JP2003144990A - Method and apparatus for coating by a plurality of coaters - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and apparatus for coating by a plurality of coaters, in which film thickness in a coated part in a return part in each coating trajectory is prevented from becoming unstable and thicker than other parts in each coating area plotted beforehand in a plurality of areas by using a plurality of coaters having reciprocating coating-trajectories in predetermined directions. SOLUTION: In this coating method, respective coating areas 1L-3L, 1R-3R plotted beforehand in a plurality of ares in a vehicle body are coated by a plurality of coating robots. The robots lay down coating trajectories T1L-T3L, T1R-T3R reciprocating in predetermined directions relative to a transfer direction of a vehicle body M. Speeds of reciprocating motions in the intermediate area in coating trajectories are set almost equal, and times for their coating operations coincide at least partly. In the coating, each robot suspends coating- material discharge in the return part of the trajectories, and the coating is carried out so as to joint the coating parts in the intermediate area of each coating trajectory.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating method and an apparatus therefor using a plurality of coating machines.

[0002]

2. Description of the Related Art As is well known, when a relatively large object to be coated, such as a car body of an automobile, is painted, a plurality of coating machines are used to separately paint the painted areas of the object. . For example, in the case of the body of an automobile, generally, a coating machine is provided on each of the left and right sides of the vehicle body conveyance line, and the left side portion and the right side portion of the vehicle body are separately painted by these coating machines. It is also common to provide a plurality of coating machines on both the left and right sides of the vehicle body transportation line along the transportation direction.

In the case where coating is performed by using a coating machine as described above, the coating gun is sprayed while reciprocating in a predetermined direction relative to the relative movement direction of the object to be coated, so that the entire coating area of the coating machine is covered. The film thickness is as uniform as possible. For example, Japanese Patent Laid-Open No. 7-265757.
Japanese Patent Laid-Open Publication No. 2004-242370 discloses that when a vehicle body side surface of an automobile is painted, a portion to be painted (vehicle body side surface) is divided into a plurality of painting areas, and each painting area is in a direction substantially orthogonal to a vehicle body transport direction (generally a height direction). ) Discloses a method of coating by reciprocating a coating gun.

[0004]

When coating is performed by reciprocating the coating gun as described above, as shown schematically in FIG. 7, an intermediate area a excluding the folded portions b at both ends of the coating trajectory. The moving speed of the coating gun inevitably decreases with respect to the turn-back portion b, and the moving speed of the coating gun becomes unstable.

That is, the coating gun decelerates when it reaches the folded-back portion b from the intermediate area a, the velocity becomes zero (0: 0) at the folded-back end portion, and then the coating gun accelerates to move into the intermediate area a again. Since the speed changes, the moving speed of the coating gun decreases at the folded-back portion b, and
It becomes unstable. Therefore, at the folded-back portion b of the coating locus, the coating film thickness is generally thicker and unstable as compared with the intermediate region a.

[0006] In particular, when using a plurality of coating machines in which at least a part of the coating operation time overlaps each other to coat each coating area on an object to be divided into a plurality of areas in advance, the coating trajectory of each coating machine is Although the coating is performed in such a manner that they are connected to each other, the above-mentioned fluctuation of the coating film thickness occurs in the coating portion corresponding to each folded portion of the coating trajectory of each coating machine.

In particular, as schematically shown in FIG. 8, the coating areas d adjacent to each other in the reciprocating direction of the coating gun.
When coating 1 and d2 respectively, both coating areas d1 and
At the boundary portion of d2, the folded-back portions b1 and b2 of the movement loci of both coating guns are adjacent to each other. Therefore,
As shown schematically in FIG. 9, especially at this boundary portion,
The coating film thickness becomes unstable, and each intermediate area a
There is a problem that the thickness of the coating film Fp becomes excessively thicker than that of 1 and a2.

When coating is performed while reciprocating the coating gun, as shown in FIGS. 7 and 8, instead of moving the coating gun in a so-called zigzag shape, the distance between adjacent loci becomes uniform. As described above, it is known that a more uniform coating film thickness can be obtained by moving along a substantially rectangular pattern.

The present invention has been made in view of the above technical problems, and uses a plurality of coating machines having coating trajectories that reciprocate in a predetermined direction, and each of the coating objects is divided into a plurality of areas in advance. An object of the present invention is to prevent the coating film thickness of the coating portion corresponding to the folded portion of each coating trajectory from becoming unstable and becoming thicker than other portions when coating each coating region.

[0010]

Therefore, the first aspect of the present invention is as follows.
The invention (hereinafter referred to as the first invention), a coating method using a plurality of coating machines has a coating locus that reciprocates in a predetermined direction with respect to the relative movement direction with respect to the object to be coated, and The reciprocating speed of the intermediate region excluding the folded-back portion is set to a substantially constant speed, and at least a part of the coating operation time is overlapped with each other by a plurality of coating machines. In the coating method for coating each of the above-mentioned coating machines, the spraying of the coating material is stopped at the turn-back portion of the coating trajectory, and the coating is performed by connecting the coating portions in the intermediate region of each coating trajectory. It is a thing.

The invention according to claim 2 of the present application (hereinafter,
The second invention) is, in the first invention, the coating trajectories and the moving speeds along the coating trajectories are set to be substantially the same for each coating machine that coats adjacent coating areas. The coating start timing for each coating area is set to be substantially the same.

The invention according to claim 3 of the present application (hereinafter,
(Third invention) is characterized in that, in the second invention, each of the coating machines coats coating areas adjacent to each other in the reciprocating direction.

Further, the invention according to claim 4 of the present application
(Hereinafter, referred to as a fourth invention) is characterized in that, in the first invention, at least a part of the coating loci of the coating machine includes a rectangular pattern portion in which distances between adjacent loci are substantially uniform. It is a thing.

Furthermore, the coating apparatus according to the invention of claim 5 of the present application (hereinafter referred to as the fifth invention) has a coating locus that reciprocates in a predetermined direction with respect to the relative movement direction with respect to the object to be coated. A gun and a reciprocating control means for controlling the coating gun so that the reciprocating speed of an intermediate region of the coating trajectory of the coating gun excluding the folded-back portions at both ends is substantially constant, and at least a part of the coating operation is performed. A coating device that coats each coating area on the object divided into a plurality of areas in advance by a plurality of coating machines whose time overlaps each other. The present invention is characterized in that a coating control means is provided which stops the coating and connects the coating portions in the intermediate regions of the respective coating loci to each other.

Furthermore, the invention according to claim 6 of the present application.
(Hereinafter, referred to as a sixth invention) is, in the fifth invention, the coating trajectories and the moving speeds along the coating trajectories are substantially the same for each coating machine that coats adjacent coating areas. It is characterized in that the coating start timings are set and the coating start timings for the respective coating areas are set substantially the same.

Furthermore, the invention according to claim 7 of the present application.
(Hereinafter, referred to as a seventh invention) is characterized in that, in the sixth invention, each of the coating machines coats coating areas adjacent to each other in the reciprocating direction.

Further, the invention according to claim 8 of the present application
(Hereinafter, referred to as an eighth invention) is characterized in that, in the fifth invention, at least a part of the coating loci of the coating machine includes a rectangular pattern portion in which distances between adjacent loci are substantially uniform. Is.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking a case where it is applied to coating of a vehicle body of an automobile as an example. FIG. 1 is a perspective view showing an outline of a vehicle body painting station PS of an automobile according to the present embodiment. As shown in this figure, in this vehicle body painting station PS, with respect to the vehicle body M which is placed on the carriage Cm and conveyed in a predetermined direction (from diagonally right upper to left diagonally downward in FIG. 1), both left and right sides in the conveying direction. For example, a top coat is applied.

In this coating station PS, three coating robots BL and BR as coating machines are arranged on both the left and right sides of the transport direction along the transport direction.
The left side robot BL performs painting on the left side portion of the vehicle body M, and the right side robot BR performs painting on the right side portion.

Although not specifically shown, the control box of each of the robots BL and BR accommodates, for example, a controller mainly composed of a microcomputer. B
Setting and control of the coating locus for each of the L and BR coating guns G, the moving speed of the reciprocating movement thereof, and the coating start timing are performed. Each of these painting robots BL,
The BR controller corresponds to the "reciprocating motion control means" and the "painting control means" described in the claims of the present application.

That is, the coating of the upper surface of the vehicle body M such as the bonnet 1, the roof 2, the trunk lid 3, etc. will be described. As shown in FIG. The left side portion 1L, 2L, 3L of the roof 2 and the trunk lid 3 and the right side portion 1R, 2R, 3R are divided into a total of six areas, and each left side portion 1L, 2L, 3L is a left side robot. BL paints, each right side 1R, 2R, 3R
For each of the right side robots BR, painting is performed. The upper surfaces of the front pillar 4 and the rear pillar 5 are also painted in a series of steps.

In the present embodiment, each of the divided areas 1L-3
When each of L and 1R to 3R is coated, the coating gun G of each robot BL and BR is reciprocated in a predetermined direction (that is,
I try to paint while doing the reciprocating operation).
That is, each partition area 1 of the bonnet 1 and the roof 2
For L, 2L, 1R, and 2R, coating is performed according to the coating trajectories Т1L, Т2L, Т1R, and Т2R that reciprocate the coating gun G in a direction parallel to the vehicle body transport direction (front-back direction of the vehicle body M). On the other hand, the left and right partitioned areas 3L and 3R of the boot lid 3 are coated according to the coating trajectories Т3L and Т3R that cause the coating gun G to reciprocate in the direction (vehicle width direction) orthogonal to the vehicle body transport direction.

Further, in the present embodiment, the reciprocating patterns of the coating loci Т1L to Т3L and Т1R to Т3R are set so as to form a substantially rectangular pattern in which the distances between adjacent loci are substantially uniform. ing. In this rectangular pattern, each folded portion has a substantially U shape.

As described above, by forming the rectangular pattern in which the distances between adjacent trajectories are substantially uniform, the coating film thickness becomes more uniform than in the case of the zigzag pattern (see FIGS. 7 and 8). That is, it is possible to further promote the uniformity of the coating film thickness with a relatively simple configuration. In the present embodiment, since the coating robot is used as the coating machine, which can easily and individually set and control the coating trajectory and the moving speed of the coating gun G, the coating according to the above rectangular pattern is performed. Can be easily realized.

Further, each of the divided areas 1L to 3L, 1R to
When each of the 3R is coated, the left and right coating robots BL and BR that respectively coat the adjacent left and right partitioned areas 1L to 3L and 1R to 3R, the respective coating loci Т1L to Т3L, Т1R to Т3R and the respective coatings. Locus Т
The movement speeds along 1L to Т3L and Т1R to Т3R are set to be substantially the same, and each of the divided areas 1L to 3L, 1R
The coating start timings for 3R are set to be substantially the same. By setting in this way, the left and right coating robots BL, B can be reliably and relatively configured.
It is possible to prevent the R coating guns G from interfering with each other.

In particular, the left and right partitioned areas 3L and 3R of the trunk lid 3 are coated in accordance with the coating trajectories Т3L and Т3R that reciprocate the coating gun G in a direction (vehicle width direction) orthogonal to the vehicle body transport direction. Be seen. That is, although the coating guns G are generally liable to interfere with each other, the partitioned areas adjacent to each other in the reciprocating direction are coated, but even in such a case, the coating robots of the left and right are relatively simple and reliable. It is possible to prevent interference between the BL and BR coating guns G.

In the present embodiment, as can be seen from FIG. 2, the coating locus Т1L of the coating gun G for each of the coating robots BL and BR when coating the respective partitioned areas 1L to 3L and 1R to 3R. ~ Т3L, Т1R ~ Т
Both ends of 3R have corresponding partitioned areas 1L to 3L, 1R to 3
It is set so as to be extended to a portion beyond R and to be folded back at the end of each extended portion. That is, in this case, the folded portions of the coating trajectories Т1L to Т3L and Т1R to Т3R are partitioned areas 1L to 3 that require painting.
It is located outside L and 1R to 3R.

Further, each coating locus Т1L to Т3L, Т1R
In the intermediate region except the folded portions at both ends of ~ T3R, the reciprocating speed (moving speed) is set to be substantially constant for each coating gun G of each coating robot BL, BR.
A substantially uniform coating film thickness can be obtained in the coating portion corresponding to this intermediate region. The intermediate region where the moving speed is substantially constant covers the entire corresponding partitioned regions 1L to 3L and 1R to 3R that require coating for the coating robots BL and BR, respectively.

For each of the coating robots BL and BR, the spraying of the coating material is stopped at the folded-back portions at both ends of the coating trajectories Т1L to Т3L and Т1R to Т3R, and an intermediate area of each coating trajectory Т1L to Т3L and Т1R to Т3R. It is set so that painting is performed by connecting the painting parts by.

Therefore, in each of the coating robots BL and BR, a coating film is formed only on a portion corresponding to an intermediate region where the moving speed of the coating gun G is constant and the coating film thickness is uniform, and the moving speed of the coating gun G is The coating film is not formed at the turn-back portion where the film thickness becomes excessively thick and non-uniform due to the decrease and destabilization. Further, since the coating is performed by connecting the coating portions by the intermediate regions of the respective coating loci Т1L to Т3L and Т1R to Т3R, it is possible to perform coating with a uniform coating thickness as a whole.

When the above coating method is applied to the left and right partitioned areas 3L and 3R of the trunk lid 3 in which the partitioned areas adjacent to each other in the reciprocating direction of the coating gun G are painted by the left and right coating robots BL and BR. Will be described in detail by taking as an example. FIG. 3 is an explanatory diagram showing a coating trajectory Т3L when coating the left partitioned area 3L on the upper surface of the trunk lid 3 of the vehicle body M, and FIG. 4 is coating when coating the right partitioned area 3R on the upper surface of the trunk lid 3. FIG. 5 is an explanatory view showing the locus T3R, and FIG. 5 is an explanatory view showing the coating locus of the entire upper surface of the trunk lid 3.

As shown in FIGS. 3 and 4, with respect to the left and right partitioned areas 3L and 3R on the upper surface of the trunk lid 3, the coating loci Т3L and Т3R of the coating guns G of the coating robots BL and BR on the left and right sides. Both ends of each are extended to the part beyond the corresponding partitioned areas 3L and 3R,
It is set to be folded back at the end of each extended portion. That is, in this case, the folded-back portions B1 and B2 of the coating trajectories T3L and T3R are located outside the partitioned regions 3L and 3R where coating is required.

Further, in the intermediate areas A1 and A2 excluding the folded-back portions at both ends of the coating trajectories Т3L and Т3R, the reciprocating speed (moving speed) is substantially constant for each coating gun G of each coating robot BL, BR. Therefore, a substantially uniform coating film thickness can be obtained in the coating portions corresponding to the intermediate areas A1 and A2. The intermediate areas A1 and A2 whose movement speeds are substantially constant are the corresponding partitioned areas 3L and 3L that require coating for the coating robots BL and BR, respectively.
It covers the entire R respectively.

The coating robots BL and BR are set so that the spraying of the coating material is stopped at the folded-back portions B1 and B2 at both ends of the coating trajectories T3L and T3R. Also, as shown in FIG.
3L, Т3R intermediate area A1, A2 coating part,
The coating is set so that the boundary portions of the two partitioned areas 3L and 3R are smoothly joined together.
As described above, it is possible to perform coating with a uniform coating film thickness on the entire partitioned regions 3L and 3R adjacent to each other in the reciprocating direction of the coating gun G.

As can be seen by comparing FIGS. 3 and 4, the left and right partition regions 3L and 3R adjacent to each other are provided.
When coating each of the divided areas 3L and 3R, the left and right coating robots BL and BR that respectively coat the coating loci Т3L and Т3R and the movement speeds along the coating loci Т3L and Т3R are substantially the same. Is set to
In addition, the coating start timings for the respective partitioned areas 3L, 3R are set to be substantially the same, and the coating guns G of the left and right coating robots BL, BR operate in synchronization with each other, so that they may interfere with each other. It is definitely prevented.

In the above embodiment, each coating robot B
Paint trajectory for L and BR Т1L to Т3L, Т1R to Т3R
Are all formed in a substantially rectangular pattern, but instead of this, the distance between adjacent trajectories may not be uniform and may be formed in a so-called zigzag pattern having a predetermined triangular shape.

That is, the case of painting the partitioned areas adjacent to each other in the reciprocating direction of the coating gun will be described as an example. For example, as shown in FIG. 6, the left and right coating trajectories Т9L having left and right zigzag patterns. , Т9R, the spraying of the paint is stopped at the folded-back portions B7, B8 at the ends, and the intermediate areas A7, A of the respective coating loci Т9L, Т9R are stopped.
It suffices that the painted portion of 8 is painted so that it is smoothly joined at the boundary portion between the two partitioned areas 9L and 9R. As a result, the partition regions 9L, which are adjacent to each other in the reciprocating direction of the coating gun (left-right direction in FIG. 6),
It becomes possible to obtain a substantially uniform coating film thickness for the entire 9R.

Incidentally, like the left and right partitioned areas 1L and 1R on the upper surface of the bonnet 1 of the vehicle body M or the left and right partitioned areas 2L and 2R on the upper surface of the roof 2, etc., with respect to the directions orthogonal to the reciprocating direction of the coating gun G. When adjacent division areas are painted by the left and right painting robots BL and BR respectively,
Since the coating trajectories of the adjacent left and right partitioned areas are substantially parallel to each other, the intermediate area itself is not joined at the boundary between the two partitioned areas, but the spacing between the coating trajectories that sandwich the boundary is appropriate. By setting, the coating is performed such that the parallel coating portions along the coating locus are smoothly connected at the boundary portion of the divided areas.

In the above embodiment, the painting robot is used as the painting machine, but the present invention is not limited to such a case, and instead of the painting robot,
The present invention can also be effectively applied to the case of using a so-called automatic machine (automatic coating machine) that is generally used in a normal coating station. As described above, it is needless to say that the present invention is not limited to the above embodiments, and various improvements and design changes can be made without departing from the gist of the present invention.

[0040]

According to the coating method of the first invention of the present application, a plurality of coating machines having coating trajectories that reciprocate in a predetermined direction are used, and each coating on an object to be coated is divided into a plurality of regions in advance. When painting each coating area, the spraying of the paint was stopped at the folding part of the coating trajectory for each coating machine.Therefore, for each coating machine, the moving speed of the coating machine is constant and the coating film thickness is uniform. The coating film is formed only on the part corresponding to the area, and the coating film is formed at the turn-back part where the film thickness is excessively thick and uneven due to the slowing down and destabilization of the coating machine. It will not happen. Then, since the coating is performed by connecting the coating portions in the intermediate regions of the respective coating loci, it is possible to perform coating with a uniform coating film thickness as a whole.

Further, according to the second invention of the present application, basically, the same effect as that of the first invention can be obtained. In particular, for each coating machine that coats adjacent coating areas, the coating trajectories and the moving speeds along the coating trajectories are set to be substantially the same, and the coating start timings for the respective coating areas are substantially the same. Since the setting is made, it is possible to reliably prevent interference between the above two coating machines with a relatively simple structure.

Further, according to the third invention of the present application, basically the same effect as that of the second invention can be obtained. In particular, when coating adjacent coating areas in the reciprocating direction, in which the coating machines generally interfere with each other, it is possible to reliably prevent the coating machines from interfering with each other with a relatively simple structure.

Further, according to the fourth invention of the present application,
Basically, the same effect as that of the first invention can be obtained. In particular, at least some of the coating trajectories of the coating machine include a rectangular pattern portion in which the distances between the adjacent trajectories are substantially uniform, so that the coating film thickness is further promoted with a relatively simple configuration. be able to.

Further, according to the coating apparatus of the fifth aspect of the present invention, a plurality of coating machines having coating trajectories that reciprocate in a predetermined direction are used, and the coating object is divided into a plurality of areas in advance. When each coating area is coated, a coating control means is provided to stop the spraying of the coating at the folding part of the coating trajectory for each coating machine.Therefore, for each coating machine, the movement speed of the coating machine is constant. The coating film is formed only on the part corresponding to the intermediate area where the coating film thickness is uniform,
A coating film will not be formed at the turn-back portion where the film thickness becomes excessively thick and non-uniform due to the decrease and instability of the moving speed of the coating machine. Then, since the coating is performed by connecting the coating portions in the intermediate regions of the respective coating loci, it is possible to perform coating with a uniform coating film thickness as a whole.

Further, according to the sixth invention of the present application,
Basically, the same effect as the fifth aspect of the invention can be obtained. In particular, for each coating machine that coats adjacent coating areas, the coating trajectories and the moving speeds along the coating trajectories are set to be substantially the same, and the coating start timings for the respective coating areas are substantially the same. Since it is set, it has a relatively simple structure and surely
It is possible to prevent interference between the above two coating machines.

Further, according to the seventh invention of the present application,
Basically, the same effect as the sixth invention can be obtained. In particular, when coating adjacent coating areas in the reciprocating direction, in which the coating machines generally interfere with each other, it is possible to reliably prevent the coating machines from interfering with each other with a relatively simple structure.

Further, according to the eighth invention of the present application,
Basically, the same effect as the fifth aspect of the invention can be obtained. In particular, at least some of the coating trajectories of the coating machine include a rectangular pattern portion in which the distances between the adjacent trajectories are substantially uniform, so that the coating film thickness is further promoted with a relatively simple configuration. be able to.

[Brief description of drawings]

FIG. 1 is a perspective view schematically showing a main part of a coating station according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing each coating trajectory when coating the upper surface portion of the vehicle body by each coating robot of the coating station.

FIG. 3 is an explanatory diagram showing a coating trajectory when coating the left side portion of the upper surface of the trunk lid of the vehicle body.

FIG. 4 is an explanatory diagram showing a coating trajectory when coating the right side portion of the upper surface of the trunk lid.

FIG. 5 is an explanatory diagram showing a coating locus on the entire upper surface of the trunk lid.

FIG. 6 is an explanatory view schematically showing coating along a coating trajectory of a zigzag pattern.

FIG. 7 is an explanatory diagram schematically showing coating by a reciprocating motion pattern of a coating trajectory by a coating method according to a conventional technique.

FIG. 8 is an explanatory view schematically showing each coating locus when coating adjacent coating areas by a coating method according to a conventional technique.

FIG. 9 is an explanatory diagram schematically showing a coating film thickness when adjacent coating areas are coated by a coating method according to a conventional technique.

[Explanation of symbols]

1L, 1R, 2L, 2R, 3L, 3R, 9L, 9R ... Partition areas A1, A2, A7, A8 ... Intermediate areas B1, B2, B7, B8 ... BR ... Painting robot (painting machine) M ... Vehicle body (object to be coated) T1L, T1R, T2L, T2R, T3L, T3R, T
9L, T9R ... Paint trail

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B05D 3/00 B05D 3/00 D (72) Inventor Teruo Kanda 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inventor Toshiyuki Sakoda 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. F-term (reference) 4D075 AA37 AA40 AA85 CA47 DA23 DB02 DC12 4F035 AA03 BA03 BA23 BB32 CA02 CC01 CD06 CD16 CD18

Claims (8)

[Claims] 1. A coating locus that reciprocates in a predetermined direction with respect to a relative movement direction with respect to an object to be coated, and a reciprocating velocity of an intermediate region of the coating locus except for folded-back portions at both ends is set to be substantially constant. A coating method of coating each coating area on the article previously divided into a plurality of areas by a plurality of coating machines that overlap each other at least in part of the coating operation time, and the coating trajectory for each coating machine The coating method using multiple coating machines is characterized in that the spraying of the paint is stopped at the turn-back portion and the coating is performed by connecting the coating parts in the intermediate regions of each coating path. 2. The coating trajectories and the moving speeds along the respective coating trajectories are set to be substantially the same for each coating machine that coats adjacent coating areas, and the coating start timing for each coating area is set. The coating method according to claim 1, wherein the coating methods are set to be substantially the same. 3. The coating method by a plurality of coating machines according to claim 2, wherein each of the coating machines coats coating areas adjacent to each other in the reciprocating direction. 4. The coating trajectory of at least some of the coating machines is
The coating method using a plurality of coating machines according to claim 1, wherein a rectangular pattern portion having a substantially uniform distance between adjacent trajectories is included. 5. A coating gun having a coating locus that reciprocates in a predetermined direction with respect to a relative movement direction with respect to an object to be coated, and a reciprocating speed of an intermediate region of the coating locus of the coating gun excluding folded-back portions at both ends. Reciprocating motion control means for controlling the coating gun so as to be approximately constant speed, and a plurality of coating machines having at least some coating operation times overlapping each other, each of which is preliminarily divided into a plurality of regions on the object to be coated. A coating device for coating a coating area, in which the spraying of the coating is stopped at the folding portion of the coating path of each of the above-mentioned coating machines, and the coating is performed by connecting the coating parts in the intermediate area of each coating path. A coating device with multiple coating machines characterized by the provision of 6. The coating trajectories and the moving speeds along the respective coating trajectories are set to be substantially the same for each coating machine that coats adjacent coating areas, and the coating start timing for each coating area is set. The coating apparatus according to claim 5, wherein the coating apparatuses are set to be substantially the same. 7. The coating apparatus according to claim 6, wherein each of the coating machines coats adjacent coating areas in the reciprocating direction. 8. The coating trajectory of at least some of the coating machines is
The coating apparatus according to claim 5, wherein the coating apparatus includes a rectangular pattern portion in which a distance between adjacent loci is substantially uniform.