JP2003093932A - Coating system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coating system in which it is suppressed to increase an equipment cost or to make the equipment large-sized even in the case a plurality of cartridges are used and a rapid cartridge exchanging work is carried out. SOLUTION: A packed cartridge 20 is supplied to a coating robot 16 inside a coating booth 12 through an opening part 18 formed on the side wall of the coating booth 12 by a general purpose multi-axial robot 24 in a cartridge exchanging part 14 adjacently arranged in the coating booth 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating system, and more particularly to an improvement of a coating system for supplying a paint of each type to a coating device by a cartridge, which enables space-saving and efficient coating.

[0002]

2. Description of the Related Art Conventionally, when coating industrial products such as automobiles, spray coating has been performed in which the paint is atomized and sprayed. Especially for a large work such as a car body, unmanned automatic painting is often performed by a plurality of painting devices (painting robots) arranged in a painting booth. In a car body painting line, paintings are individually applied according to the order of the car. Therefore, it is necessary to prepare various paint colors even for works of the same shape on the same painting line. For example, Japanese Patent Laid-Open No. 2000-176333.
Japanese Unexamined Patent Publication (Kokai) discloses an apparatus for preparing a plurality of types of cartridges filled with paint for each paint color and exchanging the cartridge to be supplied to the painting robot for each designated color of the work. In this case, by using the cartridge that reaches the vicinity of the nozzle of the coating gun of the coating robot, it is not necessary to dispose of residual paint or clean the route when replacing the cartridge, even if the paint color is frequently changed. You can easily change the color of the painting line.

When a large work such as a car body is coated by using such a cartridge, a plurality of coating robots simultaneously coat from multiple directions. Also, the cartridge is filled so that one work can be used up once, in consideration of easy replacement and stabilization of the quality of the paint. Therefore, 1
Although the cartridge is replaced after the painting of the stand is completed, if the work to be painted with the same color does not continuously flow in the painting line, only the replacement of the pre-filled cartridge that has been prepared is performed. Continuous work can be painted without stopping the work transfer on the coating line. In automobiles and the like, popular colors are often concentrated, and there are many cases in which two or more work pieces that continuously require painting of the same color are conveyed. In this case, it is necessary to prepare at least two cartridges of that color. Further, since the coating range that can be performed by one coating robot is limited, a plurality of coating robots are usually used for a large work such as an automobile body. for that reason,
The number of cartridges required for painting increases with the number of painting robots.

FIG. 5 shows a schematic view of a cartridge exchanging device 100 in a conventional coating system. FIG. 5A shows a side view thereof, and FIG. 5B shows a top view thereof. The cartridge exchanging device 100 straddles a plurality of arrayed cartridges 102 with a gantry 104, and uses X,
Chuck unit 10 movable in Y and Z directions
The cartridge 6 filled with the desired paint is picked up by the movement of the 6 and is supplied to the coating device 110 which stands by in the coating booth 108.

[0005]

As described above, when preparing a plurality of cartridges 102, there is no choice but to configure them in a plurality of rows in the row direction and the column direction. Therefore, the movement of the chuck unit 106 at least in the X and Y directions is
It is necessary to use a high-precision drive mechanism such as a servo motor that can accurately perform stop control at an arbitrary position, which causes a problem of increasing equipment cost. Further, in order to make the chuck unit 106 movable in the sky of a large number of cartridges 102, a large gantry 104 is required, and the chuck unit 106 also needs to have high rigidity.
There is a problem that the equipment itself becomes large and it cannot be easily installed in the existing painting line. Increasing the size of the equipment causes an increase in the cycle time for replacing the cartridge 102, which causes a problem of lowering production efficiency.

The present invention has been made in view of the above-mentioned problems. Even when a plurality of cartridges are used, it is possible to suppress an increase in equipment cost and an increase in equipment size, and to perform a quick cartridge exchange operation. The purpose is to provide a painting system.

[0007]

In order to achieve the above object, the present invention applies a coating booth and a work arranged in the coating booth and moving in the coating booth. A coating device, and a filling device for filling a cartridge with paint of each type supplied to the coating device, the cartridge filling device having a stocker for storing a plurality of filled cartridges and used cartridges, the coating device and the cartridge And a general-purpose multi-axis robot for exchanging the cartridge with a filling device.

According to this structure, since the general-purpose multi-axis robot has a wide movable range and can perform accurate positioning easily, even when a large number of cartridges are stocked without increasing the size of equipment. It is possible to easily and quickly support the cartridge at an arbitrary position and perform the replacement work on the coating device. Further, for example, by using a 6-axis general-purpose robot or the like, equipment cost can be suppressed. It should be noted that each type of paint is, for example, a type that is classified by the product number of the paint, and means a type that is classified by color, component, or the like.

In order to achieve the above-mentioned object, in the present invention according to the above-mentioned structure, the coating booth has an opening for allowing the arm of the general-purpose multi-axis robot to move forward and backward while holding the cartridge. The feature is that the paint filled outside the coating booth is supplied to the coating device inside the coating booth.

According to this structure, the cartridge can be exchanged from the outside of the coating booth, so that it is not necessary to secure a space for disposing the cartridge filling device in the coating booth. Further, since it is possible to suppress the fluctuation of the air flow inside the coating booth, it is possible to stabilize the coating quality. Further, by using the general-purpose multi-axis robot, it is possible to smoothly replace the cartridge while securing a space such as a working passage on the outer surface of the coating booth.

In order to achieve the above-mentioned object, the present invention has the above-mentioned structure, wherein the general-purpose multi-axis robot replaces a plurality of coating devices arranged in a coating booth with cartridges. Characterize.

According to this structure, it is possible to efficiently supply the cartridge to the plurality of coating devices,
It can also contribute to space saving.

In order to achieve the above-mentioned object, the present invention has the above-mentioned structure, in which the general-purpose multi-axis robot holds a cartridge in order to attach and detach the cartridge to and from a plurality of coating devices. It has a self-propelled mechanism that self-propels between coating devices.

According to this structure, for example, one general-purpose multi-axis robot can supply the cartridges to a plurality of coating robots (centrally arranged or distributed at intervals). Further, more efficient cartridge exchange can be performed quickly and in a small space.

In order to achieve the above-mentioned object, the present invention has the above-mentioned structure, wherein the cartridge filling device is arranged in a pre-process or a post-process of the coating booth.
The general-purpose multi-axis robot is characterized in that the cartridge replacement work is carried out by advancing and retracting into the coating booth from the preceding step or the following step and self-propelled inside.

According to this structure, the cartridge filling space can be provided in the space at the front position or the rear position of the coating booth, and the cartridge exchange system can be applied even when there is no space on the side surface of the coating booth. You can In addition, cartridges can be replaced for a plurality of coating devices by making a general-purpose multi-axis robot self-propelled in a coating booth.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention (hereinafter referred to as an embodiment) will be described below with reference to the drawings.

FIG. 1 shows a coating system 10 of this embodiment.
3 is a conceptual perspective view of the coating booth 12 and the cartridge exchanging unit 14 disposed adjacent to the outer side wall of the coating booth 12. In FIG. 1, the coating booth 12 has, for example, a tunnel shape, and although not shown in the drawing, a transfer device (conveyor or the like) for transferring a work (for example, the body of an automobile) extends inside in the vertical direction of the paper surface of FIG. It is set up. Further, for example, an articulated painting robot 16 (only a part of which is shown) is arranged as a painting device for painting a work conveyed on one side or both sides along the conveying device. The coating robot 16 is, for example, of a type that atomizes the paint from an application gun and discharges it, and applies a predetermined paint to a predetermined position of a work according to a program.

Since the fog-like paint floats inside the coating booth 12, it must be separated from the outside in order to maintain the environment outside the coating booth 12. Further, since it is necessary to stably apply the mist-like paint to the work and to collect or discard the paint that has not been applied to the work, it is necessary to form a stable air flow in the paint booth 12.
Supply and exhaust systems are provided. Therefore, the interior of the coating booth 12 becomes a substantially closed space due to the side wall 12a, the ceiling wall 12b, etc., and the atmosphere inside the coating booth 12 goes out of the booth beyond a predetermined allowable range. The surrounding atmosphere and dust are prevented from entering the coating booth 12.

As shown in FIG. 1, the cartridge exchanging portion 14 is arranged so as to be attached to an opening 18 formed in the side wall 12a of the coating booth 12. As shown in FIG. 1, a cartridge stocker 22 that stores a plurality of cartridges 20 filled with a predetermined amount of paint for each type inside the cartridge exchange unit 14, and a paint-filled cartridge stored in the cartridge stocker 22. Two
A general-purpose multi-axis robot 24 that transfers 0 to the cartridge loading section 16a of the coating robot 16 and returns the used cartridge 20 from the cartridge loading section 16a to the cartridge stocker 22 is arranged.

Here, the cartridge 20 is filled with a predetermined amount of paint determined for each work, for example, 1
When the body of one car is painted by four painting robots, it is a cylindrical container filled with about 1/4 of the paint required for painting one car. The filling of the paint into the cartridge 20 is performed on the cartridge stocker 22. That is, in the cartridge stocker 22,
While the pipes from a plurality of paint tanks (not shown) installed outside the coating booth 12 are connected and the cartridge 20 is stored in the cartridge stocker 22, a predetermined amount is set in the cartridge 20 determined for each paint type. It is supposed to be filled with paint. As a result, since the cartridges 20 can be sequentially filled, the filling system can be constructed with the minimum required number of cartridges.

The general-purpose multi-axis robot 24 is, for example, an arm type 6-axis material hand robot, and can move the arm tip portion 24a to any position, and a plurality of them are arranged as shown in FIG. 1 (b). Cartridge stocker 2 with desired cartridge 20 from a large number of cartridge groups
The painting robot 16 in the painting booth 12
Supply to. The general-purpose multi-axis robot 24 uses the picked up cartridge 20 as shown in FIG.
The coating booth 12 is made to enter through the opening 18 formed in the side wall 12a of the second. Opening 18 of coating booth 12
The cartridge loading section 1 of the painting robot 16 is located near the
6a stands by and receives the filled cartridge 20 quickly from the general-purpose multi-axis robot 24.

The general-purpose multi-axis robot 24 can be easily manufactured at low cost by mass production, and various types prepared as standard can be freely selected according to the scale of the coating system. The system can be easily constructed at low cost. In addition, the general-purpose multi-axis robot 24
It does not require a large gantry or the like unlike the conventional cartridge exchanging device. Therefore, the cartridge replacement unit 14
The area occupied by the coating system 10 can be reduced, and the entire system can be made compact. Furthermore, a general-purpose multi-axis robot 2 that can be easily made compact
With the use of No. 4, it is possible to smoothly replace the cartridge while securing a space such as a working passage on the outer surface of the coating booth 12.

Since only the tip of the general-purpose multi-axis robot 24 enters the interior of the coating booth 12 through the opening 18,
Since the work to be performed in the coating booth 12 for replacing the cartridge is minimized, the fluctuation of the air flow inside the coating booth 12 can be suppressed, and the coating quality can be stabilized.

Since the used cartridge 20 is already mounted in the cartridge loading section 16a,
It is necessary to replace the used cartridge 20 with the filled cartridge 20. As this method, for example, the general-purpose multi-axis robot 24 first enters from the opening 18 without holding anything and collects the used cartridge 20,
After returning to the predetermined empty space of the cartridge stocker 22, the predetermined filled cartridge 20 is picked up,
There is a method of supplying it to the cartridge loading section 16a. Further, as another method, for example, two replacement holders are provided in the vicinity of the cartridge loading unit 16a, the general-purpose multi-axis robot 24 first supplies the filled cartridge 20 to one of the replacement holders, and then the general-purpose multi-purpose robot 20. The used cartridge 2 from the cartridge loading unit 16a using the axial robot 24.
After moving 0 to the other holder for replacement, the filled cartridge 20 is picked up by the general-purpose multi-axis robot 24 and mounted in the cartridge loading section 16a. Finally, the used cartridge 20 moved to the replacement holder is picked up by the general-purpose multi-axis robot 24, and the cartridge stocker 2
Return to the predetermined empty space of 2 and complete a series of replacement work. Note that this operation is an example, and in addition to this, a replacement method can be used as appropriate.

FIG. 2 shows a system for supplying the cartridges 20 to the plurality of coating robots 16 by one general-purpose multi-axis robot 24. In the case of FIG. 2, the coating booth 1
2 is shown from the inside, and an opening 18 (not shown) of the coating booth 12 is provided between the two coating robots 16.
Then, the cartridge 20 is supplied by the general-purpose multi-axis robot 24 installed on the outer wall of the coating booth 12. Therefore, the cartridge loading unit 1 of the coating robot 16
6a comes to receive the cartridge 20 at the position of the opening 18. In this way, by supplying the cartridges 20 to the plurality of coating robots 16 by the single general-purpose multi-axis robot 24, the moving efficiency of the entire system can be improved and the system can be simplified. In addition, if necessary, the painting robot 16 may be used by the painting booth 12 during non-painting.
It may be configured such that the inside of the cartridge is moved, and further, the plurality of coating robots 16 receive the cartridge 20 from one general-purpose multi-axis robot 24.

In FIG. 3, the general-purpose multi-axis robot 24 is movable along the outer wall surface of the coating booth 12, and as in the example of FIG.
6 shows a system for supplying a cartridge 20 to 6 (a robot similar to FIG. 2). The general-purpose multi-axis robot 24
A well-known drive mechanism that is self-propelled along a track 26 that extends along the outer wall surface of the coating booth 12 and that includes a motor, for example, is mounted. In FIG. 3, at the position of the cartridge stocker 22, the general-purpose multi-axis robot 24 is
Fully extend the arm to allow the cartridge 20 to be in the desired position.
After that, the arm is contracted (state of broken line 24A) for self-propelled movement, and the arm moves to the position of the opening 18 where a predetermined coating robot stands by. Dashed line 2 when moving is completed
As shown in FIG. 4B, the contracted arm is extended and the cartridge 20 is replaced in the same manner as in the example described with reference to FIG.

Thus, one general-purpose multi-axis robot 24 is provided.
It becomes possible to supply the cartridges 20 to a plurality of coating robots 16, and to efficiently operate the coating system and to construct the coating system 10 including a plurality of coating robots 16 with a simple configuration at a low cost. You can Further, since the general-purpose multi-axis robot 24 is self-propelled outside the coating booth 12, it is possible to minimize the influence on the air flow fluctuation inside the coating booth 12. In addition, also in FIG. 3, a plurality of coating robots 16 can be arranged for one opening 18.

FIG. 4 shows a system in which the cartridge exchanging unit 14 is arranged on the post-process side of the coating booth 12 and the general-purpose multi-axis robot 24 self-propels in the coating booth 12.

In the system of FIG. 4, the coating booth 1
A coating robot 16 that carries in a coating object, for example, the body of an automobile, from an opening / closing door 12c formed on one side of the vehicle 2 and stands by inside the coating booth 12 (only three units on one side are shown)
To start painting. After painting, the body is unloaded from the left side in FIG.

Here, the supply of the cartridge 20 to each coating robot 16 is performed by the general-purpose multi-axis robot 24 which has obtained the filled cartridge 20 in the cartridge exchanging section 14 arranged on the outlet side of the coating booth 12.
In the case of FIG. 4, the orbit 28 used for self-propelling of the general-purpose multi-axis robot 24 is arranged inside the coating booth 12, and the general-purpose multi-axis robot 24 supporting the cartridge 20 is installed in the coating booth 12.
You can move freely inside. That is, similarly to the system shown in FIG. 3, it becomes possible to supply the cartridges 20 to the plurality of coating robots 16 by one general-purpose multi-axis robot 24, which enables the efficient operation of the coating system and the more multiple coatings. The coating system 10 including the robot 16 can be constructed with a simple configuration. At this time,
Unlike FIG. 3, since the track 28 is arranged inside the coating booth 12, even if the space for arranging the cartridge exchange unit 14 and the track 28 cannot be secured around the coating booth 12, a system similar to that of FIG. 3 is constructed. can do. Further, in the example of FIG. 4, the example in which the cartridge exchanging unit 14 is arranged in the post process is shown, but the same effect can be obtained in the pre process side of the coating booth 12.

In FIGS. 3 and 4, the body, which is an unpainted object, sequentially passes in front of the painting robot 16, so that the first painting robot 16 near the body carry-in port and its neighbors. The second painting robot 16
While the second cartridge 20 is supplied, the first cartridge 20 completes the coating, and the second cartridge 20 is performing the coating, the used cartridge 20 is filled and the third coating robot 16 is filled. By supplying at least two cartridges for at least the same paint, smooth coating can be performed. Therefore, the cartridge 20 should be replaced in an area that does not affect the operation of the coating robot 16. This allows good painting work to be done with a minimal system.

In the case where the cartridge exchanging unit 14 is attached to the outside of the coating booth 12, the cartridge exchanging unit 14 including the general-purpose multi-axis robot 24 can be easily arranged in the existing coating booth 12, and the system can be constructed. Can be done easily.

The system described in the present embodiment is an example, and the system similar to that of the present embodiment can be used as long as it is a system for exchanging the cartridge filled in the cartridge exchanging section by using the general-purpose multi-axis robot for exchanging the cartridge. It is possible to obtain various effects.

[0035]

According to the present invention, by using a general-purpose multi-axis robot having a wide movable range, it is possible to easily perform accurate positioning for cartridge replacement, and without increasing the size of equipment. Even when a large number of cartridges are stocked, it is possible to easily and quickly support the cartridge at any position and perform the replacement work for the coating device. In addition, equipment costs can be suppressed by using a general-purpose multi-axis robot that has various types prepared as standard at low cost.

[Brief description of drawings]

FIG. 1 is a conceptual perspective view of a coating booth of a coating system according to an embodiment of the present invention and a cartridge exchange unit adjacent to a side outer wall of the coating booth.

FIG. 2 is an explanatory diagram illustrating a system for supplying cartridges to a plurality of coating robots by one general-purpose multi-axis robot in the coating system according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating a system in which a general-purpose multi-axis robot has a function of self-propelling in a coating system according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating another system in which a general-purpose multi-axis robot has a function of self-propelling in the coating system according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating a coating system including a conventional cartridge changing device.

[Explanation of symbols]

10 coating system, 12 coating booth, 14 cartridge exchange section, 16 coating robot, 16a cartridge loading section, 18 opening section, 20 cartridge, 22
Cartridge stocker, 24 general-purpose multi-axis robot.

Claims (5)

[Claims] 1. A coating booth, a coating device which is arranged in the coating booth and which coats a work moving in the coating booth, and a type of coating material which is supplied to the coating device is filled in a cartridge. A cartridge filling device having a stocker for storing a plurality of filled cartridges and a used cartridge, and a general-purpose multi-axis robot for exchanging the cartridge between the coating device and the cartridge filling device. A coating system characterized by including. 2. The system according to claim 1, wherein the coating booth has an opening that allows the arm of the general-purpose multi-axis robot to move forward and backward while holding the cartridge, and the paint filled outside the coating booth is used. A coating system characterized by supplying it to the coating equipment in the coating booth. 3. The coating system according to claim 2, wherein the general-purpose multi-axis robot exchanges cartridges for a plurality of coating devices arranged in a coating booth. 4. The system according to claim 3, wherein the general-purpose multi-axis robot is self-propelled between the coating devices while holding the cartridges in order to attach / detach the cartridges to / from a plurality of coating devices. A coating system characterized by having a running mechanism. 5. The system according to claim 1, wherein the cartridge filling device is arranged in a pre-process or a post-process of the coating booth, and the general-purpose multi-axis robot performs a cartridge replacement work in the pre-process or the post-process. The coating system is characterized by performing self-propelled movement inside the coating booth from inside to outside.