JP2020163294A - Coating device and coating method - Google Patents

Abstract

To provide a coating device and a coating method capable of improving a quality of coating to a coating object.SOLUTION: When a worker executes coating work, a determination part 31 can determine whether or not a state of reducing a quality of coating is established in the coating work by a coating device 100. The coating device 100 has an output part 4 for outputting information based on a determination result by the determination part 31. Therefore, the output part 4 can transmit the determination result in the coating work to the worker. Thus, the worker can execute the coating work such as enhancing the quality of the coating based on the determination result.SELECTED DRAWING: Figure 1

Description

The present invention relates to a coating apparatus and a coating method.

For example, Patent Document 1 describes a coating device that applies paint from a coating gun to an object to be coated by an operation by an operator. When a worker paints with such a paint gun, the worker holds the paint gun at a predetermined distance and a predetermined angle with respect to an object to be painted, and moves the paint gun at a predetermined speed. Paint while letting.

Japanese Patent Application Laid-Open No. 07-194997

Here, the movement of the operator in the painting work has a high degree of freedom, and it is difficult to standardize the movement in order to obtain stable quality. Moreover, since the painting work is a dangerous work, it is not easy for other workers to approach and evaluate it, and the maintenance of the quality of the painting work is left to the skill of the workers in the field. Therefore, there has been a demand for a coating device capable of improving the quality of coating on an object to be coated.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a coating apparatus and a coating method capable of improving the quality of coating on an object to be coated.

The coating apparatus according to the present invention is a coating apparatus for applying paint to an object to be coated by an operator, and is based on a detection unit for detecting the state of the coating apparatus when applied by the operator and a detection result of the detection unit. A determination unit for determining the state of the coating apparatus and an output unit for outputting information based on the determination unit are provided.

The coating apparatus according to the present invention includes a detection unit that detects the state of the coating apparatus, and a determination unit that determines the state of the coating apparatus based on the detection result of the detection unit. As a result, when the worker is performing the painting work, the determination unit can determine whether or not the painting quality is deteriorated during the painting work by the painting device. The painting apparatus is provided with an output unit that outputs information based on the determination unit. Therefore, the output unit can transmit the determination result during the painting work to the operator. As a result, the worker can perform the painting work to improve the quality of the painting based on the determination result. As described above, the quality of coating on the object to be coated can be improved.

The output unit may output information during the painting operation. In this case, the operator can know the state in real time at the timing when the painting device is in a state of deteriorating the quality of painting. This allows the operator to modify the condition of the coating apparatus so that the quality of coating can be improved.

The painting apparatus may further include a storage unit for storing information based on the determination unit, and the output unit may output the information after the painting work is completed. In this case, after the painting work is completed, the information based on the determination unit stored in the storage unit can be effectively utilized. Since the worker can review his / her own work contents, he / she can perform the painting work so as to improve the quality of the painting when the next painting work is performed.

The painting apparatus may further include a specific unit that specifies the work content of the painting work, and a setting unit that sets instruction information regarding the work content based on the work content specified by the specific unit. In this case, since the operator can know the instruction information regarding the work content of the painting work to be executed before the painting work is performed, the worker can perform the painting work so as to improve the quality of the painting.

As a detection unit, at least a pair of distance sensors for measuring the distance between the coating portion for applying the paint to the coating target and the coating target are provided, and the pair of distance sensors are arranged so as to sandwich the reference axis of the coating portion. Good. In this case, even if the coated portion is tilted with respect to the object to be coated, the distance between the coated portion and the object to be coated on the reference axis is based on the detection results of the pair of distance sensors arranged so as to sandwich the reference axis. Can be detected. Further, even if the distance detection by one distance sensor becomes impossible at the end portion of the object to be painted, the distance can be detected by the other distance sensor.

The coating method according to one embodiment of the present invention is a coating method in which a worker applies paint to an object to be coated, and detects a coating step of applying paint to the object to be coated by a coating apparatus and a state of the coating apparatus. It includes a detection step, a determination step of determining the state of the coating apparatus based on the detection result in the detection step, and an output step of outputting information based on the determination result of the determination step.

According to this coating method, it is possible to obtain the same effect and effect as the above-mentioned coating apparatus.

In the coating method, the detection step may be started after the coating apparatus is set to the reference posture at the reference position. In this case, in the determination step, the painting operation can be determined in consideration of these reference positions and reference postures.

According to the present invention, it is possible to provide a coating apparatus and a coating method capable of improving the coating quality of an object to be coated.

It is a block diagram which shows the coating apparatus which concerns on embodiment of this invention. It is a perspective view of the coating gun shown in FIG. It is a figure which shows an example of the work site where painting is performed by a painting apparatus. It is the schematic which shows the stand and the object to be painted. It is a conceptual diagram for demonstrating the parameter which can be detected by each sensor. It is a conceptual diagram for demonstrating the effect of having distance sensors provided on both sides so as to sandwich a reference axis. It is a conceptual diagram for demonstrating the effect of having distance sensors provided on both sides so as to sandwich a reference axis.

Hereinafter, preferred embodiments of the coating apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a coating apparatus according to the present embodiment. FIG. 2 is a perspective view of the coating gun shown in FIG.

The painting device 100 according to the present embodiment includes a painting gun 1, a control device 2, an input unit 3, and an output unit 4. The painting device 100 is a device for applying paint to the object to be painted W (see FIG. 3).

The coating gun 1 is a device for applying paint to an object W to be coated by an operator. The coating gun 1 includes a switching detection sensor 11 for detecting switching of coating ON / OFF, a distance sensor 12, an angle sensor 13, and a speed sensor 14.

The configuration of the coating gun 1 will be described in detail with reference to FIG. The painting gun 1 includes a coating nozzle 16 (coating portion), a handle 17, a lever 18, and a metal fitting 19. The coating nozzle 16 is a portion for applying the coating material to the object W to be coated by ejecting the coating material from the coating port 16a at the tip. The coating nozzle 16 applies the paint with the center line as the reference axis CL. The paint is ejected so as to spread radially around the reference axis CL. The coating material is supplied to the coating nozzle 16 from the side opposite to the coating port 16a via a tube (not shown).

The handle 17 is a portion for the operator to grasp the paint gun 1 by hand when holding the paint gun 1. The handle 17 is provided so as to extend from the coating nozzle 16 in a direction intersecting the reference axis CL. The lever 18 is a portion for switching between applying and stopping the paint of the coating nozzle 16. The lever 18 extends from the coating nozzle 16 so as to face the handle 17. When applying the paint, the operator grasps the lever 18 together with the handle 17. When the operator stops the application of the paint, the operator releases the lever 18 to return the lever 18 to the original position. The lever 18 is provided with the above-mentioned switching detection sensor 11. The switching detection sensor 11 detects that the coating of the paint is turned on when the lever 18 is grasped, and detects that the coating of the paint is turned off when the lever 18 is returned.

The metal fitting 19 is a portion that extends from the coating nozzle 16 so as to be separated from the handle 17 and faces the handle 17, and extends toward the handle 17 on the lower end side and is connected to the handle 17. The metal fitting 19 extends so as to avoid the lever 18 so as not to interfere with the operator's fingers when the operator grips the lever 18. The metal fitting 19 also functions as a jig for setting the coating gun 1 on the stand (see FIG. 3) described later.

As described above, the paint gun 1 is provided with a distance sensor 12, an angle sensor 13, and a speed sensor 14. The distance sensor 12, the angle sensor 13, and the speed sensor 14 function as a detection unit that detects the state of the coating device 100 when the coating is applied by the operator. The detection unit is a portion of the state of the coating device 100 that detects a state that can affect the quality of coating on the object W to be coated.

The distance sensor 12 is a sensor that measures the distance between the coating nozzle 16 and the object to be coated W. A pair of distance sensors 12 are arranged so as to sandwich the reference axis CL of the coating nozzle 16. Specifically, a mounting plate 21 extending in a direction orthogonal to the reference axis CL is provided on the upper side of the coating nozzle 16. The mounting plate 21 is arranged so as to extend in the horizontal direction when the reference axis CL is in a horizontal state and the handle 17 is in a state of extending in the vertical direction when viewed from the direction in which the reference axis CL extends. The mounting plate 21 extends to both sides with respect to the reference axis CL. One distance sensor 12 is provided on one end side of the mounting plate 21, and the other distance sensor 12 is provided on the other end side of the mounting plate 21. The type of the distance sensor 12 is not particularly limited, but for example, a type sensor using a laser may be applied. In this case, the distance sensor 12 measures the distance to the object to be painted W by irradiating the laser forward and receiving the laser reflected by the object to be painted W. The distance sensor 12 irradiates the laser in a direction parallel to the reference axis CL.

The angle sensor 13 is a sensor that detects the angle of the coating nozzle 16 with respect to the horizontal direction. The angle sensor 13 detects the angle of the reference axis CL with respect to the horizontal direction, that is, the angle at which the operator points the coating nozzle 16. The angle sensor 13 is composed of, for example, a gyro sensor or the like. The speed sensor 14 detects the speed at which the coating nozzle 16 moves, that is, the speed at which the operator is moving the coating nozzle 16. The speed sensor 14 is composed of, for example, a three-axis acceleration sensor or the like. The speed sensor 14 can detect the speed by performing a calculation based on the detected acceleration. As described above, the speed sensor 14 is not limited to the one that directly detects the speed, and a sensor that can indirectly detect the speed by calculation may be used. The same applies to other detection parameters. The angle sensor 13 and the speed sensor 14 are provided at the lower end of the metal fitting 19.

As shown in FIG. 1, the control device 2 is a device that controls the entire painting device 100. The control device 2 includes a processor, a memory, a storage, a communication interface, and a user interface, and is configured as a general computer. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage medium such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that realizes data communication. The processor controls the memory, storage, communication interface and user interface, and realizes the functions described later. In the control device 2, for example, various functions are realized by loading the program stored in the ROM into the RAM and executing the program loaded in the RAM in the CPU. The control device 2 may be composed of a plurality of computers.

The control device 2 includes a determination unit 31, a specific unit 32, a setting unit 33, a calculation unit 34, and a storage unit 36.

The determination unit 31 determines the state of the coating device 100 based on the detection results of the distance sensor 12, the angle sensor 13, and the speed sensor 14. The determination unit 31 can determine whether the coating nozzle 16 is too close to or too far from the object W to be coated, based on the detection result of the distance sensor 12. Based on the detection result of the angle sensor 13, the determination unit 31 can determine whether the coating nozzle 16 is too inclined with respect to the object to be coated W. The determination unit 31 can determine whether the coating nozzle 16 is not too slow or too fast based on the detection result of the speed sensor 14.

The specific unit 32 specifies the work content of the painting work. The identification unit 32 can specify the work content based on the information input by the input unit 3. The setting unit 33 sets instruction information regarding the work content based on the work content specified by the specific unit 32. The detailed processing contents of the specific unit 32 and the setting unit 33 will be described later.

The calculation unit 34 is a part that performs various calculations performed by the control device 2. The storage unit 36 is a portion that stores various types of information. The storage unit 36 can store a preset reference value (threshold value) for determining the state of the painting device 100. Specifically, the storage unit 36 stores in advance a distance threshold value for the detection result of the distance sensor 12, an angle threshold value for the detection result of the angle sensor 13, and a speed threshold value for the detection result of the speed sensor 14. Good. In addition, the storage unit 36 stores information based on the determination result. Further, the storage unit 36 stores the instruction information set by the setting unit 33.

The input unit 3 is a part for inputting predetermined information to the control device 2. The worker can input the work content, work conditions, and the like in the input unit 3 before performing the work. The input unit 3 is composed of an interface such as a keyboard, a mouse, and a touch panel, for example.

The output unit 4 is a unit that outputs information based on the determination unit 31. The output unit 4 can output information during the painting operation. When outputting information during painting work, the output unit 4 may be configured by, for example, a patrol lamp (registered trademark) or a buzzer. For example, when the determination unit 31 detects that any of the distance, angle, and speed of the coating nozzle 16 exceeds an appropriate value, the output unit 4 is suitable for the operator by blinking the patrol lamp or the sound of the buzzer. Communicate information that the value has been exceeded. Further, the output unit 4 may output information after the work is completed. In this case, the output unit 4 is composed of a monitor or the like. When the determination unit 31 has a portion where any of the distance, the angle, and the speed of the coating nozzle 16 exceeds an appropriate value between the start of the work and the end of the work, the output unit 4 outputs the information to the monitor.

Next, the operation mode of the coating apparatus 100 will be described with reference to FIGS. 3 to 7.

FIG. 3 is a diagram showing an example of a work site where painting is performed by the painting device 100. The painting device 100 is particularly effectively used for painting a ship, for example. When painting a ship, a worker must enter the internal space of a large-capacity tank to perform the painting work. Such an internal space has a complicated structure such as a reinforcing member. For example, as shown in FIG. 3, a reinforcing member 53 is provided on the floor 51 and the wall 52. The reinforcing member 53 has a rising portion 53a and an enlarged portion 53b extending at the tip portion. Since such a floor 51, a wall 52, and a reinforcing member 53 are objects to be painted W, the coating nozzle 16 must apply paint from various positions and angles. At such a work site, it is difficult to bring in a painting robot, unlike the case where a painting robot paints small parts on a factory line. Therefore, it is effective to perform the painting work while determining the painting work of the operator by using the painting device 100 according to the present embodiment.

As shown in FIG. 3, a stand 60 for setting the origin is provided at the work site. The stand 60 is a member for setting the coating gun 1 at the start of work. The stand 60 is a member that determines a reference position and a reference posture of the coating gun 1 of the coating apparatus 100 at the work site. The stand 60 is provided near the end of the reinforcing member 53 on the upper surface of the reinforcing member 53 which is the object to be painted W.

As shown in FIG. 4, the stand 60 includes a holder 61 for arranging and holding the coating gun 1, a mounting member 62 for attaching the holder 61 to the reinforcing member 53 at the installation location, and a processing device 63. .. When the button or the like is pressed by the operator, the processing device 63 detects that the coating gun 1 has been installed in the holder 61, and transmits the detection result to the control device 2. As a result, the determination unit 31 grasps that the coating gun 1 is in the reference posture at the reference position. At this time, the determination unit 31 adjusts the zero point of the angle sensor 13 and sets the detection angle of the angle sensor 13 in the state as the reference angle. Further, the determination unit 31 calculates the subsequent movement distance and movement direction of the coating gun 1 with the position as a reference position. When the paint gun 1 is removed from the stand 60 and moved for painting, the determination unit 31 performs a calculation using the detection result from the speed sensor 14, so that the paint gun 1 is in which direction from the reference position. You can see how far you have traveled.

When the painting process is started, the determination unit 31 determines the distance L1 of the coating object W from the coating nozzle 16 based on the detection result of the distance sensor 12 as shown in FIG. 5A. Further, the determination unit 31 determines the angle θ1 from the reference angle (here, horizontal) of the coating nozzle 16 when viewed from the lateral direction, based on the detection result of the angle sensor 13. The determination unit 31 determines the speed of the coating nozzle 16 based on the detection result of the speed sensor 14. The determination unit 31 compares a predetermined threshold value for each parameter with a parameter based on the detection result from each sensor, and if any of the parameters exceeds the threshold value, the quality is deteriorated by the patlite or the like of the output unit 4. Communicate the possibility of As described above, these threshold values are stored in advance in the storage unit 36. As these threshold values, those set in advance as standard threshold values may be used, but when instruction information corresponding to the work content is used, a threshold value appropriately adjusted according to the work content is used. It can also be used. Details of the instruction information will be described later. In the following description, a place where any parameter exceeds the threshold value may be referred to as a "caution point" as a place to be careful about quality deterioration. At this time, the output unit 4 may output without identifying which parameter exceeds the threshold value, or may identify and output. When identifying, for example, by changing the color of the patrol light. The determination unit 31 may interrupt the determination when the coating is turned off in consideration of the detection result of the switching detection sensor 11.

As shown in FIG. 5B, the determination unit 31 acquires the coating length L2 from the reference position SP of the coating object W to the predetermined position P1 based on the detection result of the speed sensor 14. Since the determination unit 31 cumulatively acquires the detection result of which direction and at what speed the speed sensor 14 is moving, it is possible to calculate the coating length L2 from the reference position SP. As a result, the determination unit 31 can grasp the coating portion by the coating nozzle 16. Therefore, the determination unit 31 can grasp which position of the object to be painted W corresponds to the caution portion by determining by associating the painted portion with the above-mentioned caution portion in chronological order.

Here, with reference to FIGS. 6 and 7, the effect of the pair of distance sensors 12 being provided on both sides so as to sandwich the reference axis CL will be described. FIG. 6 is a diagram illustrating a case where the distance sensor 12 is provided on only one side. As shown in FIG. 6A, when the lateral inclination angle θ2 of the coating nozzle 16 with respect to the object to be coated W fluctuates, the distance L1 detected by the distance sensor 12 on one side is coated from the actual coating nozzle 16. There is an error with respect to the distance of the object W. The larger the tilt angle θ2, the larger the error. Further, as shown in FIG. 6B, when painting the vicinity of the end portion of the object to be painted W, the distance L1 may not be measured because the object to be painted W does not exist in front of the distance sensor 12. is there. On the other hand, when the distance sensor 12 is provided at a position substantially coincide with the reference axis CL, the paint is applied in a certain range to the position near the reference axis CL of the object to be painted W, so that the measurement cannot be performed. .. Therefore, the distance sensor 12 cannot be provided at a position that substantially coincides with the reference axis CL.

On the other hand, in the present embodiment, a pair of distance sensors 12 are provided on both sides of the reference axis CL. As shown in FIG. 7A, when the paint is sprayed by the coating nozzle 16, the coating region PE on the object W to be coated expands in an egg-shaped shape having a longitudinal direction in the vertical direction. Therefore, the pair of distance sensors 12 are arranged with the reference axis CL in between so as to measure the narrowed positions on both sides of the coated area PE in the lateral direction. At this time, by acquiring the average value of the detection distances of the distance sensors 12 on both sides, even if the inclination angle θ2 becomes large, the determination unit 31 determines the distance L1 between the tip of the coating nozzle 16 and the object to be painted W. It can be measured with a small error. Further, as shown in FIG. 7B, even if one of the distance sensors 12 cannot measure the distance, the other distance sensor 12 can measure the distance.

The determination unit 31 sequentially stores the determination result in the storage unit 36. When the painting work is completed, the output unit 4 may output the determination result stored in the storage unit 36 to a monitor or the like. At this time, the output unit 4 may output information in a state where the cautioned portion is associated with the painted portion of the object W to be painted. At this time, which parameter exceeds the threshold value may be identified and indicated, or may be indicated without being identified. Alternatively, the output unit 4 may output information such as how many times the caution points have occurred during the work.

Before starting the work, the operator inputs various work conditions such as the type of the object to be painted W in the input unit 3. The specific unit 32 specifies the work content indicating what kind of work is to be performed based on the conditions input by the input unit 3. At this time, the specific unit 32 may refer to the data stored in the storage unit 36 and acquire information indicating what kind of work content will be obtained when what kind of input is received. In addition, the setting unit 33 sets instruction information indicating what kind of work the worker should perform. For example, the setting unit 33 may set as instruction information to what extent the work content specified by the specific unit 32 needs to be suppressed in terms of angle, speed, and distance. For example, the instruction information includes information on what range each parameter of angle, speed, and distance should be kept while moving the coating position from a certain point to a certain point of the object W to be painted. It has each painting position. For example, when painting a certain painting position, it is better to make the coating nozzle 16 as straight as possible, and when painting another painting position, it is better to tilt the coating nozzle 16 a little. The operator can be instructed to set an appropriate angle threshold according to the position. The output unit 4 may output the instruction information set by the setting unit 33.

Next, the coating method according to this embodiment will be described.

First, the painting gun 1 is installed on the stand 60 in the stage before the start of painting. As a result, the paint gun 1 is set to the reference posture at the reference position. As a result, the determination unit 31 grasps the position as a reference position and adjusts the 0 point of each sensor. After that, a coating step and a detection step are performed. The coating step is a step of applying the paint from the coating nozzle 16 to the object W to be coated. The detection step is a step of detecting the state of the coating apparatus 100. The coating process and the detection process are performed at the same time. While the coating step and the detection step are performed, the determination step of determining the state of the coating device 100 is executed based on the detection result in the detection step. The determination step is continuously executed during the coating step and the detection step. Further, when the determination result in the determination step is obtained, the output process for outputting the information based on the determination result is executed. When the determination result is transmitted to the operator during the painting operation, the output step is executed at the timing when the distance, the angle, or the speed exceeds the threshold value in the middle of the coating step and the detection step. When the determination result is transmitted to the operator after the painting operation, the output step is executed after the coating step and the detection step are completed.

Next, the operation / effect of the coating apparatus 100 and the coating method according to the present embodiment will be described.

The coating device 100 according to the present embodiment includes a distance sensor 12, an angle sensor 13, and a speed sensor 14 that function as a detection unit for detecting the state of the coating device 100, and the coating device 100 based on the detection results of each sensor. A determination unit 31 for determining a state is provided. As a result, when the worker is performing the painting work, the determination unit 31 can determine whether or not the painting quality is deteriorated during the painting work by the painting device 100. .. The painting device 100 includes an output unit 4 that outputs information based on the determination unit 31. Therefore, the output unit 4 can transmit the determination result during the painting work to the operator. As a result, the worker can perform the painting work to improve the quality of the painting based on the determination result. As described above, the quality of coating on the object to be coated W can be improved.

The output unit 4 outputs information during the painting operation. In this case, the operator can know the state in real time at the timing when the painting device 100 is in a state of degrading the quality of painting. This allows the operator to modify the condition of the coating apparatus 100 so that the quality of coating can be improved.

The painting apparatus 100 further includes a storage unit 36 that stores information based on the determination unit 31, and the output unit 4 outputs the information after the painting work is completed. In this case, after the painting work is completed, the information based on the determination unit 31 stored in the storage unit 36 can be effectively utilized. Since the worker can review his / her own work contents, he / she can perform the painting work so as to improve the quality of the painting when the next painting work is performed.

The painting apparatus 100 further includes a specific unit 32 that specifies the work content of the painting work, and a setting unit 33 that sets instruction information regarding the work content based on the work content specified by the specific unit 32. In this case, since the operator can know the instruction information regarding the work content of the painting work to be executed before the painting work is performed, the worker can perform the painting work so as to improve the quality of the painting.

As a detection unit, at least a pair of distance sensors 12 for measuring the distance between the coating nozzle 16 and the object to be coated W are provided, and the pair of distance sensors 12 are arranged so as to sandwich the reference axis CL of the coating nozzle 16. In this case, even if the coating nozzle 16 is tilted with respect to the object W to be coated, the coating nozzle 16 and the coating nozzle 16 on the reference axis CL are based on the detection results of the pair of distance sensors 12 arranged so as to sandwich the reference axis CL. It is possible to detect the distance L1 from the object to be painted W. Further, even if the distance detection by one distance sensor 12 becomes impossible at the end portion of the object to be painted W, the distance can be detected by the other distance sensor 12.

The coating method according to the present embodiment is a coating method in which a worker applies paint to the object to be painted W, and a coating step of applying paint to the object to be painted W by the coating apparatus 100 and a state of the coating apparatus 100 are described. It includes a detection step for detecting, a determination step for determining the state of the coating apparatus 100 based on the detection result in the detection step, and an output step for outputting information based on the determination result of the determination step.

According to this coating method, it is possible to obtain the same effect and effect as the above-mentioned coating apparatus 100.

In the painting method, the painting gun 1 of the painting device 100 is set to a reference posture at a reference position, and then the detection step is started. In this case, in the determination step, the painting operation can be determined in consideration of these reference positions and reference postures.

The present invention is not limited to the above-described embodiment.

For example, the painting apparatus may include at least a painting gun, a determination unit, and an output unit, and a specific unit, a setting unit, and the like may be omitted as appropriate.

Further, the painting device does not have to include all of the distance sensor, the angle sensor, and the speed sensor, and may have at least one.

Further, the object to be painted is not limited to the above-mentioned ship, and various structures may be objects to be painted.

4 ... Output unit, 16 ... Coating nozzle (coating unit), 12 ... Distance sensor (detection unit), 13 ... Angle sensor (detection unit), 14 ... Speed sensor (detection unit), 31 ... Judgment unit, 32 ... Specific unit , 33 ... Setting unit, 36 ... Storage unit, 100 ... Painting device.

Claims (7)

A painting device that applies paint to an object to be painted by an operator.
A detector that detects the state of the coating device when it is applied by the operator, and
A determination unit that determines the state of the coating device based on the detection result of the detection unit, and
A painting apparatus including an output unit that outputs information based on the determination unit. The coating device according to claim 1, wherein the output unit outputs the information during the painting operation. A storage unit for storing the information based on the determination unit is further provided.
The painting apparatus according to claim 1 or 2, wherein the output unit outputs the information after the painting work is completed. A specific part that identifies the work content of the painting work,
The coating apparatus according to any one of claims 1 to 3, further comprising a setting unit for setting instruction information regarding the work content based on the work content specified by the specific unit. As the detection unit, at least a pair of distance sensors for measuring the distance between the coating unit for applying the paint to the coating object and the coating object are provided.
The coating device according to any one of claims 1 to 4, wherein the pair of distance sensors are arranged so as to sandwich a reference axis of the coating portion. It is a painting method in which a worker applies paint to an object to be painted.
The coating process of applying the paint to the object to be painted with the painting device,
A detection step for detecting the state of the coating device and
A determination step of determining the state of the coating apparatus based on the detection result in the detection step, and
A coating method comprising an output step of outputting information based on a determination result of the determination step. The coating method according to claim 6, wherein the detection step is started after the coating apparatus is set to a reference posture at a reference position.

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