape.
And an X-shaped first intermediate frame 225b which is pin-connected at the tip and is pin-connected near the center of the length, and pin-connected at the tip and pin-connected near the center of the length. The underframe is composed of an X-shaped second intermediate frame 225c and a pair of U-shaped upper frames 225d connected by pins at the upper ends thereof.
221, a pair is arranged on the upper surface so as to face each other.

In this embodiment, the number of intermediate frames is two. However, as this number is increased, the stroke becomes larger, as seen in examples of children's toys and magic hands for handling radioactive substances. An air cylinder 226 is used as a drive source for lifting and lowering the pantograph 225.
The distal end is attached to a connection between the first intermediate frame 225b and the second intermediate frame 225c. A spray nozzle 227 is a working device mounted on the upper end of the pantograph 225, and its spray direction can be controlled by an air actuator. 228
Is inserted into the lower part of the spray nozzle 227
It is a waterproof cover that protects the lower mechanism including the 225 from water.

In the present invention, the multi-stage pantograph is used for the spray nozzle raising / lowering mechanism of the spray unit, so that only the pantograph portion can be raised to a height of 6 to 8 times the folded size. It is possible to raise the entire lower part of the vehicle, including the inside of the chassis, to a height that can be painted, even though it can pass through the lowest part of the vehicle. In addition, since the air cylinder is used as a driving source for lifting and lowering, the vehicle stops when it comes into contact with a part of the vehicle during the ascent and does not damage the vehicle.

FIG. 9 is an explanatory view showing an example of use of the automatic painting apparatus for a vehicle lower part according to the present invention. The truck T is stopped on the gantry 11. The figure shows the vicinity of the rear end. First, the painting robot 2 is run and stopped at the rear end of the truck T as shown in FIG. The spray unit 22 is at a position within the underframe in the standard state. The traversing mechanism is driven to start painting from the right end toward the rear end of the truck as shown in FIG. By driving the lifting device to paint the high part of the lower part of the vehicle, the spray nozzle of the present invention is also rotatably and swingably supported (not shown), as in the conventional case, so that it can be used After completing the painting at the position, move the spray unit 22 to the left,
(C) As shown in (c), the painting is performed to the left end position, and when this position in the front-rear direction is completed, the spray unit 22 is returned to the standard state, the traveling mechanism is driven, and the painting robot 2 is advanced slightly to the rear wheel portion. Paint again from the right edge to the left edge at the location. (D) shows a state in which the painting robot 2 is further advanced and has passed through the rear wheels. Where (e),
As shown in (f), the paint is applied again from the right end to the left end. According to the present invention, it is possible to paint all over the entire width from the rear end to the front end of the vehicle.

FIGS. 10 and 11 show a main routine when the automatic painting apparatus for a vehicle lower part of the present invention is automatically operated, and FIGS. 12 to 15 show subroutines therein.

[0023]

According to the present invention, the working unit can be moved to the outside of the lower bogie with a simple structure, can be stored in a compact size, and employs a lifting and lowering mechanism with a large stroke. A painting robot that does not generate paint residue inside the chassis while realizing traveling is realized,
It has an excellent effect that the automatic painting of the lower part of the vehicle can be performed effectively.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a coating place in an embodiment of the present invention.

FIG. 2 is a side view showing a coating place in the embodiment of the present invention.

FIG. 3 is a plan view showing a coating place in the embodiment of the present invention.

FIG. 4 is a side view showing the painting robot in the embodiment of the present invention.

FIG. 5 is a plan view showing a painting robot in the embodiment of the present invention.

FIG. 6 is a front view showing a painting robot in the embodiment of the present invention.

FIG. 7 is a perspective view showing a main part of a traversing mechanism of the spray unit according to the embodiment of the present invention.

FIG. 8 is a front view showing an elevating mechanism of the spray unit according to the embodiment of the present invention.

FIG. 9 is an explanatory view showing an example of use of the vehicle lower part automatic coating apparatus of the present invention.

FIG. 10 is a flowchart showing a main routine in the automatic operation of the vehicle lower part automatic painting apparatus of the present invention.

FIG. 11 is a flowchart showing a main routine in an automatic operation of the automatic vehicle lower coating apparatus according to the present invention.

FIG. 12 is a flowchart showing a subroutine in the automatic operation of the vehicle lower part automatic painting apparatus of the present invention.

FIG. 13 is a flow chart showing a subroutine in the automatic operation of the automatic vehicle lower coating apparatus of the present invention.

FIG. 14 is a flowchart showing a subroutine in the automatic operation of the automatic vehicle lower coating apparatus according to the present invention.

FIG. 15 is a flowchart showing a subroutine in the automatic operation of the automatic vehicle lower coating apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Painting shop 2 Painting robot 3 Central control panel 11 Mount 12 Travel mechanism 21 Lower bogie 22 Spray unit 111 Slope 121 Travel rail 122 Travel motor 123 Travel wire 124 Electric cable 125 Electric cable reel 126 Air hose 127 Air hose reel 211, 221 Underframe 212 Running wheels 213 Traverse rail 214 Slide block 215, 224 Guide roller 216 Relay guide 217 Traverse limit switch 222 Traverse wheel 223 Air motor 224 Guide roller 225 Pantograph 226 Air cylinder 227 Spray nozzle 228 Waterproof cover 229 Paint tank 230 Painting pump T truck (vehicle)

Claims (3)

[Claims] 1. A pair of mounts (11) provided at positions supporting wheels of a vehicle (T), and a vehicle (T) located inside the pair of mounts (11) at a position lower than the surface of the mount (11). T) A traveling rail (121) installed in the vehicle length direction and a painting robot (2) for traveling on the traveling rail (121) and automatically painting a lower portion of the vehicle (T). In the apparatus, the painting robot (2) is equipped with a paint tank (229) and a painting pump (230), and has a traveling wheel (212) and a self-propelled lower carriage (21) along the traveling rail (121). )
And a spray unit (22) mounted on the lower bogie (21) and capable of self-propelling in a direction perpendicular to the traveling rail (121) by a traversing mechanism. The spray unit (22) An automatic lower coating device for a vehicle, comprising an elevating mechanism having a spray nozzle (227) mounted thereon. 2. A traverse rail (213) having a traversing mechanism that is not longer than the width of a lower trolley (12) attached to one end of the upper surface of the lower trolley (21) in a traversing direction, and the traverse rail (213).
A slide block (214) movable within the range of the length of the slide block (214), and guide rollers (215) mounted in two upper and lower stages on the side of the slide block (214) facing the spray unit (22). The upper and lower sides of the spray unit (22) face the side facing the traversing rail (213).
It has a guide roller (224) mounted on a step and two parallel vertical flanges, one of which is a guide roller (215) on the side of the slide block (214).
), And the other flange is composed of a relay guide (216) not longer than the width of the lower carriage sandwiched between guide rollers (224) on the side of the spray unit (22). 2. The automatic vehicle lower coating apparatus according to claim 1, wherein each of the relay guides (215, 224) is also rotatable within the length of the relay guide (216). 3. An elevating mechanism is connected to a pair of lower frames (225a) attached to the underframe (221) of the spray unit (22) in an inverted C-shape with pins at the ends thereof, and is connected to the center of the length. An X-shaped first intermediate frame (225b) pinned in the vicinity,
An X-shaped second intermediate frame (225c) that is pin-connected at its tip and pinned near the center of its length, and a pair of upper frames (225d) that are pin-connected at its upper end. 3. The automatic painting apparatus for a vehicle lower part according to claim 1, which is a multi-stage pantograph (225) in which a frame composed of a pair is arranged on the underframe (225) so as to face each other. .