JP2730311B2 - Painting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating apparatus, in which two coating tools having a masking function and a coating robot are combined to automatically perform coating and cleaning.

[0002]

2. Description of the Related Art When painting a body of an automobile, it is necessary to apply different colors to other parts, such as a side sill, an undercoat such as a bumper, or two colors of a side body.
In top coating, it is necessary to perform coating by masking so that paint dust does not adhere outside the coating range.

[0003] Two conventional examples of this type of body painting (first
Conventional example and second conventional example) will be described with reference to FIGS.

[First Conventional Example] As shown in FIG. 8, in a first conventional example, a paper 2 is applied with a tape 3 and masked, except for an area 1A to be painted, of a side body 1, and a painting gun 3 is used. The spray coating 4 is performed by a robot, a coating automatic machine, a human hand or the like, and the paper 2 and the tape 3 are peeled off after the coating. In the figure, 5 indicates a side sill and 6 indicates an underbody.

For this reason, the first conventional example has a disadvantage that the number of masking steps is large. In addition, since there is manual work of masking, unmanned operation is impossible.

[Second conventional example] In a second conventional example shown in FIG. 9, in order to solve the above-mentioned disadvantages of the first conventional example, a partition plate 7 formed according to the shape of the side body 1 is used. Masking is performed outside the coating area 1A of the body 1 and air 7B is blown out from the air holes 7A of the partition plate 7 to prevent the paint from being discharged.

However, the second conventional example has a drawback that a dedicated partition plate 7 conforming to the shape of the side body 1 or the like is required for each vehicle type.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to provide a coating apparatus which solves the above-mentioned disadvantages of the prior art.

[0009]

SUMMARY OF THE INVENTION A coating according to the inventionapparatus
Are two painting tools, a tool table, a robot,
The coating tool is provided with a supportWood and bowl shape
Formed and rotatably provided on the support memberClose-up disc
And,You seeFigure showing a part of the paint ejection area on the cutting disk
Supported by the support member, Paint at the time of painting,
Switching and spraying agentA paint gun,Paint is closed when painting
Prevents the disc from concentrating on part of the disc and dripping
Can spin at low speed and wash with solvent dissolved paint
Can be blown off from the disc by centrifugal force
Air motor that rotates the parting disk with a high speed rotation in the range
Data andThe tool change unit attached to the support member
The robot is connected to a tool changing unit for painting tools.
The control unit has a tool joint with the robot.
Control the exchange unit to alternately use two paint tools on the tool table
Hold the tool change control means for the robot
The robot that has been taught in advance
Reproduction control means and the air motor of the painting tool held by the robot
TheSaidLow speedrotationRotate with and paint gunPaint
InjectedCoating control means and the coating placed on the tool table
Tool air motorSaidhigh speedrotationRotate with and paint
Cleaning control means for injecting only the solvent from the charging gun
It is characterized by the following.

[0010]

[Action] The two paint tool to have alternately robot, previously washed the other paint tool while performing the painting in one paint tool. That is, in the painting tool in paint, by Rukoto rotates the parting disk bowl shape air motor,
The paint dust ejected from the spray gun from adhering to the outside of the coating range, parting disc bowl shapes are anti <br/> stop while rotating. At this time, the edge of the bowl-shaped parting disk is closed
It becomes a landmark. Also, when using, the bowl shape during painting
By the Jo closeout disk be low speed, coating a portion of the saw <br/> cutting disc is prevented from dripping attached centrally. With the painting tool not used for painting ,
By rotating the bowl-shaped parting disk at high speed,
Only solvent was sprayed from the spray gun dissolved paint adhering to the direction parting disk, and it is possible to wash blow by centrifugal force. Therefore, a bowl-shaped parting disk
No additional cleaning member is needed to clean the
Purification function can be realized. Also, a closing disk
Has a bowl shape, so paint and solvent are cut off during cleaning.
Can be blown off in the direction of the disc front (predetermined direction)
Paints and solvents are easy to recover, ensuring a good factory environment.
Can be maintained.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to FIGS.

FIG. 1 shows a state in which a painting robot 10 is painting a body 8 of an automobile using two painting tools 30 alternately. In FIG. 1, there are two tool stands 11 at respective positions A and B on both sides of the painting robot 10. In addition, each coating tool 30 has a valve group 12 located above.
Through the hose group 13 for paint and air (compressed air)
Is connected. Reference numeral 20 denotes a control device.

[0013] The painting tool 30, as shown in FIG. 2, as shown in FIG. 3
A parting disk 32 formed by bending into a bowl shape ;
It consists of a painting gun 33 and a support tool 36 . Also, airmo
(Air motor) 31. Further, a tool changing unit 34 is provided in consideration of ease of attachment to the painting robot 10, and a support bar 35 is provided for hooking on the left and right cutouts 14 of the tool base 11.

A bowl-shaped parting disk of the coating tool 30
The lock 32 is rotatably provided on the support 36 and is painted.
The rotation is controlled at a low speed at the time and at a high speed at the time of washing. In particular,
The air motor 31 is mounted downward on the upper surface of the distal end of the support 36, the motor output shaft 31A projects from the lower surface of the support 36, and the parting disk 32 is mounted on the motor output shaft 31A with the parting disk facing downward. And the closing disk 3
A plurality of guide rollers 37 rolling on the support member 36 are mounted on a support 36 via an arm 38 in order to guide the rotation of the roller 2.

The coating gun 33 is attached to a column 39 fixed downward from the center of the support 36 to a portion near the base end thereof via a crosspiece 40 crossing the column 39. The connecting portion 41 between the support 39 and the cross bar 40 connects the cross bar 40 in the height direction 42,
The structure is such that it can be moved and fixed in the overhanging direction 43 and the direction 44 around the column 39, and the connecting portion 45 between the coating gun 33 and the crosspiece 40 has a structure that can turn and fix the coating gun 33 in the vertical direction 46. is there. This makes it possible to adjust the positional relationship between the parting disk 32 and the coating gun 33 so that a part of the parting disk 32 appropriately covers the paint ejection range.

The tool changing unit 34 is fixed upward on the upper surface of the base end of the support 36.

Further, the support bar 35 hung on the tool base 11 is
The support 36 extends from both sides from the center of gravity and is fixed.

The tool changing unit 34 may be of a known structure, but is of the pull stud type which can be operated by air as shown in FIG. In the state shown in FIG. 4, the inside of the cylinder 47 is released to the atmosphere, the piston 49 is lowered by the spring 48, and the plurality of balls 50
On the tapered surface 51 of the cylinder inner wall,
The pull stud 16 attached to the painting robot arm 15 is blocked by the ball 50 and cannot enter the tool changing unit 34. On the other hand, when air is introduced into the cylinder 47 from the air port 52, the piston 49 is pushed and the ball 50 is pushed.
Can be moved in the radial direction of the cylinder.
Can be pushed by the robot arm 15. Then
When the air is removed, the ball 50 enters the constricted portion 17 of the pull stud 16 and cannot be removed, and the tapered surface 18 of the pull stud 16 is fixed to the tapered surface 53 of the cylinder 47 by the force of the spring 48.

Referring to FIG. 5, details of the masking and the hose group 13 will be described.

As shown in FIG. 5, even when the coating gun 33 is pointed at the body 8 to be coated, the body side portion of the parting disk 32 becomes a shadow to prevent the scatter of the spray paint 4, and the parting disk 32 moves from the parting line 9. Mask the upper part. As a result, the paint adheres to the parting disk 32. However, when the parting disk 32 is rotated at an extremely low speed, the adhered portion changes gradually and the paint adhered earlier is dried. It doesn't stick to 8. The paint that has adhered and dried may be washed away from the body 8 by rotating the parting disk 32 at a high speed and blowing it off by centrifugal force while dissolving the parting disk 32 by applying a solvent such as thinner to the parting disk 32. . this
As a result, a cleaning member for cleaning the parting disk 32 is required.
The parting disk 32 can be cleaned without
Can be. Also, the parting disk 32 has a bowl shape.
Therefore, during cleaning, paint and solvent will close out of the disc.
Blow away direction. That is, paint and solvent are sprayed in a predetermined direction.
Easy to fly, easy to recover paint and solvent, good
Factory environment can be secured.

Next, the hose group 13 will be described. In FIG. 5, reference numeral 13A denotes a paint hose, which is connected to a paint gun 33. 13B is an operation air hose for turning on / off the coating gun 33, and 13C is an air hose for atomizing the paint, both of which are connected to the coating gun 33. 13D is an air hose for driving the air motor 31 and is connected to the air motor 31. Reference numeral 13E denotes an air hose for operating the tool changing unit 34, which is connected to the tool changing unit 34.

The valve group 12 connected to the hoses 13A to 13E includes a color change valve connected to the paint hose 13A, an on / off valve 12B connected to the paint gun operating air hose 13B, and a paint atomizing air hose 13C.
, A flow control valve 12D connected to the air hose 13D for driving the air motor, and an on / off switch connected to the air hose 13E for operating the tool changing unit.
There is an off valve 12E, and any of the valves 12A to 12
E is also controlled by the control device 20.

The control device 20 is mainly composed of a CPU (central processing unit), and the painting robot 10 automatically performs painting work by using two painting tools 30 alternately, and is not used for painting. The control function of the painting robot 10 and the control function of the valve group 12 are programmed in advance so as to perform the cleaning of the other tool, and the robot and the tool changing unit are controlled to alternately use the two painting tools on the tool table. A tool change control means to be provided to the robot, a reproduction control means for reproducing the operation previously taught to the robot having the painting tool, a rotation of the air motor of the painting tool carried by the robot at a relatively low speed, and a painting operation to the painting gun. Coating control means to perform the cleaning, and a cleaning control means for rotating the air motor of the coating tool placed on the tool base at a relatively high speed and injecting only the solvent to the coating gun. It is realized the door.

The control operation of the control device 20 will be described with reference to FIG. 1 and FIGS. However, it is assumed that the body 8 to be coated is successively sent to the coating robot 10 by the coating line. In addition, of the two painting tools 30, the one currently held by the painting robot 10 in FIG. 1 is the tool A, and the one currently placed on the tool stand 11 at the left position B of the painting robot 10. To Tool B
The description will be given. Therefore, the tool A is placed on the tool stand 11 at the right position A.

As shown in FIG. 1, if the painting robot 10 has a tool A (step S1), the control device 20 starts painting the first body 8 with the tool A (step S2-1). ), In parallel with this, the cleaning of the parting disk 32 of the tool B is started (step S3-
1).

When painting with the tool A, the tool A
By controlling the motor drive flow control valve 12D to be slightly opened, the coating robot 10 is previously rotated while the parting disk 32 is rotated at an extremely low speed, for example, at a low speed of 1 to 10 rotations in the coating time for one body. The part is moved along the painting locus taught according to the shape, masked with the parting disk 32, and the part below the parting line 9 (see FIG. 5) is painted (step S2-2). At this time, for the other valves of the tool A, the color changing valve 12A is controlled so that the paint of the designated color is obtained, and the paint gun operating valve 12B is turned on while the paint atomizing valve 12C is turned on. The paint is atomized only when it is to be painted by controlling on / off. The tool changing unit operating valve 12E is kept off.

When the first painting by the tool A is completed (step S2-3), all the valves 12A to 12A are completed.
12E, the arm 15 of the painting robot 10 is moved toward the tool stand 11 at the position A on the right side.
The tool A is placed on the tool base 11 so that 5 fits into the notch 14 of the tool base 11 (step S2-4).

On the other hand, during the coating with the tool A, for the tool B, the color changing valve 12A is controlled so as to supply only the thinner to the coating gun 33, and the paint atomizing valve 12C and the paint gun operating valve 12B are controlled. The control is turned on, and a thinner is sprayed on the parting disk 32 of the tool B (step S3-2). At this time, the tool changing unit operating valve 12E may be kept off. Then, by controlling the motor drive flow regulating valve 12D to be fully opened, the parting disk 32 is moved at a high speed, for example, to 10,000.
Rotate at 0 rpm (step S3-3). By the spraying and high-speed rotation of the thinner, the paint adhered to the parting disk 32 is melted and blown off by centrifugal force.
The parting disk 32 is completely cleaned. Therefore, the tool stand 11 is a container having an open upper surface so as to surround almost the entire coating tool 30.

The cleaning of the tool B may be completed before the replacement with the tool A. For example, when the painting with the tool A is completed or when the tool B is placed on the tool stand 11, the valves 12A to 12A to 1 of the tool B are cleaned.
The cleaning is stopped by turning off 2E (step S3-4).

After placing the tool A on the tool table, the tool A is removed from the painting robot 10 and a tool B is provided instead (step S4). That is, first, the tool changing unit valve 12E of the tool A is controlled to be temporarily turned on, and during that time, the painting robot 10 is controlled and the robot arm 15 is controlled.
Pull out the pull stud 16. Next, the painting robot 10
Is moved toward the tool B, the valve 12E for the tool changing unit of the tool B is controlled to be temporarily turned on, and the pull stud 16 of the robot arm 15 is inserted into the tool changing unit 34 during that time. All the tool change unit valves are temporarily turned on and then turned off.

When the painting robot 10 has the tool B, the control device 20 starts the painting of the second painted object (body) with the tool B (step S5).
1) In parallel with this, the cleaning of the parting disk 32 of the tool A is started (step S6-1).

When painting with the tool B, the tool B
By controlling the motor drive flow control valve 12D to be slightly opened, the coating robot 10 is previously rotated while the parting disk 32 is rotated at an extremely low speed, for example, at a low speed of 1 to 10 rotations in the coating time for one body. The part below the parting line 9 is painted by moving it along the painting locus taught according to the shape and masking it with the parting disk 32 (step S5-2). At this time, for the other valves of the tool B, the color changing valve 12A is controlled so that the paint of the designated color is obtained, and the paint gun operating valve 1 is turned on while the paint atomizing valve 12C is turned on.
By controlling ON / OFF of 2B, the paint is atomized only when it should be painted. The tool changing unit operating valve 12E is kept off.

When the second painting by the tool B is completed (step S5-3), all the valves 12A to 12A are completed.
12E is turned off, the arm 15 of the painting robot 10 is moved toward the tool stand 11 at the left B position, and the support rod 3 of the tool B is moved.
The tool B is placed on the tool base 11 so that 5 fits into the notch 14 of the tool base 11 (step S5-4).

On the other hand, during the coating with the tool B, the color changing valve 12A is controlled so that only the thinner is supplied to the coating gun 33 with respect to the tool A, and the paint atomizing valve 12C and the coating gun operating valve 12B Is turned on, and a thinner is sprayed on the parting disk 32 of the tool A (step S6-2). At this time, the tool changing unit operating valve 12E may be kept off. And
By controlling the motor drive flow regulating valve 12D to be fully opened, the parting disk 32 is moved at a high speed,
The rotation is performed at 000 rpm (step S6-3). By the spraying of the thinner and the high-speed rotation, the paint adhering to the parting disk 32 of the tool A is melted and blown off by centrifugal force, so that the parting disk 32 is completely washed.

The cleaning of the tool A may be completed before the replacement with the tool B. For example, when the painting with the tool B is completed or when the tool A is placed on the tool base 11, the valves 12A to 12A to 1 of the tool A are removed.
The cleaning is stopped by turning off 2E (step S6-4).

After placing the tool B on the tool stand, the tool B is removed from the painting robot 10 and the tool A is held instead (step S7). That is, first, the tool changing unit valve 12E of the tool B is controlled to be temporarily turned on, and in the meantime, the coating robot 10 is controlled and the robot arm 15 is controlled.
Pull out the pull stud 16. Next, the painting robot 10
Is moved toward the tool A, the valve 12E for the tool change unit of the tool A is controlled to be temporarily turned on, and the pull stud 16 of the robot arm 15 is inserted into the tool change unit 34 during that time. All the tool change unit valves are temporarily turned on and then turned off.

When the tool is changed from B to A in this way, the process returns to steps S2-1 and S3-1 and the same operation is repeated.

As described above, by alternately using the two painting tools 30 for painting and cleaning, a sufficient cleaning time can be obtained, and problems such as color mixing do not occur. Therefore, it is extremely effective when two-tone coating or a coating color of an object to be coated successively differs from one another.

In the embodiment described above, the parting disk 32 has a downward bowl shape, but it may be simply a flat disk, or may have an upward bowl shape.

The use of the coating tool 30 is as follows.
In addition to using the painting tools alternately, the cleaning time is longer than the painting time, etc.
Three or more painting tools may be used in order.

Further, when the painting robot 30 is provided with the painting tool 30 for automatic painting, or when the painting robot 10 has a tool gripping mechanism, the tool changing unit 34 can be omitted.

[0042]

According to the coating apparatus of the present invention, the coating tool
Since the bowl-shaped parting disk is masked, the number of steps is greatly reduced as compared with masking using paper or tape, and a dedicated partition plate adapted to the shape of the object to be coated is not required. In addition, a bowl shape is formed by an air motor for the painting tool during painting.
The parting disk is rotated at a low speed .
Ri, it is not a name that paint in one place of the closeout disk is dripping attached intensively. Further, parting disc bowl shape is rotated at a high speed by the air motor in the paint tool after coating, since only solvent from the spray gun is ejected, the centrifugal force the paint adhering to the saw <br/> cutting disc melts Blown away by
And can be thoroughly cleaned. Therefore, the shape of the bowl
It is necessary to provide a separate cleaning member to clean the cutting disk.
No need. Also, since the parting disk is bowl-shaped,
During cleaning, paint and solvent blow out toward the front of the disc.
Good factory with easy recovery of paint and solvent
Environment can be secured. Further, the robot is provided with two painting tools alternately to carry out painting and washing, and a painting tool which is not used for painting is contained in advance in a sufficient time including a bowl-shaped parting disk. Since the cleaning can be performed, a clean coating tool can be properly used for each new workpiece without any trouble such as color mixing. Furthermore, since a robot is used, two-tone painting or the like can be easily performed according to various shapes of an object to be painted by teaching of the robot.

[Brief description of the drawings]

FIG. 1 is a view showing a coating apparatus for performing coating and cleaning by a coating robot by alternately using two coating tools according to an embodiment of the present invention.

FIG. 2 is a side sectional view showing one embodiment of a painting tool.

FIG. 3 is a plan view of FIG. 2;

FIG. 4 is a side sectional view showing an example of a tool changing unit.

FIG. 5 is a view showing masking by a painting tool and a hose group.

FIG. 6 is a flowchart showing a control operation of painting and cleaning in FIG. 1;

FIG. 7 is a time chart showing the operation of the painting robot in FIG. 1 and the rotating operation of each parting disk in two painting tools.

FIG. 8 is a diagram showing a first conventional example.

FIG. 9 is a diagram showing a second conventional example.

[Explanation of symbols]

 Reference Signs List 8 Body (object to be coated) 9 Parting line 10 Painting robot 11 Tool stand 12 Valve group 12A Color changing valve 12B Painting gun operating valve 12C Paint atomizing valve 12D Air motor drive valve 12E Tool changing unit operating valve 13 Hose group 13A Paint hose 13B Paint gun operation air hose 13C Paint atomization air hose 13D Air motor drive air hose 13E Tool change unit operation air hose 14 Tool notch 15 Robot arm 16 Pull stud 17 Neck 18 Tapered surface 20 Control device 30 Painting tool 31 Air motor 31A Motor output shaft 32 Parting disk 33 Painting gun 34 Tool changing unit 35 Support rod 36 Supporting device 37 Guide roller 38 Arm 39 Support post 40 Crosspiece 41 Connecting portion 42 Height 43 projecting direction 44 positions of B painting robot left strut around the direction 45 connecting portion 46 vertical turning direction 47 the cylinder 48 spring 49 piston 50 the ball 51 tapered face 52 air vents 53 tapered surface A painting robot right

Claims (1)

(57) [Claims] And 1. A two painting tool, and the tool base, comprising a robot and a control device, said painting tool and support member, the support portion is formed in a bowl shape
A parting disk rotatably provided on the timber, a portion of the coating material ejection range outright viewed disk is supported by the support member in such a position, the paint during painting, the solvent switched during cleaning injection
Paint gun to paint and part of the disc to close off paint when painting
Can be prevented from sticking and dripping
At low speed rotation and during washing.
High-speed rotation that can be blown off from
An air motor for rotating the parting disk, and a tool changing unit attached to a support member, wherein the robot has a connecting portion for connecting with a tool changing unit of a painting tool, and the control device performs tool changing with the robot. Tool change control means for controlling the unit and holding the robot with two painting tools alternately on the tool table, regeneration control means for reproducing the operation of teaching the robot with the painting tool in advance, and the painting tool possessed by the robot before and paint control means for injecting the coating material spray gun to rotate the air motor in the low speed, the air motor of the painting tool is placed on the tool stand
Serial coating apparatus characterized by having a washing control means for ejecting only solvent from the spray gun is rotated at high speed.