JP2018144007A - Coating apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent occurrence of coating failure even if a coated surface has an uneven shape.SOLUTION: A coating apparatus comprises: a coating gun 36 comprising a coating nozzle 37 which ejects a coating material toward coated objects 50, 60; a conveyor 10 for conveying the coated objects 50, 60; coating distance measuring means 30 which measures a distance between coated surfaces 51, 61 of the coated objects 50, 60 and the coating nozzle 37; and a control unit 44 which sets or changes coating condition when coating the coating material onto the coated surfaces 51, 61 based on information concerning the distance measured by the coating distance measuring means 30. The coating condition when coating the coating material onto the coated surfaces 51, 61 is set or changed at any time in association with change in the distance between the coated surfaces 51, 61 and the coating nozzle 37, and therefore, coating failure due to such a reason that movement of the coating nozzle 37 cannot follow change of an unevenness of the coated surfaces 51, 61 can be prevented.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a coating apparatus.

  Patent Document 1 discloses a coating apparatus that performs coating while moving the paint spray nozzle in a three-dimensional direction according to the shape of the object to be coated and keeping the distance between the object to be coated and the paint spray nozzle constant. ing. This coating apparatus includes a sensor for measuring a distance between an object to be coated and a paint spray nozzle, and drive means for moving the paint spray nozzle. The driving means moves the paint spray nozzle based on the measurement information from the sensor, so that the distance between the object to be coated and the paint spray nozzle is kept constant.

JP-A-6-226156

  In the above coating apparatus, the paint spray nozzle is mechanically moved by the driving means. Therefore, for example, when the surface to be coated has a shape with large irregularities and the object to be coated is conveyed by a conveyor, the movement of the paint spray nozzle follows the variation in the irregularities on the surface to be coated. It is not possible, and there is a concern that it will cause poor painting.

  The present invention has been completed based on the above circumstances, and an object of the present invention is to prevent poor coating even if the surface to be coated is uneven.

The present invention
A paint gun equipped with a paint nozzle that ejects paint toward the object;
A conveyor for conveying the object to be coated;
A coating distance measuring means for measuring a distance between a coating surface of the coating object and the coating nozzle;
And a control device that sets or changes a coating condition for applying a paint to the surface to be coated based on distance information measured by the coating distance measuring means.

  The coating conditions for applying paint to the surface to be coated are set or changed from time to time as the distance between the surface to be coated and the paint nozzle varies, so the distance between the surface to be coated and the paint nozzle In order to maintain a constant, it is not necessary to move the paint nozzle in accordance with the uneven shape of the surface to be coated. Accordingly, it is possible to prevent a coating failure caused by the movement of the paint nozzle being unable to follow the change in the unevenness of the surface to be coated. In addition, since suitable coating conditions are set without human intervention, the paint can be applied with high quality.

The top view of the coating apparatus of Example 1 Plan view showing the process of painting the work in the painting booth Plan view showing the state in which the work is moved from the state shown in Fig. 2 at the painting booth. Plan view showing the process of painting an object to be painted different from that in Fig. 2 at the painting booth Plan view showing the state in which the work is moved from the state shown in Fig. 4 in the painting booth. Block diagram showing the configuration of the means for setting the painting conditions Schematic side view showing the state of measuring the three-dimensional shape of the area of the coated surface that does not become the blind spot of the range sensor Schematic side view showing the state of measuring the 3D shape of the area to be blinded by the range sensor on the coated surface

The present invention
Comprising three-dimensional shape specifying means for specifying the three-dimensional shape of the coated surface;
The control device is characterized in that the position of the paint nozzle facing the object to be coated is set based on the three-dimensional shape information specified by the three-dimensional shape specifying means.
According to this configuration, even if the surface to be coated has an uneven shape, the position of the coating nozzle can be set within an appropriate range so that the coating quality of the coating is high.

The present invention
The control device is configured to set the coating condition based on the distance information measured by the coating distance measuring unit and the three-dimensional shape information specified by the three-dimensional shape specifying unit. It has the characteristics.
According to this configuration, when setting the painting conditions in the control device, not only the distance information measured by the painting distance measuring means but also the three-dimensional shape information specified by the three-dimensional shape specifying means, Good paint conditions are set.

The present invention
In the control device, the painting condition set based on the distance information and the three-dimensional shape information is stored as painting condition information,
The control device may include a learning function that reads out the painting condition information and sets it as the painting condition when information that matches or approximates the distance information and the three-dimensional shape information is input.
According to this configuration, when applying a plurality of objects to be coated in sequence, the control device does not need to calculate the coating conditions every time based on the distance information and the three-dimensional shape information for each object to be coated. . Thereby, the time required for setting or changing the coating conditions can be shortened, and the coating efficiency is excellent.

The present invention
The three-dimensional shape specifying means is
A range sensor that detects the distance to the coating surface by emitting the detection light radially toward the coating surface while rotating and receiving the detection light reflected by the coating surface;
A reflection member that reflects the detection light between the range sensor and the surface to be coated may be provided.
According to this configuration, the range sensor and the surface to be coated are moved relative to each other in parallel with the rotation center axis of the range sensor, and the distance to the surface to be coated is detected by the range sensor. It can be measured. The detection light reflected by the reflective member hits the area of the coated surface that is a blind spot when viewed from the range sensor, and the detection light reflected by the coated surface is reflected again by the reflective member and received by the range sensor. . Since the detection of the distance of the blind spot area is performed by the reflecting member, the number of range sensors can be reduced and the cost can be reduced.

The present invention
A paint requirement specification specifying means for specifying a paint requirement specification in which the quality of the coating film to be formed on the coated surface is specified,
The control device is configured to set the painting condition based on the distance information measured by the painting distance measuring unit and the painting requirement specification information identified by the painting requirement specification identifying unit. Has characteristics.
According to this configuration, when setting the painting conditions in the control device, not only the distance information measured by the painting distance measuring means, but also the painting requirement specification information specified by the painting requirement specification specifying means, Good paint conditions are set.

The present invention
The painting requirement specification specifying means,
Digitally coded digital information display member that displays the required paint specification information and is conveyed integrally with the object to be coated;
Digital information reading means for reading the required paint specification information displayed on the digital information display member may be provided.
According to this configuration, it is possible to specify the painting requirement specification information of the coating object while conveying the coating object.

The present invention
In the control device, the painting condition set based on the distance information and the painting requirement specification information is stored as painting condition information,
The control device may include a learning function that reads out the painting condition information and sets it as the painting condition when information that matches or approximates the distance information and the painting requirement specification information is input.
According to this configuration, when applying a plurality of objects to be coated in sequence, the control device does not need to calculate the coating conditions every time based on the distance information and the painting requirement specification information for each object to be coated. . Thereby, the time required for setting or changing the coating conditions can be shortened, and the coating efficiency is excellent.

The present invention
The paint nozzle may be movable following the workpiece to be conveyed by the conveyor.
According to this configuration, since it is possible to ensure a long time that can be spent for painting on one surface to be coated, even if the surface to be coated has a complicated shape, good coating is performed without performing manual correction coating. be able to.

The present invention
A baking drying oven for curing the paint applied to the coated surface by heat drying and fixing the coating to the coated surface;
You may provide the coating quality test | inspection means which test | inspects the coating quality of the coating material with respect to the said to-be-coated object of the state which is not carried in to the said baking drying furnace.
According to this configuration, by correcting the coating conditions based on the inspection result by the coating quality inspection means, it is possible to execute a good baking and drying process and form a high-quality coating film.

The present invention
The said control apparatus may be provided with the correction | amendment function which correct | amends the baking drying conditions of the baking drying performed with the said baking drying furnace based on the test result by the said coating quality test | inspection means.
According to this configuration, by correcting the baking and drying conditions based on the inspection result by the coating quality inspection means, it is possible to execute a good baking and drying process and form a high-quality coating film.

The present invention
You may provide the surface treatment state test | inspection means which test | inspects the state of the said to-be-coated surface in which the surface treatment is performed and the coating material is not applied.
According to this configuration, the coating quality on the coated surface can be improved by inspecting the state of the coated surface on which the coating is not applied by the surface treatment state inspection means.

<Example 1>
A first embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 1, the coating apparatus according to the first embodiment includes a conveyor 10 for circulating and conveying objects 50 and 60 in one direction while being hung by a hanger 11 (see FIGS. 2 to 5). And a control device 44 (see FIG. 6) for setting or changing the coating conditions when the paint is applied to the coated surfaces 51 and 61 of the objects 50 and 60 to be conveyed. A landing zone 12, a pretreatment device 13, a coating booth 31, and a baking / drying furnace 41 are provided on the conveyance path by the conveyor 10 or in the vicinity of the conveyance path. In the arrival zone 12, the articles 50 and 60 and the stickers 25 (digital information display members described in claims) corresponding to the articles 50 and 60 are attached to the hangers 11 of the conveyor 10.

  A pretreatment device 13 is provided on the downstream side of the arrival zone 12 in the conveyance direction (forward in the conveyance direction). In the pretreatment device 13, a degreasing device 14 for degreasing the coated surfaces 51 and 61 of the coated objects 50 and 60 in order from the upstream side to the downstream side in the transport direction, the coated surface after degreasing The first water cleaning device 15 for cleaning 51, 61, the surface adjustment device 16 for adjusting the surfaces of the coated surfaces 51, 61 after water cleaning, and the surfaces of the coated surfaces 51, 61 are rust-proof. For example, a chemical conversion film generating apparatus 17 for generating a chemical conversion film, a second water cleaning apparatus 18 for cleaning the surfaces of the coated surfaces 51 and 61 on which the chemical conversion film is generated, and the coated surfaces 51 and 61 are used. A third water cleaning device 19 for cleaning the surface of the coating, a pure water cleaning device 20 for cleaning the surfaces of the coated surfaces 51 and 61, and water adhering to the coated surfaces 51 and 61 by evaporating the water. A draining and drying furnace 21 for drying the coating surfaces 51 and 61 is provided.

  A pretreatment (surface treatment) performed prior to the painting process is performed on the downstream side in the transport direction of the pretreatment device 13 and the state of the coated surfaces 51 and 61 to which the paint is not applied is inspected. Surface treatment state inspection means 22 is provided. The surface treatment state inspection means 22 is in a state of rust prevention treatment and whether or not foreign matter (lint or charged dust, etc.) adheres to the surfaces of the coated surfaces 51 and 61 that have undergone pretreatment and draining and drying treatment. Inspect. As the surface treatment state inspection means 22, a non-contact optical sensor, an image processing apparatus, or the like is used.

  A reading sensor 23 (digital information reading means described in claims) is provided downstream of the surface treatment state inspection means 22 in the transport direction. The reading sensor 23 constitutes a paint requirement specification specifying unit 24 together with a sticker 25 (see FIGS. 2 and 3) described later. The required paint specification specifying means 24 specifies a required paint specification that defines the quality of the coating film according to the paint used for each of the objects 50 and 60, and the specified required paint specification information is sent to the control device 44. Entered.

  The painting requirement specification information is digitally encoded and displayed on a sticker 25 having longitudinal heat resistance and fire resistance. The sticker 25 is attached to the hanger 11 for suspending the objects to be coated 50 and 60 on the conveyor 10, and is transported integrally with the objects to be coated 50 and 60. The required coating specifications include information such as the thickness of the coating film to be generated, the finish of the surface of the coating film (surface roughness), and the baking and drying conditions. The baking and drying conditions include a temperature rising time of the baking drying furnace 41, a material temperature keeping time of the objects 50 and 60 to be coated in the baking drying furnace 41, a baking temperature, and the like.

  On the downstream side of the reading sensor 23 in the transport direction, a three-dimensional shape specifying means 26 for specifying the three-dimensional shape of the coated surfaces 51 and 61 of the coated objects 50 and 60 is provided. The three-dimensional shape specifying means 26 includes a range sensor 27 and a pair of reflecting members 28 as shown in FIGS. The range sensor 27 emits detection light L radially toward the workpieces 50 and 60 (coating surfaces 51 and 61) while rotating, and receives the detection light L reflected by the coating surfaces 51 and 61. The distance to the coated surfaces 51 and 61 is detected. The reflection member 28 is disposed so as to reflect the detection light L emitted from the range sensor 27 between the range sensor 27 and the coated surfaces 51 and 61.

  When measuring the three-dimensional shape of the coated surfaces 51 and 61, the range sensor 27 is arranged so that the rotation center axis thereof is parallel to the conveying direction of the coated objects 50 and 60 by the conveyor 10. Then, the detection light L emitted from the range sensor 27 is irradiated radially on the objects 50 and 60 to be conveyed, and the detection light L reflected by the surfaces 51 and 61 is received by the range sensor 27. The distance from the range sensor 27 to the coated surfaces 51 and 61 is detected. Based on this detection value, the three-dimensional shape of the coated surfaces 51 and 61 is measured.

  In the region D that does not become a blind spot when viewed from the range sensor 27 in the coated surfaces 51 and 61, the detection light L emitted from the range sensor 27 is directly irradiated and reflected, and the reflected light is received by the range sensor 27. The On the other hand, the detection light L reflected by the reflecting member 28 strikes a region B that is a blind spot when viewed from the range sensor 27 in the coated surfaces 51 and 61. Then, the detection light L reflected by the region B that becomes the blind spot among the coated surfaces 51 and 61 is reflected again by the reflecting member 28 and received by the range sensor 27. The three-dimensional shape specifying means 26 of the present embodiment detects the distance of the area B that is a blind spot among the coated surfaces 51 and 61 by the reflecting member 28, so that the number of range sensors 27 is reduced and the cost is reduced. can do.

  A distance sensor 29 is provided on the downstream side in the transport direction of the three-dimensional shape specifying means 26. The distance sensor 29 emits detection light in the same direction (direction perpendicular to the transport direction) to the coated surfaces 51 and 61 to be transported as a direction in which a paint nozzle 37 described later discharges the paint onto the coated surfaces 51 and 61. The distance to the coated surfaces 51 and 61 is detected by emitting and receiving the reflected light. The detection value of the distance sensor 29 is input to the control device 44. The control device 44 stores position information of the paint nozzle 37 in the paint discharge direction. The control device 44 compares the position information of the paint nozzle 37 and the detection information input from the distance sensor 29 to measure the position of the paint nozzle 37 facing the coated surfaces 51 and 61. The control device 44 and the distance sensor 29 constitute a paint distance measuring means 30 for measuring the distance between the coated surfaces 51 and 61 and the paint nozzle 37.

  A coating booth 31 is provided downstream of the distance sensor 29 in the conveyance direction. As shown in FIGS. 2 to 5, the painting booth 31 is provided with a painting robot 32 having a painting gun 36 attached to the tip. The painting robot 32 includes a base 33, a slider 34, an arm 35, and a painting gun 36. The slider 34 is provided on the upper surface of the base 33, and can move in parallel with the transport direction so as to follow the workpieces 50 and 60 under the control of the control device 44. The arm 35 is attached to the slider 34 and can be moved horizontally so as to be orthogonal to the transport direction under the control of the control device 44.

  The coating gun 36 is attached to the tip of the arm 35 (the end near the conveyor 10). The painting gun 36 is provided with a high voltage generator 38 (see FIG. 6) for applying a high potential to the paint. The timing of charging the high voltage generator 38 is controlled by the controller 44. A paint nozzle 37 for discharging paint is provided at the tip of the paint gun 36. As shown in FIGS. 4 and 5, the coating gun 36 is directed so as to swing its head in the conveying direction by the conveyor 10 (the direction following the objects 50 and 60 being conveyed), as shown in FIGS. 4 and 5. It is supposed to change. When the direction of the coating gun 36 is changed, the discharge direction of the paint from the paint nozzle 37 is changed.

  The powder type paint fed from the paint pressure feeding device 39 (see FIG. 6) is sent to the paint nozzle 37 via the inside of the paint gun 36. The discharge of the paint from the paint nozzle 37 is controlled by ON / OFF of an on-off valve (not shown) provided in the paint gun 36. In the paint pressure feeding device 39, the control device 44 controls the paint pressure feeding air flow rate, the paint pressure feeding flow rate (the paint discharge flow rate from the paint nozzle 37), and the paint pressure feed rate (the paint discharge rate from the paint nozzle 37). Is controlled.

  On the downstream side of the coating booth 31 in the conveying direction, a coating quality inspection means 40 is provided. The coating quality inspection means 40 inspects the state of the paint applied to the coated surfaces 51 and 61 in the coating booth 31. In this inspection, the film thickness of the applied paint is measured. If the film thickness becomes too thick, free ions resulting from electrostatic coating adhere to the coating film, and the free ions cause the surface of the coating film surface after baking and drying to become rough. Therefore, when the film thickness is too thick, the control device 44 changes the coating conditions so that the film thickness is within the normal range in the subsequent coating process.

  A baking / drying furnace 41 is provided on the downstream side in the conveying direction of the coating quality inspection means 40. In the baking / drying furnace 41, the paint applied to the coated surfaces 51 and 61 in the coating booth 31 is cured by heating and fixed to the coated surfaces 51 and 61. A cooling zone 42 is provided on the downstream side in the transport direction of the baking / drying furnace 41. In the cooling zone 42, the objects 50 and 60 to which the baking and drying process has been completed are cooled. On the downstream side of the cooling zone 42 in the conveying direction, an unloading zone 43 for removing the objects to be coated 50 and 60 and the stickers 25 from the hangers 11 of the conveyor 10 and collecting them is provided. The aforementioned arrival zone 12 is provided downstream of the unloading zone 43 in the transport direction.

  Next, operations and effects of the first embodiment will be described. In the arrival zone 12, the articles 50 and 60 and the sticker 25 are attached to the hanger 11 of the conveyor 10. The objects to be coated 50 and 60 attached to the hanger 11 and transported are pretreated in the pretreatment device 13 and then inspected by the surface treatment state inspection means 22. After that, the digitally encoded painting requirement specification information displayed on the stickers 25 of the objects to be coated 50 and 60 is read by the reading sensor 23 and input to the control device 44.

  After the required paint specification information is read, the coated surfaces 51 and 61 of the coated objects 50 and 60 are measured by the range sensor 27 of the three-dimensional shape specifying means 26, and the three-dimensional shape information is controlled from the range sensor 27. It is input to the device 44 and specified. The control device 44 sets the position of the paint nozzle 37 facing the coated surfaces 51 and 61 (conveyor 10) based on the three-dimensional shape information. When the position of the paint nozzle 37 is set, the control device 44 controls the movement of the painting robot 32 to move the slider 34 and the arm 35.

  After the three-dimensional shape information is specified, the specific position of the coated surfaces 51 and 61 is measured by the distance sensor 29, and the distance information from the distance sensor 29 to the specific position is input to the control device 44. The controller 44 compares the distance information with the position information of the paint nozzle 37 to measure the distance between the paint nozzle 37 and the specific positions of the coated surfaces 51 and 61. And in the control apparatus 44, coating conditions are set based on distance information, coating request specification information, and three-dimensional shape information.

  The coating conditions include paint discharge flow rate, paint discharge speed, paint pressure air pressure, paint discharge on / off timing of the paint gun 36, charging timing to the high voltage generator 38, high There is a value of the charging voltage to the voltage generator 38 and the like. When the coating conditions are set, the coating booth 31 applies the paint to the coated surfaces 51 and 61 based on the coating conditions set for each of the coated objects 50 and 60. After the coating material is applied, the coating quality inspection means 40 inspects the coating state (coating quality) of the coating material on the coated surfaces 51 and 61. After the inspection of the coating quality, the objects to be coated 50 and 60 pass through the baking / drying furnace 41, and the paint is cured and fixed to the surfaces 51 and 61 to be coated. The objects to be coated 50 and 60 that have passed through the baking and drying furnace 41 are cooled in the cooling zone 42 and removed from the hanger 11 together with the sticker 25 in the unloading zone 43.

  Moreover, in the coating apparatus of the present embodiment, a plurality of types of objects to be coated 50 and 60 having different shapes and sizes are transported at random by the single conveyor 10. In this case, distance information, painting request specification information, three-dimensional shape information, painting condition information, and baking drying information are individually set for each of different types of workpieces 50 and 60. Is stored as information corresponding to each of the objects to be coated 50 and 60 in the control device 44.

  If the distance information, painting requirement specification information, and three-dimensional shape information regarding the objects 50 and 60 that are sequentially conveyed match or approximate the information stored in the control device 44, the painting condition is newly set. Rather than calculating and setting, the stored painting condition information is read out and set as a painting condition. That is, the control device 44 has a learning function related to setting of the coating conditions.

  Further, when it is determined that the film thickness is outside the appropriate range as a result of the inspection by the coating quality inspection means 40, the control device 44 changes the coating conditions so that the film thickness falls within the appropriate range. Or when the smoothness of a coating film falls from target quality by electrostatic repulsion, a coating condition is changed so that the smoothness of a coating film may become high.

  Next, a specific painting process will be described. The coated surface 51 of the workpiece 50 shown in FIGS. 2 and 3 has a stepped shape having a proximity region 52 with a short facing distance to the coating nozzle 37 and a remote region 53 with a long facing distance to the coating nozzle 37. There is no. When the paint is applied to the proximity area 52 and the remote area 53, the position of the paint nozzle 37 is not changed, the charging voltage to the high voltage generator 38, the charging current to the high voltage generator 38, the paint At least one of the discharge speeds is changed.

  That is, as shown in FIG. 2, while the coating material is applied to the proximity region 52, the limiter is operated on the charging circuit so that the charging voltage or charging current to the high voltage generator 38 does not become too large. As shown in FIG. 3, when the paint is applied to the remote area 53, the limiter is removed so that the charging voltage or charging current to the high voltage generator 38 is increased. Further, while the paint is applied to the proximity area 52, the discharge speed of the paint is decreased, and when the paint is applied to the remote area 53, the discharge speed of the paint is increased. Further, in the case where the coating gun 36 is provided with a variable mechanism for changing the discharge pattern of the paint discharged from the paint nozzle 37, the width of the discharge pattern of the paint is narrowed so that the difference between the adjacent area 52 and the remote area 53 is reduced. The penetration of the paint into the narrow portion can be improved.

  4 and 5 has a box shape having a concave portion 62 opened to the paint nozzle 37 side, and the inner surface of the concave portion 62 is a coated surface 61. When the coating surface 61 is applied, the paint nozzle 37 is caused to follow the movement of the coating surface 61 by sliding the slider 34 to the downstream side in the transport direction. At the same time, the coating gun 37 is displaced in a swinging manner in the recess 62, so that the paint nozzle 37 is diagonally opposed to the inner surface of the recess 62 substantially perpendicular to the conveying direction. Thereby, a coating material can be apply | coated with respect to the whole area | region of the inner surface (coating surface 61) of the recessed part 62. FIG. Further, in the case where the coating gun 36 is provided with a mechanism for changing the discharge pattern of the paint discharged from the paint nozzle 37, the paint discharge pattern width is narrowed so that the paint is applied to the narrow portion in the inner corner portion of the recess 62. Can be improved.

  As described above, the coating apparatus according to the present embodiment includes the coating gun 36 including the coating nozzle 37 that ejects the coating toward the objects 50 and 60, the conveyor 10 that conveys the objects 50 and 60, and Based on the coating distance measuring means 30 for measuring the distance between the coating surfaces 51 and 61 of the objects to be coated 50 and 60 and the paint nozzle 37, and the distance information measured by the coating distance measuring means 30. And a control device 44 for setting or changing the coating conditions when the paints 51 and 61 are applied.

  The coating conditions for applying the paint to the coated surfaces 51 and 61 are set or changed as needed as the distance between the coated surfaces 51 and 61 and the paint nozzle 37 varies. In order to keep the distance between the surfaces 51 and 61 and the paint nozzle 37 constant, it is not necessary to move the paint nozzle 37 according to the uneven shape of the surfaces 51 and 61 to be coated. Accordingly, it is possible to prevent a coating failure caused by the movement of the paint nozzle 37 being unable to follow the unevenness of the coated surfaces 51 and 61. In addition, since suitable coating conditions are set without human intervention, the paint can be applied with high quality.

  Further, the coating apparatus includes a three-dimensional shape specifying unit 26 that specifies the three-dimensional shape of the coated surfaces 51 and 61, and the control unit 44 uses the three-dimensional shape information specified by the three-dimensional shape specifying unit 26. Based on this, the position of the paint nozzle 37 facing the workpieces 50 and 60 is set. According to this configuration, even if the coated surfaces 51 and 61 have an uneven shape, the position of the coating nozzle 37 can be set within an appropriate range so that the coating quality of the coating is improved.

  Further, the control device 44 sets the painting conditions based on the distance information measured by the painting distance measuring means 30 and the three-dimensional shape information specified by the three-dimensional shape specifying means 26. According to this configuration, when setting the coating conditions in the control device 44, not only the distance information measured by the coating distance measuring means 30 but also the three-dimensional shape information specified by the three-dimensional shape specifying means 26 are taken into account. Therefore, good coating conditions are set.

  In addition, the control device 44 stores the paint conditions set based on the distance information and the three-dimensional shape information as the paint condition information, and the control device 44 stores the distance information and the three-dimensional shape information. A learning function is provided for reading painting condition information and setting it as a painting condition when matching or approximate information is input. According to this configuration, when the plurality of objects to be coated 50 and 60 are sequentially coated, the control device 44 applies the coating for each object 50 and 60 based on the distance information and the three-dimensional shape information every time. There is no need to calculate the condition. Thereby, the time required for setting or changing the coating conditions can be shortened, and the coating efficiency is excellent.

  The three-dimensional shape specifying unit 26 includes a range sensor 27 and a reflecting member 28. The range sensor 27 emits detection light radially toward the coated surfaces 51 and 61 while rotating and receives the detection light reflected by the coated surfaces 51 and 61 to thereby determine the distance to the coated surfaces 51 and 61. To detect. The reflection member 28 reflects the detection light emitted from the range sensor 27 between the range sensor 27 and the coated surfaces 51 and 61. Then, the range sensor 27 detects the distance to the coated surfaces 51 and 61 while relatively moving the range sensor 27 and the coated surfaces 51 and 61 in parallel with the rotation center axis of the range sensor 27, thereby providing the coated surface. 51 and 61 three-dimensional shapes are measured.

  The detection light reflected by the reflecting member 28 hits a region of the coated surfaces 51 and 61 that becomes a blind spot when viewed from the range sensor 27, and the detected light reflected by the coated surfaces 51 and 61 is again reflected by the reflecting member 28. The light is reflected and received by the range sensor 27. Since the detection of the distance of the blind area is performed by the reflecting member 28, the number of range sensors 27 can be reduced, and the cost can be reduced.

  Further, the coating apparatus includes a coating requirement specification specifying unit 24 for specifying a coating requirement specification in which the quality of the coating film formed on the coated surfaces 51 and 61 is defined, and the control device 44 measures the coating distance. The coating conditions are set based on the distance information measured by the means 30 and the required paint specification information specified by the required paint specification specifying means 24. According to this configuration, when setting the coating conditions in the control device 44, not only the distance information measured by the coating distance measuring unit 30 but also the coating request specification information specified by the coating request specification specifying unit 24 is taken into account. Therefore, good coating conditions are set.

  The painting requirement specification specifying means 24 displays the digitally coded painting requirement specification information, the sticker 25 conveyed integrally with the objects 50 and 60, and the painting requirement specification information displayed on the sticker 25. And a sensor 23 for reading. According to this configuration, it is possible to specify the required paint specification information of the objects 50 and 60 while conveying the objects 50 and 60.

  Further, the control device 44 stores the painting conditions set based on the distance information and the painting requirement specification information as painting condition information, and the control device 44 stores the distance information and the painting requirement specification information. A learning function is provided for reading painting condition information and setting it as a painting condition when matching or approximate information is input. According to this configuration, when applying a plurality of objects to be coated 50 and 60 sequentially, the control device 44 applies the coating for each object 50 and 60 based on the distance information and the painting requirement specification information every time. There is no need to calculate the condition. Thereby, the time required for setting or changing the coating conditions can be shortened, and the coating efficiency is excellent.

  The paint nozzle 37 can move following the objects to be coated 50 and 60 conveyed by the conveyor 10. According to this configuration, it is possible to ensure a long time that can be spent for painting on one coated surface 51, 61, so even if the coated surfaces 51, 61 have a complicated shape, manual correction coating is not performed. Good coating can be performed.

  In addition, the coating apparatus includes a baking / drying furnace 41 that cures the coating applied to the coated surfaces 51 and 61 by heat drying and fixes the coating to the coated surfaces 51 and 61, and a state in which the coating is not carried into the baking and drying furnace 41. A coating quality inspection means 40 for inspecting the coating quality of the coatings 50 and 60 is provided. According to this configuration, by correcting the coating conditions based on the inspection result by the coating quality inspection means 40, it is possible to execute a good baking and drying process and form a high-quality coating film.

  Further, the control device 44 has a correction function for correcting the baking / drying conditions of the baking / drying performed in the baking / drying furnace 41 based on the inspection result by the coating quality inspection means 40. According to this configuration, by correcting the baking / drying conditions based on the inspection result by the coating quality inspection means 40, a good baking / drying step can be executed and a high-quality coating film can be formed.

  The coating apparatus also includes surface treatment state inspection means 22 that inspects the states of the coated surfaces 51 and 61 that have been subjected to surface treatment (pretreatment) and are not coated with paint. According to this configuration, the surface of the coated surfaces 51 and 61 to which the paint is not applied is inspected by the surface treatment state inspection means 22, thereby improving the coating quality of the paint on the coated surfaces 51 and 61. Can do.

<Other embodiments>
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In the above embodiment, the control device sets the position of the paint nozzle based on the three-dimensional shape information of the surface to be coated. The position may be set.
(2) In the above embodiment, the painting condition is set based on the distance information, the three-dimensional shape information, and the painting requirement specification information. However, the painting condition may be set based only on the distance information. It may be set based on the original shape information, or may be set based on the distance information and the painting requirement specification information.
(3) In the above embodiment, when the control device inputs information that matches or approximates the distance information, the three-dimensional shape information, and the paint request specification information, the learning function reads out the paint condition information and sets it as the paint condition. However, the control device may not have such a learning function.
(4) In the above embodiment, the three-dimensional shape specifying means includes the range sensor and the reflecting member, but the three-dimensional shape specifying means stores the three-dimensional shape information of the surface to be coated of each object to be coated. The three-dimensional CAD data may be included. When three-dimensional CAD data is used, there is no need to provide a measuring device such as a sensor as means for specifying the three-dimensional shape of the surface to be coated.
(5) In the said Example, although the coating material nozzle can move following the to-be-coated object conveyed with a conveyor, the coating material nozzle may not follow a conveyor.
(6) In the above-mentioned embodiment, the coating quality inspection means for inspecting the coating quality of the coating material not yet carried into the baking / drying furnace is provided. It is good also as what does not provide.
(7) In the above embodiment, the control device has a correction function for correcting the baking / drying conditions for baking / drying based on the inspection result of the coating quality inspection means, but the control device has such a correction function. You may not have.
(8) In the above embodiment, the surface treatment state inspection means for inspecting the state of the coated surface that has been subjected to the surface treatment and is not coated with the paint is provided. However, such a surface treatment state inspection means is provided. It may not be.
(9) In the above embodiment, an optical distance sensor is used as the painting distance measuring means. However, an ultrasonic distance sensor or a capacitive distance sensor may be used as the painting distance measuring means. The capacitance type distance sensor includes a current value measuring means for measuring the output current value flowing through the coating gun, and a calculation means for calculating the coating distance based on the measured value of the current value measuring means. It is.
(10) In the above-described embodiment, a coating apparatus that performs coating using a powder paint has been described. However, the present invention can also be applied to a coating apparatus that performs coating using a liquid paint.
(11) In the above embodiment, the coating apparatus for electrostatic coating has been described. However, the present invention can also be applied to a coating apparatus for non-electrostatic coating.

DESCRIPTION OF SYMBOLS 10 ... Conveyor 22 ... Surface treatment state inspection means 23 ... Reading sensor (digital information reading means)
24 ... Painting requirement specification specifying means 25 ... Sticker (digital information display member)
DESCRIPTION OF SYMBOLS 26 ... Three-dimensional shape identification means 27 ... Range sensor 28 ... Reflective member 30 ... Painting distance measurement means 36 ... Painting gun 37 ... Paint nozzle 40 ... Coating quality inspection means 41 ... Baking drying furnace 44 ... Control apparatus 50, 60 ... Cover Paint 51,61 ... Coating surface

Claims (12)

A paint gun equipped with a paint nozzle that ejects paint toward the object;
A conveyor for conveying the object to be coated;
A coating distance measuring means for measuring a distance between a coating surface of the coating object and the coating nozzle;
A coating apparatus, comprising: a control device that sets or changes a coating condition when the paint is applied to the surface to be coated based on distance information measured by the coating distance measuring unit. Comprising three-dimensional shape specifying means for specifying the three-dimensional shape of the coated surface;
2. The control device is configured to set a position of the paint nozzle facing the object to be coated based on the three-dimensional shape information specified by the three-dimensional shape specifying means. The coating equipment described.   The control device is configured to set the coating condition based on the distance information measured by the coating distance measuring unit and the three-dimensional shape information specified by the three-dimensional shape specifying unit. The coating apparatus according to claim 2. In the control device, the painting condition set based on the distance information and the three-dimensional shape information is stored as painting condition information,
The control device has a learning function of reading out the painting condition information and setting it as the painting condition when information that matches or approximates the distance information and the three-dimensional shape information is input. The coating apparatus of Claim 2 or Claim 3 to do. The three-dimensional shape specifying means is
A range sensor that detects the distance to the coating surface by emitting the detection light radially toward the coating surface while rotating and receiving the detection light reflected by the coating surface;
The coating according to any one of claims 2 to 4, further comprising a reflection member that reflects the detection light between the range sensor and the surface to be coated. apparatus. A paint requirement specification specifying means for specifying a paint requirement specification in which the quality of the coating film to be formed on the coated surface is specified,
The control device is configured to set the painting condition based on the distance information measured by the painting distance measuring unit and the painting requirement specification information identified by the painting requirement specification identifying unit. The coating apparatus according to any one of claims 1 to 5, characterized in that: The painting requirement specification specifying means,
Digitally coded digital information display member that displays the required paint specification information and is conveyed integrally with the object to be coated;
The coating apparatus according to claim 6, further comprising a digital information reading unit that reads the required paint specification information displayed on the digital information display member. In the control device, the painting condition set based on the distance information and the painting requirement specification information is stored as painting condition information,
The control device has a learning function of reading out the coating condition information and setting it as the coating condition when information that matches or approximates the distance information and the required paint specification information is input. The coating apparatus according to claim 6 or 7.   The coating apparatus according to any one of claims 1 to 8, wherein the paint nozzle is movable following the workpiece to be conveyed by the conveyor. A baking drying oven for curing the paint applied to the coated surface by heat drying and fixing the coating to the coated surface;
10. The coating quality inspection means for inspecting the coating quality of the coating material that has not been carried into the baking and drying furnace. The coating apparatus according to item 1.   The said control apparatus is provided with the correction | amendment function which correct | amends the baking drying conditions of the baking drying performed in the said baking drying furnace based on the test result by the said coating quality test | inspection means. Painting equipment.   The surface treatment state inspection means for inspecting the state of the surface to be coated which has been subjected to a surface treatment and to which no paint is applied is provided. Painting equipment.

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