JP2013017970A - Handgun controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a handgun controller capable of regulating the state of atomization and the injection shape of a coating material according to the position of a handgun.SOLUTION: The handgun 20 sprays a coating material on a vehicle by air. A handgun position recognition part 41 recognizes the position of the handgun 20 to the vehicle. An air supply amount memory part 42 stores the relation of the position of the handgun 20 and the amount of air supplied to the handgun 20. An air supply amount control part 43 controls the amount of air supplied to the handgun 20 from the relation of the position of the handgun 20 recognized by the handgun position recognition part 41, and the position of the handgun 20 and the amount of air supplied to the handgun 20 stored by the air supply amount memory part 42.

Description

  The present invention relates to a hand gun control device.

  Conventionally, a part of a vehicle is painted with a hand gun. The hand gun is a paint gun that an operator holds in his hand and sprays paint on a vehicle. The hand gun includes a needle valve that individually adjusts the amount of atomized air that atomizes the paint and the amount of pattern air that determines the spray shape of the atomized paint.

  An operator moves the needle valve to adjust the amount of atomized air and the amount of pattern air before starting the painting operation. That is, the atomization state and the injection shape of the paint are adjusted so that various parts of the vehicle can be efficiently painted.

  Adjustment of the needle valve and painting with a hand gun require skill. For this reason, for example, an actual painting work can be embodied by using a hand gun for painting work training as described in Patent Document 1 below.

JP 2010-134258 A

  However, the atomization state and the jet shape of the paint adjusted over time before the start of the painting operation do not necessarily match the shapes of all the painted parts of the vehicle. This is because the atomization state and the spraying shape of the paint are provided with versatility so that the paint can be efficiently applied to some extent even in the various sites of the target.

  It should be noted that it is theoretically possible for the operator to match the atomization state and spray shape of the paint with the shape of the paint site after the start of the painting work. However, since adjustment of the atomization state of the paint and the injection shape takes time even for an expert, the painting operation is interrupted, and the work efficiency is significantly deteriorated.

  Therefore, it is not realistic for the operator to match the atomization state or spray shape of the paint with the shape of the paint site after the start of the painting work.

  The present invention has been made to solve the problems of conventional handguns, and it is an object of the present invention to provide a handgun control device that can adjust the atomization state and spray shape of paint according to the position of the handgun. To do.

  In order to achieve the above object, a handgun control device according to the present invention includes a handgun, a handgun position recognition unit, an air supply amount storage unit, and an air supply amount control unit.

  The hand gun sprays paint on the object by air. The hand gun position recognition unit recognizes the position of the hand gun with respect to the object to be painted. The air supply amount storage unit stores the relationship between the position of the hand gun and the amount of air supplied to the hand gun. The air supply amount control unit controls the amount of air supplied to the hand gun from the relationship between the hand gun position recognized by the hand gun position recognition unit, the position of the hand gun stored in the air supply amount storage unit, and the amount of air supplied to the hand gun. To do. The amount of air can be measured, displayed and adjusted by a measuring instrument installed in the supply path to the hand gun. The amount of air is controlled by changing the pressure of air applied to the supply path.

  According to the handgun control device according to the present invention, the amount of air supplied to the handgun is adjusted according to the position of the handgun, so that the atomization state and the spray shape of the paint can be matched with the shape of the painting site. For this reason, it is possible to easily avoid the occurrence of thin coating or the occurrence of paint flow.

1 is a plan view showing a schematic configuration of a handgun control device according to Embodiment 1. FIG. 1 is a side view illustrating a schematic configuration of a handgun control device according to Embodiment 1. FIG. FIG. 3 is a schematic configuration diagram of a hand gun, in which A is a side view of the hand gun, B is a front view of a nozzle portion of the hand gun, and C is a side view of the nozzle portion. It is a figure which shows an example of the injection shape of the coating material which changes with the quantity of pattern air. FIG. 3 is a block diagram of a control system of the hand gun control device according to the first embodiment. It is an operation | movement flowchart of the handgun control apparatus shown in FIG. 6 is a modification of the hand gun control device shown in FIG. 5. It is an operation | movement flowchart of the handgun control apparatus shown in FIG. It is a top view which shows schematic structure of the handgun control apparatus which concerns on Embodiment 2. FIG. FIG. 6 is a block diagram of a control system of a handgun control device according to a second embodiment. It is an operation | movement flowchart of the handgun control apparatus shown in FIG. It is a top view which shows schematic structure of the handgun control apparatus which concerns on Embodiment 3. FIG.

  Next, the handgun control device according to the present invention will be described separately from [Embodiment 1] to [Embodiment 3].

[Embodiment 1]
FIG. 1 is a plan view illustrating a schematic configuration of the handgun control device according to the first embodiment, and FIG. 2 is a side view illustrating a schematic configuration of the handgun control device according to the first embodiment.

  As shown in FIGS. 1 and 2, the coating line 100 includes a hand gun 20, sensors 30 </ b> A and 30 </ b> B, and a hand gun control unit 40.

  Vehicles 10 </ b> A, 10 </ b> B, and 10 </ b> C that are objects to be coated are conveyed to the painting line 100. In the case of this embodiment, the vehicles 10A, 10B, and 10C are continuously conveyed at a constant speed. In the case of the present embodiment, a form that is continuously conveyed at a constant speed is adopted, but the conveyance is stopped during the painting operation, and when the painting operation is finished, the next vehicle 10A is conveyed in front of the operator. A so-called progressive feed may be used.

  The hand gun 20 is supported by an operator and sprays paint on the vehicle 10B with the help of air supplied from the hand gun control unit 40. A high voltage of 40 KV to 60 KV is applied to the vicinity of the paint injection port 28 of the hand gun 20 so that the hand gun 20 can perform electrostatic coating on the vehicle 10B. For this reason, electromagnetic waves are emitted from the vicinity of the paint injection port 28 of the hand gun 20 during the painting operation. The vicinity 28 of the hand gun 20 is a wave source that emits electromagnetic waves. The electromagnetic wave emitted from the vicinity of the paint injection port 28 of the hand gun 20 becomes a wave.

  The sensors 30A and 30B detect electromagnetic waves emitted from the paint spray nozzle vicinity 28 of the hand gun 20, and output an electric signal having a magnitude corresponding to the detected electromagnetic wave intensity. As the sensors 30A and 30B, any electromagnetic wave detection sensor may be used as long as it can detect electromagnetic waves. In this embodiment, an antenna capable of receiving radio waves in a specific frequency band is used as the electromagnetic wave detection sensor.

  In the present embodiment, the position of the hand gun 20 is recognized using electromagnetic waves emitted from the vicinity of the paint injection port 28 of the hand gun 20. In addition to this, a sound source that generates ultrasonic waves may be attached to the handgun 20, and a microphone that can input ultrasonic waves as a sound wave detection sensor may be used as the sensors 30A and 30B. In this case, the wave source is a sound source that generates an ultrasonic wave attached to the hand gun 20, and the wave source is an ultrasonic wave generated by the sound source.

  As shown in FIG. 2, the sensors 30 </ b> A and 30 </ b> B are attached to a partition wall 150 provided in the painting line 100. The sensor 30A is attached at a height approximately equal to the height of the upper portion of the front door window 12B of the vehicle 10B. The sensor 30B is attached to a height approximately equal to the height of the lower portion of the front door 14B of the vehicle 10B.

  Since the sensors 30A and 30B are attached with different heights in the vertical direction of the partition wall 150, the approximate height of the hand gun 20 can be determined by the intensity of the electromagnetic waves detected by the sensors 30A and 30B. For example, as shown in FIG. 2, when the hand gun 20 is positioned at an intermediate height of the front door window 12B (solid line position), the intensity of the electromagnetic wave received by the sensor 30A is greater than the intensity of the electromagnetic wave received by the sensor 30B. Is also relatively large. Further, when the handgun 20 is positioned at an intermediate height between the steel plate portions of the front door 14B (dotted line position), the intensity of the electromagnetic wave received by the sensor 30A is relatively smaller than the intensity of the electromagnetic wave received by the sensor 30B. .

  The handgun control unit 40 connects the handgun 20 and the sensors 30A and 30B. The hand gun control unit 40 recognizes the position of the hand gun 20 in the vertical direction with respect to the vehicle 10B from the intensity of the electromagnetic waves detected by the sensors 30A and 30B. The vertical position of the handgun 20 is recognized based on the difference between the intensity of the electromagnetic wave received by the sensor 30A and the intensity of the electromagnetic wave received by the sensor 30B. The hand gun control unit 40 supplies paint to the hand gun 20 and controls the amount of air supplied to the hand gun 20 according to the position of the hand gun 20. For example, when the hand gun 20 is positioned at an intermediate height of the front door window 12B (when it is higher than the specified height), it is determined that the operator is painting the pillar portion of the front door 14B, and the spray shape of the painting To a circular shape. Further, when the hand gun 20 is positioned at an intermediate height of the steel plate portion of the front door 14B (when it is lower than the specified height), it is determined that the operator is painting the steel plate portion of the front door 14B. Make the jet shape elliptical.

  In this embodiment, since the position of the hand gun 20 can be recognized using electromagnetic waves generated when electrostatic coating is performed, no special device is required for recognizing the position of the hand gun 20. In addition, when ultrasonic waves are used to recognize the position of the hand gun 20, it is not affected by the electromagnetic waves emitted from the hand guns 20 of other workers, and the hand gun is used even in a painting line where a plurality of workers perform painting work. The recognition accuracy of 20 positions is improved. This is because ultrasonic waves having different frequencies can be emitted from the sound source for each worker.

  FIG. 3 is a schematic configuration diagram of the handgun 20. 1A is a side view of the hand gun 20, FIG. 1B is a front view of the nozzle portion of the hand gun 20, and FIG. 1C is a side view of the nozzle portion.

  As shown in FIG. 3A, a paint spray lever 21 is attached to the hand gun 20. When the paint injection lever 21 is pulled in the direction of the arrow in the figure, paint and air are injected from the nozzle portion 25.

  As shown in FIGS. 3B and 3C, the nozzle portion 25 of the hand gun 20 includes a paint injection port 22, an atomizing air injection port 23, and a pattern air injection port 24.

  The paint injection port 22 injects the paint supplied by the hand gun control unit 40. The atomizing air injection port 23 is provided so as to surround the paint injection port 22. The atomizing air injection port 23 injects atomizing air for atomizing the paint. The paint sprayed from the paint spray port 22 is torn off by the atomizing air sprayed at a higher speed than the paint. As shown in FIGS. 3B and 3C, the pattern air injection ports 24 are provided in pattern air injection protrusions 26A and 26B that protrude in the paint injection direction. The pattern air ejection protrusions 26 </ b> A and 26 </ b> B are provided facing the tip of the nozzle portion 25. The pattern air ejection protrusions 26A and 26B have an inclined surface that is inclined with respect to the spray direction of the paint. Two pattern air injection openings 24 are opened on the inclined surfaces of the pattern air injection projections 26A and 26B. The pattern air injection port 24 injects pattern air for changing the injection shape of the atomized paint. The pattern air injection port 24 ejects air from the obliquely rear side of the spray direction of the paint with respect to the atomized paint.

  Therefore, the spray shape of the atomized paint can be made circular by ejecting a small amount of air from the pattern air ejection port 24. Further, the sprayed shape of the atomized paint can be made elliptical by ejecting a large amount of air from the pattern air injection port 24. That is, by adjusting the amount of air ejected from the pattern air ejection port 24, the sprayed shape of the atomized paint can be changed from a circular shape to a slit-like elongated ellipse.

  FIG. 4 is a diagram illustrating an example of the spray shape of the paint that changes depending on the amount of pattern air. A in the figure shows the spray shape of the paint when the pattern air spray amount is small. The atomized paint is sprayed in a roughly circular shape. When the amount of pattern air sprayed is small, the paint sprayed in a circular shape is sprayed without changing its shape. When the paint is sprayed in a circular shape, it is suitable for painting a pillar portion of the front door 14B having a narrow paint range, for example.

  B in the figure shows the spray shape of the paint when the amount of pattern air spray is large. The atomized paint is sprayed in a roughly circular shape, but when the pattern air is sprayed simultaneously from two opposing directions at a high speed, the spray range of the paint is deformed from a cylindrical shape to a flat shape. For this reason, the coating material sprayed in a circular shape is transformed into a slit-like elongated ellipse and sprayed. When the paint is sprayed in an elliptical shape, the painting range is widened, which is suitable for painting a steel sheet portion of the front door 14B having a wide painting range.

  FIG. 5 is a block diagram of a control system of the handgun control device according to the first embodiment.

  The handgun control apparatus 200 includes a handgun 20, sensors 30A and 30B, and a handgun control unit 40. The handgun 20 and the sensors 30A and 30B have already been described.

  The hand gun control unit 40 includes a hand gun position recognition unit 41, an air supply amount storage unit 42, an air supply amount control unit 43, an air supply unit 44, a paint supply unit 45, and an air measurement unit 47.

  Sensors 30A and 30B are connected to the handgun position recognition unit 41. The handgun position recognition unit 41 inputs the intensity of the electromagnetic wave detected by the sensor 30A and the intensity of the electromagnetic wave detected by the sensor 30B. The position of the hand gun 20 is recognized from the intensity of the electromagnetic wave detected by the sensor 30A and the intensity of the electromagnetic wave detected by the sensor 30B.

  When the hand gun 20 is positioned at an intermediate height between the sensor 30A and the sensor 30B, the electromagnetic waves detected by the sensor 30A and the sensor 30B have the same intensity. Even if the hand gun 20 is at the same height and separated from the sensor 30A and the sensor 30B in the left-right direction, the intensity of the electromagnetic wave itself changes, but the intensity of the electromagnetic wave detected by the sensor 30A and the sensor 30B is the same.

  Further, when the handgun 20 is at the same position as the sensor 30A, the intensity of the electromagnetic wave detected by the sensor 30A is the highest. When the hand gun 20 has the same height and is separated from the sensors 30A and 30B in the left-right direction, the intensity of the electromagnetic waves detected by the sensors 30A and 30B depending on the distance between the hand gun 20 and the sensor 30A and the distance between the hand gun 20 and the sensor 30B. Changes. Further, when the hand gun 20 is at the same position as the sensor 30B, the intensity of the electromagnetic wave detected by the sensor 30B is the highest. When the hand gun 20 has the same height and is separated from the sensor 30A and the sensor 30B in the left-right direction, the intensity of the electromagnetic waves detected by the sensor 30A and the sensor 30B depending on the distance between the hand gun 20 and the sensor 30B and the distance between the hand gun 20 and the sensor 30A. Changes.

  The handgun position recognizing unit 41 has a mathematical formula that generalizes the relationship between the position of the handgun 20 and the intensity of the electromagnetic waves detected by the sensors 30A and 30B. Therefore, the handgun position recognizing unit 41 recognizes the most position of the handgun 20 by substituting and calculating the intensity of the electromagnetic waves detected by the sensors 30A and 30B into this mathematical expression. Specifically, it is a mathematical formula for recognizing the position of the handgun 20 from the difference between each average intensity of the electromagnetic waves detected by the sensors 30A and 30B and the average intensity.

  In the present embodiment, for example, it is possible to recognize whether the position of the hand gun 20 is positioned on the steel plate portion of the front door 14B of the vehicle 10B (FIG. 2) or the front door window 12B. Therefore, it is only necessary to recognize whether the position of the hand gun 20 is higher or lower than the height H of the boundary between the steel plate portion of the front door 14B and the glass portion of the front door window 12B. Therefore, the position of the handgun 20 can be recognized using a mathematical formula.

  In order to make it possible to recognize the position of the handgun 20 in detail, the relationship between the position of the handgun 20 and the intensity of the electromagnetic waves detected by the sensors 30A and 30B is obtained by storing several tens of points in a storage device. Let me just let you. In the present embodiment, it is only necessary to recognize whether the handgun 20 is above or below the specified height, so the handgun position recognizing unit 41 performs calculations based on mathematical expressions.

  It should be noted that the wave source of the hand gun 20 (near the paint injection port 28), the sensor 30A, the sensor 30B, and the hand gun position recognition unit 41 constitute a hand gun position recognition unit. By configuring the hand gun position recognizing unit with a wave source and a sensor for detecting the wave, the position of the hand gun 20 can be easily recognized even in the painting line 100 where the working environment is not so excellent and the visibility is not good.

  The air supply amount storage unit 42 stores the relationship between the position of the hand gun 20 and the amount of air supplied to the hand gun 20. Specifically, when the hand gun 20 is above the height H of the boundary between the steel plate portion of the front door 14B and the glass portion of the front door window 12B (position A above the specified height), the amount of atomized air Is stored as “a” and the amount of pattern air is stored as “a”. When the hand gun 20 is below the height H of the boundary between the steel plate portion of the front door 14B and the glass portion of the front door window 12B (position B below the specified height), the amount of atomized air is b, The amount of pattern air is stored as B.

  The air supply amount control unit 43 controls the hand gun from the relationship between the position of the hand gun 20 recognized by the hand gun position recognition unit 41, the position of the hand gun 20 stored by the air supply amount storage unit 42, and the amount of air supplied to the hand gun 20. Control the amount of air supplied. For example, when the hand gun 20 is at a position A above a specified height, the amount of atomized air is adjusted to a and the amount of pattern air is adjusted to a. As a result, the paint is sprayed in a circular shape as shown in FIGS. 4A and 5. When the hand gun 20 is at the position B below the specified height, the amount of atomized air is adjusted to b and the amount of pattern air is adjusted to low. As a result, the paint is sprayed into a slit-like long and narrow elliptical shape as shown in FIGS. 4B and 5.

  In the above example, both the amount of atomized air and the amount of pattern air are changed depending on the position of the hand gun 20. However, depending on the shape of the painted part of the vehicle, either the amount of atomized air or the amount of pattern air may be changed depending on the position of the hand gun 20. In this way, by controlling the amount of air injected from at least one of the atomizing air injection port 23 and the pattern air injection port 24, it is possible to finely change the injection amount and the injection shape of the paint. For this reason, it becomes possible to perform the optimal coating according to the shape of the coating part.

  The air supply unit 44 supplies air to be ejected from the atomizing air injection port 23 and the pattern air injection port 24 of the hand gun 20 to the hand gun 20. The amount of air to be injected from the atomizing air injection port 23 and the pattern air injection port 24 is instructed by the air supply amount control unit 43.

  The air measurement unit 47 measures the amount of air supplied from the air supply unit 44 to the hand gun 20.

  The paint supply unit 45 supplies paint of a specified color of the vehicle to the paint injection port 22 of the hand gun 20. Since the paint has different physical properties such as viscosity depending on the vehicle type and color, the paint supply unit 45 supplies the paint to the paint injection port 22 at a prescribed optimum flow rate (liter / minute).

  FIG. 6 is an operation flowchart of the handgun control apparatus shown in FIG.

  The sensors 30 </ b> A and 30 </ b> B detect electromagnetic waves emitted from the vicinity of the paint injection port 28 of the hand gun 20. The intensity of the electromagnetic waves detected by the sensors 30A and 30B varies depending on the position of the hand gun 20 (S1).

  The hand gun position recognition unit 41 calculates the average intensity of the electromagnetic waves detected by the sensors 30A and 30B. Next, the electromagnetic wave intensity difference is calculated from the obtained average intensity. For example, if the average intensity of the electromagnetic wave detected by the sensor 30A is α and the average intensity of the electromagnetic wave detected by the sensor 30B is β, the handgun position recognition unit 41 calculates the intensity difference ε of the electromagnetic wave from α−β. Calculate (S2).

  The handgun position recognizing unit 41 calculates the position of the larger of the handgun 20 by substituting the larger average intensity α and the electromagnetic wave intensity difference ε into the equation. This mathematical expression is used to obtain the position of the hand gun 20 from the relationship between the average strength and the strength difference (S3).

  The air supply amount control unit 43 inputs the position of the handgun 20 recognized by the handgun position recognition unit 41. Then, it is determined whether or not the position of the input hand gun 20 is equal to or higher than a specified height. Here, the specified height is a height provided for switching the amount of air supplied to the handgun 20. In the case of this embodiment, it is the height H of the boundary between the steel plate portion of the front door 14B and the glass portion of the front door window 12B (S4).

  If the position of the hand gun 20 is equal to or higher than the specified height (S4: YES), the air supply amount control unit 43 instructs the air supply unit 44 to reduce the air supply amount supplied to the hand gun 20. Specifically, the air supply amount control unit 43 accesses the air supply amount storage unit 42 and looks at the relationship between the position of the hand gun 20 and the amount of air supplied to the hand gun 20. The air supply amount control unit 43 applies the position of the handgun 20 recognized by the handgun position recognition unit 41 to the above relationship, and acquires the amount of air. The acquired amount of air is instructed to the air supply unit 44. The air supply unit 44 supplies the instructed air to the hand gun 20. More specifically, since the hand gun 20 is located at a position A (see FIG. 2) above the specified height, the air supply amount control unit 43 has an atomization air amount a and pattern air amount to the air supply unit 44. Gives the instruction “I”. In accordance with this instruction, the air supply unit 44 injects an amount of atomized air from the atomizing air injection port 23 of the hand gun 20 and injects an amount of pattern air from the pattern air injection port 24 of the hand gun 20. . For this reason, a coating material is injected in circular shape as shown to FIG. 4A and FIG. This spraying shape of the paint is suitable for painting a pillar portion of the front door 14B (see FIG. 2) having a narrow painting range (S5).

  If the position of the hand gun 20 is not equal to or higher than the specified height (S4: NO), the air supply amount control unit 43 instructs the air supply unit 44 to increase the air supply amount supplied to the hand gun 20. Specifically, the air supply amount control unit 43 accesses the air supply amount storage unit 42 and looks at the relationship between the position of the hand gun 20 and the amount of air supplied to the hand gun 20. The air supply amount control unit 43 applies the position of the handgun 20 recognized by the handgun position recognition unit 41 to the above relationship, and acquires the amount of air. The acquired amount of air is instructed to the air supply unit 44. The air supply unit 44 supplies the instructed air to the hand gun 20. More specifically, since the hand gun 20 is located at a position B (see FIG. 2) below the specified height, the air supply amount control unit 43 sets the atomization air amount b to the air supply unit 44 and the pattern air amount. Instructs that there are much more than B. In accordance with this instruction, the air supply unit 44 injects an amount b of atomizing air from the atomizing air injection port 23 of the hand gun 20 and injects an amount of pattern air from the pattern air injection port 24 of the hand gun 20. . For this reason, the coating material is sprayed into a slit-like elongated vertically long ellipse as shown in FIGS. 4B and 5. The spray shape of the paint is suitable for painting, for example, a steel plate portion (see FIG. 2) of the front door 14B having a wide painting range (S6).

  The handgun control unit 40 determines whether or not the painting work is finished from the paint finish instruction of the operator and the operation state of the paint injection lever 21 of the handgun 20 (S7). If it is determined that the painting operation has not ended (S7: NO), the process returns to step S1, and the processes up to step S7 are repeated. On the other hand, if it is determined that the painting operation has been completed (S7: YES), the paint supply unit 45 is instructed to stop the paint supply, and the air supply unit 44 is instructed to stop the air supply. Then, the painting work is completed.

[Modification of Embodiment 1]
FIG. 7 is a modification of the handgun control device shown in FIG. In this modification, an inclination sensor and a handgun posture calculation unit are added to the configuration of the handgun control device according to the first embodiment.

  The handgun control device 200A includes a handgun 20, an inclination sensor 29, sensors 30A and 30B, and a handgun control unit 40A. The handgun 20 and the sensors 30A and 30B have already been described.

  The tilt sensor 29 is built in the hand gun 20. The tilt sensor 29 detects the tilt of the hand gun 20. The tilt sensor 29 is a gyro sensor formed on a semiconductor substrate. The gyro sensor is a sensor that can detect a change in angle in a three-dimensional direction. Therefore, the posture of the hand gun 20 can be recognized by incorporating the gyro sensor in the hand gun 20 and processing a signal from the gyro sensor. In the present embodiment, a sensor capable of detecting a change in the angle of the hand gun 20 in the three-dimensional direction is used. However, the inclination sensor 29 indicates at least how much the hand gun 20 is inclined from the horizontal direction to the vertical direction. It only has to be detected.

  The hand gun control unit 40A includes a hand gun position recognition unit 41A, an air supply amount storage unit 42, an air supply amount control unit 43, an air supply unit 44, a paint supply unit 45, and a hand gun posture recognition unit 46. The air supply amount storage unit 42, the air supply amount control unit 43, the air supply unit 44, the paint supply unit 45, and the air measurement unit 47 have already been described.

  The inclination sensor 29 is connected to the handgun posture recognition unit 46. The handgun posture recognition unit 46 recognizes the posture of the handgun 20 by processing a signal from the tilt sensor 29. Specifically, it recognizes which direction the paint spray nozzle vicinity 28 of the hand gun 20 is facing up and down. The posture of the hand gun 20 is recognized when the position of the hand gun 20 is equal to or higher than the above-mentioned specified height, but when the vicinity of the paint injection port 28 of the hand gun 20 faces downward, the steel plate portion of the front door 14B (FIG. 2). This is because there is a possibility of trying to paint. On the other hand, when the position of the hand gun 20 is below the above-mentioned specified height but the paint injection port vicinity 28 of the hand gun 20 faces upward, the pillar portion of the front door 14B (see FIG. 2) should be painted. Because there is a possibility that.

  The handgun posture recognition unit 46 outputs a correction signal for correcting the position of the handgun 20 from the recognized posture of the handgun 20. For example, when the posture of the handgun 20 is downward by 30 degrees or more, a correction signal for correcting the position of the handgun 20 downward by H1 is output. Further, when the posture of the handgun 20 is upward by 30 degrees or more, a correction signal for correcting the position of the handgun 20 by H1 is output. It should be noted that how much the position of the handgun 20 is corrected by the inclination of the handgun 20 may be determined in detail for each angle. It does not seem reasonable to correct the position by looking only at the angle of the handgun 20. However, the distance between the paint spray nozzle vicinity 28 of the hand gun 20 and the object to be coated does not vary greatly from worker to worker during painting. Therefore, if it is considered that the distance between the paint spray nozzle vicinity 28 of the hand gun 20 and the object to be coated is constant, there is a certain rationality in correcting the position only by looking at the angle of the hand gun 20.

  The handgun position recognizing unit 41A corrects the position of the handgun 20 recognized by the handgun position recognizing unit 41A by the sensors 30A and 30B according to the posture of the handgun 20 recognized by the handgun posture recognizing unit 46. Specifically, the position of the handgun 20 recognized by the handgun position recognition unit 41A from the intensity of the electromagnetic waves detected by the sensors 30A and 30B is corrected by the correction signal output by the handgun posture recognition unit 46.

  As described above, when the position of the handgun 20 is corrected according to the posture of the handgun 20, the operator can perform the painting work without worrying too much about the posture of the handgun 20. In other words, the control unit can be realized that does not change the spraying shape of the paint against the operator's intention and is easy to use for the operator.

  FIG. 8 is an operation flowchart of the handgun control device shown in FIG.

  In this flowchart, the processes of S11 to S13 are the same as the processes of S1 to S3 of the flowchart shown in FIG.

  When the position of the handgun 20 is recognized by the processing up to S13, the tilt sensor 29 detects the tilt of the handgun 20. The inclination sensor 29 detects how many downward or upward the posture of the handgun 20 is with respect to the horizontal, and outputs a signal corresponding to the posture of the handgun 20. The handgun posture recognition unit 46 recognizes the posture of the handgun 20 based on the signal output from the tilt sensor 29 (S14).

  The handgun position recognizing unit 41A corrects the position of the handgun 20 recognized by the handgun position recognizing unit 41A by the sensors 30A and 30B according to the posture of the handgun 20 recognized by the handgun posture recognizing unit 46. For example, the hand gun position recognition unit 41A determines that the hand gun 20 is near the height H (see FIG. 2) between the steel plate portion of the front door 14B and the glass portion of the front door window 12B by the sensors 30A and 30B. To do. Then, it is assumed that the handgun posture recognition unit 46 recognizes that the posture of the handgun 20 is downward by 30 degrees or more. At this time, a correction signal for correcting the position of the handgun 20 downward by H1 is output from the handgun posture recognition unit 46. Even if the handgun 20 is actually close to the height H, if the posture of the handgun 20 is downward by 30 degrees or more, the worker is a steel plate of the front door 14B located below the height H. This is because the part (see FIG. 2) should be painted. Based on this correction signal, the hand gun position recognition unit 41A corrects the position of the hand gun 20 at the height H downward by H1. By this correction, the paint is sprayed into a slit-like long and narrow elliptical shape as shown in FIGS. 4B and 5 suitable for painting the steel plate portion (see FIG. 2) (S15).

  The processing of S16 to S19 is the same as the processing of S4 to S7 in the flowchart shown in FIG.

  As described above, according to the handgun control device described in the first embodiment, since the amount of air supplied to the handgun 20 is adjusted according to the position of the handgun 20, the atomization state and the injection shape of the paint are applied to the vehicle. It can be matched to the shape of the part. For this reason, it is possible to easily avoid the occurrence of thin coating or the flow of paint, and the coating loss of paint is reduced.

  Further, according to the handgun control device described in the modification of the first embodiment, the position of the handgun 20 is corrected according to the posture of the handgun 20, and the amount of air supplied to the handgun 20 according to the corrected position of the handgun 20 Adjust. For this reason, a paint can be sprayed with the injection shape suitable for the shape of the site | part which the operator is going to paint, and a user-friendly control apparatus is realizable.

[Embodiment 2]
FIG. 9 is a plan view illustrating a schematic configuration of the handgun control device according to the second embodiment.

  The schematic configuration of the handgun control device according to the second embodiment is similar to the schematic configuration of the handgun control device according to the first embodiment. However, in the case of the second embodiment, the vehicles 10A, 10B, and 10C being conveyed to the painting line 100 are continuously conveyed without stopping. The sensor for detecting the position of the handgun 20 includes four sensors 30 </ b> A to 30 </ b> D in order to detect the position in the left-right direction in addition to the vertical direction of the handgun 20. Further, a vehicle transport position detection sensor 50 is provided to detect the transport position of the vehicle. Since each vehicle being transported has a different vehicle type and paint color, the handgun control unit 40 is provided so that the vehicle that the worker is trying to paint can be specified in which vehicle type and color. Vehicle information is input from the host computer.

  As shown in FIG. 9, the painting line 100 includes a hand gun 20, sensors 30 </ b> A, 30 </ b> B, 30 </ b> C, 30 </ b> D, a hand gun control unit 40 </ b> B, and a vehicle transport position detection sensor 50.

  Vehicles 10 </ b> A, 10 </ b> B, and 10 </ b> C that are objects to be coated are conveyed to the painting line 100. In the case of this embodiment, the vehicles 10A, 10B, and 10C are continuously conveyed at a constant speed regardless of whether or not the painting operation is being performed.

  The vehicle transport position detection sensor 50 is attached to a conveyor (not shown) that transports the vehicle to the painting line 100. The vehicle transport position detection sensor 50 is specifically an encoder. By measuring the number of pulses output by the encoder according to the conveyance of the vehicle, the accurate conveyance position of the vehicles 10A, 10B, and 10C can be detected.

  The hand gun 20 is supported by an operator and sprays paint on the vehicle 10B with the help of air supplied from the hand gun control unit 40B. A high voltage of 40 KV to 60 KV is applied to the vicinity of the paint injection port 28 of the hand gun 20 so that the hand gun 20 can perform electrostatic coating on the vehicle 10B. For this reason, electromagnetic waves are emitted from the vicinity of the paint injection port 28 of the hand gun 20 during the painting operation. The vicinity 28 of the hand gun 20 is a wave source that emits electromagnetic waves. The electromagnetic wave emitted from the vicinity of the paint injection port 28 of the hand gun 20 becomes a wave.

  The sensors 30A, 30B, 30C, and 30D detect electromagnetic waves emitted from the vicinity of the paint injection port 28 of the hand gun 20, and output an electric signal having a magnitude corresponding to the detected electromagnetic wave intensity. As the sensors 30A, 30B, 30C, and 30D, any electromagnetic wave detection sensor may be used as long as it can detect electromagnetic waves. In this embodiment, an antenna capable of receiving radio waves in a specific frequency band is used as the electromagnetic wave detection sensor.

  In the present embodiment, the position of the hand gun 20 is recognized using electromagnetic waves emitted from the vicinity of the paint injection port 28 of the hand gun 20. In addition to this, a sound source that generates ultrasonic waves may be attached to the hand gun 20, and a microphone that can input ultrasonic waves as a sound wave detection sensor may be used as the sensors 30A, 30B, 30C, and 30D. In this case, the wave source is a sound source that generates an ultrasonic wave attached to the hand gun 20, and the wave source is an ultrasonic wave generated by the sound source.

  As shown in FIG. 9, the sensors 30 </ b> A, 30 </ b> B, 30 </ b> C, and 30 </ b> D are attached to a partition wall 150 provided in the painting line 100. Similarly to FIG. 2, the sensors 30A and 30C are attached to the same height as the upper portion of the front door window 12B of the vehicle 10B. The sensors 30B and 30D are attached to a height that is about the same as the height of the lower portion of the front door 14B of the vehicle 10B. Further, the sensors 30A and 30B and the sensors 30C and 30D are arranged at a certain distance in the vehicle transport direction.

  The sensors 30A and 30B and the sensors 30C and 30D are attached with different heights in the vertical direction of the partition wall 150, and the sensors 30A and 30B and the sensors 30C and 30D are fixed in the horizontal direction of FIG. They are arranged at a distance. For this reason, the approximate position of the handgun 20 can be determined by the intensity of the electromagnetic waves detected by the sensors 30A, 30B, 30C, and 30D. For example, when the handgun 20 is located on the extension of the center line extending perpendicularly to the quadrangular surface from the center of the quadrangle surrounded by the sensors 30A, 30B, 30C, 30D, the sensors 30A, 30B, 30C, 30D The intensity of the electromagnetic wave received by is the same. When the handgun 20 is shifted in the vertical and horizontal directions from the extension of the center line, the intensity of the electromagnetic wave received by the sensors 30A, 30B, 30C, and 30D is different. Therefore, the approximate position of the hand gun 20 can be recognized from the intensity of the electromagnetic waves detected by the sensors 30A, 30B, 30C, and 30D and the difference in the intensity of the electromagnetic waves between the sensors.

  The handgun control unit 40B connects the handgun 20, the sensors 30A, 30B, 30C, and 30D and the vehicle transport position detection sensor 50. The handgun control unit 40 recognizes the position of the handgun 20 in the vertical and horizontal directions from the intensity of the electromagnetic waves detected by the sensors 30A, 30B, 30C, and 30D and the electromagnetic wave intensity difference between the sensors. The handgun control unit 40 also measures the number of pulses output from the vehicle transport position detection sensor 50 to detect the accurate transport position of the vehicles 10A, 10B, and 10C. The handgun control unit 40 determines the handgun for the vehicle 10B based on the position of the handgun 20 detected by the sensors 30A, 30B, 30C, and 30D and the transport position of the vehicles 10A, 10B, and 10C detected by the vehicle transport position detection sensor 50. Recognize 20 positions. In other words, it recognizes which part of the vehicle 10 the worker is trying to paint.

  The hand gun control unit 40B inputs vehicle information (vehicle type and paint color) from the host computer. This is because the color of paint sprayed from the hand gun 20 and the amount of air supplied to the hand gun 20 are adjusted according to the vehicle information. Therefore, the handgun control unit 40B can realize the paint atomization state and the injection shape that are optimal for the shape of the painted portion of the vehicle, the vehicle type and the paint color of the vehicle.

  In the case of the handgun control apparatus according to the second embodiment, the sensor 30A, 30B, 30C, 30D and the vehicle transport position detection sensor 50 can recognize in which part of the vehicle 10B the handgun 20 is located. Further, the vehicle type and paint color of the vehicle can be recognized from the vehicle information. Therefore, as in the first embodiment, not only the paint injection shape is changed according to the vertical position of the hand gun 20, but also the paint injection shape is changed according to the position of the painting portion of the vehicle 10B. Moreover, the atomization state and spray shape of the paint can be changed according to the vehicle type and the paint color. A modification of the first embodiment can also be applied to the second embodiment. If the modification of the first embodiment is applied to the second embodiment, since the posture of the handgun 20 is also taken into consideration, it is possible to realize paint control that is more convenient to use.

  According to the handgun control device 100 of the present embodiment, it is possible to know where the vehicle that is the object to be painted is to be painted, so that the atomization state and the injection shape of the paint according to the shape of the painted portion of the vehicle are realized. it can. In addition, the atomization state and the injection shape can be optimized according to the physical properties of the paint.

  FIG. 10 is a block diagram of a control system of the handgun control device according to the second embodiment.

  The handgun control device 200 includes a handgun 20, sensors 30A, 30B, 30C, and 30D, a handgun control unit 40B, and a vehicle transport position detection sensor 50. The handgun 20, the sensors 30A, 30B, 30C, and 30D and the vehicle transport position detection sensor 50 have already been described.

  The handgun control unit 40B includes a handgun position recognition unit 41B, an air supply amount storage unit 42A, an air supply amount control unit 43A, an air supply unit 44, a paint supply unit 45, and an air measurement unit 47.

  Sensors 30A, 30B, 30C, 30D and a vehicle transport position detection sensor 50 are connected to the hand gun position recognition unit 41B. The handgun position recognition unit 41B inputs the intensity of electromagnetic waves detected by the sensors 30A to 30D. The position of the handgun 20 is recognized from the intensity of each electromagnetic wave detected by the sensors 30 </ b> A to 30 </ b> D and the difference in electromagnetic wave intensity between the sensors. The hand gun position recognizing unit 41B detects the transport position of the vehicle based on the number of pulses output by the vehicle transport position detection sensor 50.

  The handgun position recognizing unit 41B has a mathematical formula that generalizes the relationship between the position of the handgun 20 and the intensity of the electromagnetic waves detected by the sensors 30A to 30D. Accordingly, the handgun position recognition unit 41A recognizes the most position of the handgun 20 by substituting and calculating the intensity of the electromagnetic wave detected by each of the sensors 30A to 30D in this mathematical expression. Specifically, it is a mathematical formula for recognizing the position of the handgun 20 from the difference between each average intensity of the electromagnetic waves detected by the sensors 30A to 30D and the average intensity.

  In the present embodiment, since the sensors 30A to 30D are arranged in a square shape, it is possible to recognize where the handgun 20 is located in an area surrounded by the square shape. In order to make it possible to recognize the position of the handgun 20 in detail, the relationship between the position of the handgun 20 and the intensity of the electromagnetic wave detected by each of the sensors 30A to 30D is taken and stored. You may memorize it in the device. In the present embodiment, since it is only necessary to recognize the approximate position of the handgun 20, the handgun position recognizing unit 41B performs calculations using mathematical formulas.

  It should be noted that the wave source (near the paint injection port 28) of the hand gun 20, the sensors 30A to 30D, the vehicle transport position detection sensor 50, and the hand gun position recognition unit 41B constitute a hand gun position recognition unit. By configuring the hand gun position recognizing unit with a wave source and a sensor for detecting the wave, it is possible to easily recognize the position of the hand gun 20 even in a painting line 100 having a poor working environment and poor visibility. Further, by configuring the hand gun position recognizing unit 41B including the vehicle transport position detection sensor 50, the position of the hand gun 20 relative to the position of the vehicle 10B can be recognized, and any part of the vehicle that the operator intends to paint You can recognize if you are.

  The air supply amount storage unit 42A stores the relationship between the position of the handgun 20 with respect to the vehicle 10B and the amount of air supplied to the handgun 20 for each vehicle type and paint color. Specifically, when the hand gun 20 is above the height H of the boundary between the steel plate portion of the front door 14B of the vehicle 10B and the glass portion of the front door window 12B (position A above the specified height), atomization occurs. The amount of air is stored as a, and the amount of pattern air is stored as a. Further, when the hand gun 20 is below the height H of the boundary between the steel plate portion of the front door 14B of the vehicle 10B and the glass portion of the front door window 12B (position B below the specified height), the amount of atomized air B, the amount of pattern air is stored as B. Further, when the hand gun 20 is at the position of the bonnet of the vehicle B (position C), the amount of atomized air is stored as c and the amount of pattern air is stored as C.

  The air supply amount control unit 43A stores the vehicle information (vehicle type / paint color) input from the host computer, the position of the handgun 20 relative to the vehicle 10B recognized by the hand gun position recognition unit 41A, and the air supply amount storage unit 42. The amount of air supplied to the handgun is controlled from the relationship between the position of the handgun 20 and the amount of air supplied to the handgun 20 that matches the vehicle information. For example, when the hand gun 20 is in the position A above the specified height near the front door, the amount of atomized air is adjusted to a and the amount of pattern air is adjusted to a. As a result, the paint is sprayed in a circular shape as shown in FIGS. 4A and 10. Further, when the hand gun 20 is at a position B below the specified height near the front door, the amount of atomized air is adjusted to b and the amount of pattern air is adjusted to low. As a result, the paint is sprayed into a slit-like long and narrow elliptical shape as shown in FIGS. 4B and 10. Further, when the hand gun 20 is at a position C near the bonnet, the amount of atomized air is adjusted to c and the amount of pattern air is adjusted to b. As a result, the paint is sprayed into an elliptical shape that is further elongated than the slit-like long and narrow elliptical shape formed near the front door.

  In the above example, both the amount of atomized air and the amount of pattern air are changed depending on the position of the hand gun 20 with respect to the vehicle 10. However, depending on the shape of the painted part of the vehicle, either the amount of atomized air or the amount of pattern air may be changed depending on the position of the hand gun 20. In this way, by controlling the amount of air injected from at least one of the atomizing air injection port 23 and the pattern air injection port 24, it is possible to finely change the injection amount and the injection shape of the paint. For this reason, it becomes possible to perform the optimal coating according to the shape of the coating part.

  The air supply unit 44, the paint supply unit 45, and the air measurement unit 47 have already been described in the first embodiment.

  FIG. 11 is an operation flowchart of the handgun control device shown in FIG.

  The air supply amount control unit 43A of the handgun control unit 40B inputs vehicle information (vehicle type / color) of the vehicle 10B that the worker is about to paint from the host computer. Paints have different physical properties such as viscosity for each vehicle type and color. For this reason, vehicle information (vehicle type / color) is input so that the vehicle 10B can be optimally painted (S21).

  The handgun position recognition unit 41B receives a pulse from the vehicle transport position detection sensor 50, and detects the vehicle transport position by measuring the number of pulses (S22).

  The sensors 30 </ b> A, 30 </ b> B, 30 </ b> C, and 30 </ b> D detect electromagnetic waves emitted from the vicinity of the paint injection port 28 of the hand gun 20. The intensity of the electromagnetic wave detected by each sensor 30A, 30B, 30C, 30D varies depending on the position of the hand gun 20 (S23).

  The handgun position recognition unit 41B calculates the average intensity of the electromagnetic waves detected by the sensors 30A, 30B, 30C, and 30D. Next, the intensity difference of the electromagnetic wave between each sensor is calculated from the obtained average intensity. For example, it is assumed that the average intensity of the electromagnetic waves detected by the sensors 30A to 30D is αA to αD. The hand gun position recognizing unit 41B determines that the electromagnetic wave intensity difference ε1 between the sensor 30A and the sensor 30B is αA−αB, the electromagnetic wave intensity difference ε2 between the sensor 30A and the sensor 30C is αA−αC, and the sensor 30A and the sensor 30D. The electromagnetic wave intensity difference ε3 is obtained by αA−αD. The handgun position recognizing unit 41B uses the electromagnetic wave intensity difference ε4 between the sensor 30B and the sensor 30C by αB−αC, and the electromagnetic wave intensity difference ε5 between the sensor 30B and the sensor 30D by αB−αD. Is obtained by αC−αD (S24).

  The handgun position recognizing unit 41B calculates the approximate position of the handgun 20 by substituting these average intensities αA to αD and the intensity differences ε1 to ε6 into mathematical expressions for recognizing the position of the handgun 20. This mathematical formula is used to obtain the position of the hand gun 20 from the relationship between the average strength and the strength difference. Then, the hand gun position recognition unit 41B recognizes the position of the hand gun 20 relative to the vehicle 10B, in other words, the paint spraying position, by superimposing the calculated position of the hand gun 20 on the detected vehicle transport position (S25).

  The air supply amount control unit 43A inputs the position of the handgun 20 recognized by the handgun position recognition unit 41B. The air supply amount control unit 43A accesses the air supply amount storage unit 42A and looks at the relationship between the position of the handgun 20 and the amount of air supplied to the handgun 20 with respect to the vehicle information already input. The air supply amount control unit 43A obtains the amount of air by applying the position of the hand gun 20 recognized by the hand gun position recognition unit 41B to the above relationship. The acquired amount of air is set in the air supply unit 44 (S26).

  The air supply amount control unit 43A adjusts the air supply amount according to the position of the handgun 20 recognized by the handgun position recognition unit 41B (S27).

  The hand gun control unit 40B determines whether or not the painting work is finished from the paint finish instruction of the operator and the operation state of the paint injection lever 21 of the hand gun 20 (S28). If it is determined that the painting operation has not been completed (S28: NO), the process returns to step S21, and the processes up to step S28 are repeated. On the other hand, if it is determined that the painting operation has been completed (S28: YES), the paint supply unit 45 is instructed to stop the paint supply, and the air supply unit 44 is instructed to stop the air supply. Then, the painting work is completed.

  In the handgun control apparatus according to the second embodiment, the air supply amount storage unit 42A stores the relationship between the position of the handgun 20 relative to the vehicle 10B and the amount of air supplied to the handgun 20 for each type and paint color of the vehicle 10B. ing. For this reason, painting can be performed in a state adapted to the physical properties of different paints depending on the vehicle type and paint color.

  In the handgun control device according to the second embodiment, the handgun 20 is determined from the relationship between the type of the vehicle 10B stored in the air supply amount storage unit 42A and the position of the handgun 20 for each paint color and the amount of air supplied to the handgun 20. The amount of air supplied to the air is controlled. For this reason, according to the painting position of the vehicle 10B, a coating material can be injected with the optimal atomization state and injection shape.

[Embodiment 3]
FIG. 12 is a plan view illustrating a schematic configuration of the handgun control device according to the third embodiment.

  Each configuration of the hand gun control device according to the third embodiment is the same as the configuration of the hand gun control device according to the second embodiment. In the case of the third embodiment, three handgun control devices according to the second embodiment are arranged on the painting line 100. Three workers are arranged in the painting line 100, and each worker individually paints the vehicles 10A, 10B, and 10C. For this reason, the vehicles 10A, 10B, and 10C are sequentially transported as a set of three vehicles, and are transported continuously at a constant speed after being transported. When the three painting operations are completed, the three vehicles are sequentially fed together.

  The operation of the hand gun control device during the painting operation is the same as that of the second embodiment. The modification of the first embodiment can also be applied to the third embodiment.

  The handgun control apparatus according to the third embodiment has the following configuration.

  The painting line 100 includes hand guns 20A, 20B, and 20C, sensors 30A to 30L, hand gun control units 40B1, 40B2, and 40B3, and a vehicle transport position detection sensor 50.

  The hand gun 20A, the sensors 30A to 30D, the hand gun control unit 40B1, and the vehicle transport position detection sensor 50 constitute one hand gun control device. The hand gun 20B, the sensors 30E to 30H, the hand gun control unit 40B2, and the vehicle transport position detection sensor 50 constitute another hand gun control device. The hand gun 20C, the sensors 30I to 30L, the hand gun control unit 40B3, and the vehicle transport position detection sensor 50 constitute still another hand gun control device.

  The handguns 20A, 20B, and 20C have the same structure as the handgun 20A described in the first and second embodiments. That is, it is as having demonstrated based on FIG.3 and FIG.4.

  The sensors 30A to 30L are the same as the sensors 30A to 30D described in the first and second embodiments. The sensors 30 </ b> A to 30 </ b> D, the sensors 30 </ b> E to 30 </ b> H, and the sensors 30 </ b> I to 30 </ b> L are arranged in a square shape on the partition wall 150 in the same manner as the sensors 30 </ b> A to 30 </ b> D of the second embodiment. The position of the hand gun 20A is detected by the sensors 30A to 30D, the position of the hand gun 20B is detected by the sensors 30E to 30H, and the position of the hand gun 20C is detected by the sensors 30I to 30L.

  The configuration and operation of the hand gun control units 40B1, 40B2, and 40B3 are exactly the same as those of the hand gun control unit 40B shown in FIG.

  As described above, according to the hand gun control device according to the third embodiment, since a plurality of hand gun control devices are arranged in one painting line 100, the efficiency of the painting work can be further improved.

10A, 10B, 10C Vehicle (object to be painted),
12B Front door window,
14B Front door,
20 handgun,
21 Paint spray lever,
22 Paint spray port,
23 Atomizing air outlet,
24 pattern air jets,
25 nozzle part,
26A, 26B Pattern air injection projection,
28 Near paint injection port (wave source)
29 Tilt sensor,
30A-30L sensor (electromagnetic wave detection sensor, sound wave detection sensor),
40, 40A, 40B, 40B1-40B3 handgun control unit,
41, 41A, 41B Handgun position recognition unit,
42, 42A air supply amount storage unit,
43, 43A air supply amount control unit,
44 Air supply section,
45 Paint supply section,
46 Handgun posture recognition unit,
47 Air measurement unit,
50 vehicle transport position detection sensor,
100 painting line,
150 partition walls,
200 Handgun control device.

Claims (7)

A hand gun that sprays paint on the object to be coated with air;
A hand gun position recognition unit for recognizing the position of the hand gun with respect to the object to be coated;
An air supply amount storage unit for storing a relationship between the position of the handgun and the amount of air supplied to the handgun;
An air supply amount control unit that controls the amount of air supplied to the hand gun from the relationship between the position of the hand gun recognized by the hand gun position recognition unit, the position of the hand gun stored in the air supply amount storage unit, and the amount of air supplied to the hand gun When,
A hand gun control device comprising: Furthermore, it has a handgun posture recognition unit that recognizes the posture of the handgun,
The handgun control device according to claim 1, wherein the handgun position recognizing unit corrects the position of the handgun recognized by the handgun position recognizing unit according to the posture of the handgun recognized by the handgun posture recognizing unit. . The air supply amount storage unit stores the relationship between the position of the hand gun and the amount of air supplied to the hand gun for each type and color of the object to be coated,
The air supply amount control unit is configured to input the type and color of the object to be coated, the position of the hand gun recognized by the hand gun position recognition unit, the type of the object to be stored and the type of the object to be stored that is stored in the air supply amount storage unit, and The handgun control device according to claim 1 or 2, wherein the amount of air supplied to the handgun is controlled from the relationship between the position of the handgun for each paint color and the amount of air supplied to the handgun. The handgun position recognition unit
A wave source of the handgun;
A plurality of sensors provided in the coating line of the object to be detected in order to detect the wave emitted by the wave source;
A handgun position recognition unit that calculates the position of the handgun relative to the object to be coated from the intensity of each wave detected by the plurality of sensors;
The handgun control device according to any one of claims 1 to 3, wherein Furthermore, it has an object conveyance position detection sensor for detecting the object conveyance position,
The hand gun position recognizing unit is configured to determine whether the hand gun is applied to the object to be painted from the position of the object to be painted detected by the object to be painted position detection sensor and the intensity of each wave detected by the plurality of sensors. The hand gun control device according to claim 4, wherein the position is recognized. The wave source is a sound source attached to the hand gun near the paint spray port of the hand gun to which a voltage for performing electrostatic coating is applied,
6. The handgun control device according to claim 4, wherein the plurality of sensors are electromagnetic wave detection sensors that detect the electromagnetic waves or are sound wave detection sensors that detect the sound waves. The hand gun has an atomizing air injection port for injecting atomized air for atomizing the paint, and a pattern air injection port for injecting pattern air for changing the injection shape of the atomized paint. ,
The said air supply amount control part controls the quantity of the air injected from at least any one of the said atomization air injection port or the said pattern air injection port, The Claim 1 characterized by the above-mentioned. Hand gun control device.

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