JP3313949B2 - Automatic body painting method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically painting a vehicle body such as an automobile by automatically painting the outer plate of the body with a robot painting apparatus.

[0002]

2. Description of the Related Art Generally, a coating apparatus for coating an outer plate of a vehicle body such as an automobile includes a reciprocating type coating apparatus using a reciprocating mechanism, a robot coating apparatus using a coating robot, a reciprocating type coating apparatus, and a robot coating apparatus. 2. Description of the Related Art A coating apparatus and the like using the apparatus in combination are known. These coating apparatuses spray a paint from a coating machine toward a vehicle body conveyed by a conveyor, thereby forming a vehicle body including a hood, a front fender, a roof, a door, a rear fender, a trunk lid, a rear, and the like of the vehicle body. The entire outer panel is painted.

[0003] Of these coating apparatuses, a reciprocating type coating apparatus includes a top reciprocating mechanism for coating a hood, a roof, a trunk lid and the like on the upper surface of a vehicle body, a left front fender and a door on a left side surface of the vehicle body. , A left side reciprocating mechanism for painting the rear fender, etc., and a right side reciprocating mechanism for painting the right front fender, the door, the rear fender, etc., which is the right side of the vehicle body. Then, the reciprocating type coating apparatus sprays paint from the coating machine attached to each reciprocating mechanism toward the vehicle body, and reciprocates the coating machine according to the coating surface of the vehicle body, so that the entire outer plate of the vehicle body is To paint.

[0004] On the other hand, a robot painting apparatus is an upper surface robot painting apparatus for painting the upper surface of the vehicle body, a left side robot painting apparatus for painting the left side surface of the vehicle body, and a right side robot for painting the right side surface of the vehicle body. By preparing a painting device, the entire outer panel of the vehicle body is painted.

A robot coating apparatus is disclosed in
-247858 and JP-A-4-371252. Of these, JP-A-62-2478
In the robot coating apparatus disclosed in Japanese Patent No. 58, a coating machine is mounted on two coating robots arranged on both the left and right sides of the vehicle body, and the coating machine is reciprocated along a coating surface of the vehicle body to thereby move the interior of the vehicle body. It is to be painted. Also, JP-A-4-37
No. 1252 discloses a robot coating apparatus in which a coating machine of a robot coating apparatus disposed on the left and right sides of a vehicle body is reciprocated in a direction perpendicular to a conveying direction of a conveyor, so that a left side portion forming a part of an outer plate of the vehicle body is provided. And the right side.
The construction in which the left and right robot coating apparatuses reciprocate the coating machine orthogonally to the conveyor conveyance direction is disclosed in
It is also disclosed in -187264.

[0006]

In the reciprocating type coating apparatus according to the prior art described above, when coating the outer plate of the vehicle body, a top reciprocating mechanism for coating the upper surface of the vehicle body, and coating the left side surface of the vehicle body. The left side reciprocating mechanism and the right side reciprocating mechanism for painting the right side of the vehicle body require three reciprocating mechanisms. One reciprocating mechanism requires at least one painting machine, so there are at least three painting machines. Required.

Further, as with the reciprocating type coating apparatus, a total of three robot coating apparatuses are required: a robot coating apparatus for the upper surface, a robot coating apparatus for the left side, and a robot coating apparatus for the right side.

As a result, the number of painting machines, reciprocating mechanisms and painting robots for operating the painting machines, paint and solvent lines, controllers for controlling the reciprocating mechanisms and painting robots, and the like are increased. In addition to the increase in cost and installation work cost, the increase in the number of coating machines increases the amount of paint and the solvent used for cleaning and the cleaning time, resulting in an increase in running costs during operation.

Further, a large installation space is required to install three or more reciprocating mechanisms and painting robots, and the painting booth itself becomes large due to the large installation space. There is a problem that equipment costs such as equipment and waste liquid equipment increase.

On the other hand, when an outer plate of a vehicle body is painted by a robot painting apparatus disposed on the left and right sides of the vehicle body as disclosed in Japanese Patent Application Laid-Open No. 62-247858, the boundary between the spray patterns of the left and right painting machines interferes with each other. There is a problem that the coating film overlaps in the part, the coating film becomes thicker than other coating parts, the coating quality is reduced due to color unevenness or the like, and this causes a coating defect.

When the coating machine is reciprocated as disclosed in JP-A-4-371252 and JP-A-4-187264, the moving speed of the coating machine is reduced or stopped before and after the turning point. Or Also in such a case, since the conveyor conveys the vehicle body at a constant speed, the moving speed of the coating machine with respect to the painted surface of the vehicle body decreases before and after the turning point. As a result, there is a problem that the coating film becomes thicker as the moving speed of the coating machine decreases, and coating defects such as color unevenness occur.

Therefore, when the coating machine moves before and after the turning point, the reciprocating stroke of the coating machine is extended so that the paint is not sprayed from the coating machine onto the painted surface of the vehicle body. In this case, the paint is wasted on other than the painted surface, which increases the amount of paint used. Is increased.

The present invention has been made in view of the above-described problems of the prior art, and when painting the entire outer panel of a vehicle body, the number of painting robots and painting machines is reduced to a minimum of two, so that painting can be performed. Reduce the number of robots, coating machines, paint systems, solvent systems, controllers, etc., reduce manufacturing costs, reduce installation space, reduce the size of painting booth air-conditioning equipment and waste liquid equipment, etc. An object of the present invention is to provide a method for automatically painting a vehicle body, which can reduce running costs, in particular, paints and washing solvents discarded at the time of color change, and reduce the running cost by shortening the color change setup time. And

[0014]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a transportation means for transporting a vehicle body, and one painting robot on each of the left and right sides in the transportation direction of the transportation means. And a left and right robot coating device in which a coating machine is provided at the tip of the arm of each coating robot.
Each of the left and right robot coating devices is used to control the left and right
It is applied to the automatic painting method of the car body which paints the right position respectively .

[0015] Then, the configuration in which the invention of claim 1 is employed
The feature is that it is located on the left side of the left and right robot painting equipment.
The robot coating equipment to be placed is located on the top of the
The left half of the upper surface of the entire outer panel of the vehicle body including the side surface
Paint the entire left half of the outer panel consisting of
The robot painting equipment located is located on the upper
The right side of the upper part of the entire outer panel of the vehicle body including the right side part
In the painting area where the spray patterns by the painting machines of the robot painting devices interfere with each other on the upper surface of the vehicle body, the paint spraying section of the painting machine is applied to the vehicle body. The paint spraying portion is gradually separated from the painted surface while keeping the painted surface facing the painted surface.

According to a second aspect of the present invention, the left and right robots
The robot painting equipment on the left side of the painting equipment is
An outer panel of the vehicle body including an upper surface portion and left and right side portions of the vehicle body;
The left half of the outer panel consisting of the left half of the upper surface and the left half of the entire surface
Robot painting equipment located on the right side,
Outside the vehicle body, including the upper surface and the left and right side surfaces of the vehicle
Outer plate right consisting of the right half of the upper surface and the right side of the entire plate
In the painting area where the spray patterns by the painting machines of the robot painting devices interfere with each other on the upper surface of the vehicle body, the paint spraying section faces the painting area of the other painting machine. Swing the painting machine,
That is, the paint spraying part is gradually separated from the painted surface.

[0017]

[0018]

[0019]

According to the coating method of the first aspect of the present invention, when the vehicle body is transported by the transport means, the robot coating apparatus located on the left side includes the upper surface portion and the left and right side portions of the vehicle body. the outer plate left half made of the left half and the left side surface of the upper surface portion of the vehicle body outer panel entirely fully painted, the robot coating device positioned on the right side, the including the upper surface portion and the left and right side portions of the vehicle body since the outer plate right half made of the right half and the right side portion of the upper surface portion of the vehicle body outer panel entire entirely painted, independently of the outer skin the whole surface of the vehicle body by two robots painting apparatus can automatically painted.

Further, according to the first aspect of the invention, in at interfering painting area to one another spray pattern by coater each robot painting apparatus body of the upper surface portion, facing the paint spraying of the coating machine is painted surface of the vehicle body In this state, the paint spraying part is gradually separated from the coating surface, so that the coating efficiency of the paint can be reduced according to the separation of the paint spraying part from the coating surface, and the coating film thickness in this coating area can be reduced. And the coating thickness of the entire coated surface can be made constant.

According to the second aspect of the present invention, in the coating area where the spray patterns by the coating machines of the respective robot coating apparatuses interfere with each other on the upper surface of the vehicle body, the paint spray section is directed to the coating area of the other coating machine. Each coating machine is swung and the paint spraying part is gradually separated from the painted surface of the vehicle body, so that the paint application efficiency can be reduced according to the distance of the paint sprayed part from the painted surface. By reducing the thickness of the coating in the area, the coating thickness of the entire coating surface can be kept constant.

[0022]

[0023]

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a coating apparatus having a rotary atomizing head type coating machine as a coating apparatus according to an embodiment of the present invention will be described with reference to FIGS.

First, FIGS. 1 to 6 show a first embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a conveyor device provided as a conveying means provided in a painting booth (not shown). The conveyor device 1 moves a vehicle body 2 such as an automobile from one side to another side at a constant speed. It is transported toward.

Here, the vehicle body 2 includes a hood 2A, front fenders 2B and 2B, front pillars 2C and 2C,
Roof 2D, front doors 2E, 2E, center pillar 2
F, 2F, rear doors 2G, 2G, rear pillars 2H, 2
H, rear fenders 2J, 2J, trunk lid 2K, and rear 2M, and are substantially symmetrical left and right with respect to the center line OO.

Reference numeral 3 denotes a left robot coating device disposed on the left side in the conveying direction of the conveyor device 1, and 4 denotes a right robot coating device disposed on the right side in the conveying direction of the conveyor device 1 so as to face the robot coating device 3 on the left side. Each of the robot coating apparatuses 3 and 4 includes a tracking mechanism 5, an articulated coating robot 6, and a coating machine 7, which will be described later.

Reference numerals 5 and 5 denote tracking mechanisms which extend in parallel with the conveying direction of the conveyor device 1 and serve as a base for the robot coating devices 3 and 4. Each of the tracking mechanisms 5 is mounted on a moving table (not shown). Articulated painting robot 6 fixed to
Are independently moved at an arbitrary speed in the transport direction or the opposite transport direction.
The moving speed of the coating machine 7 with respect to the vehicle body 2 being conveyed is adjusted.

Reference numerals 6 and 6 denote articulated coating robots (hereinafter referred to as coating robots 6) provided on the tracking mechanisms 5 and 5, respectively. A fixed base 6A and a column 6B pivotally and rotatably mounted on the base 6A.
And an arm 6C rotatably and rotatably attached to the tip of the column 6B, and a wrist 6D rotatably and rotatably provided at the tip of the arm 6C. The arm unit 6C and the wrist unit 6D are controlled based on a control signal from a controller (not shown), and are freely rotated or rotated by the controller so that the coating machine 7 can be freely applied to the entire painted surface of the vehicle body 2. And can be moved independently.

Reference numerals 7 and 7 denote a list section 6D of each painting robot 6.
And a paint sprayer 7A is provided on the tip side, and each painter 7 is connected to a color changing valve device or the like through a paint pipe and supplies a solvent through a solvent pipe. Connected to the source. Further, each coating machine 7 is connected to a waste liquid pipe (both not shown) for discarding the paint and the solvent at the time of color change. Each coating machine 7 sprays the paint supplied through the paint pipe from the paint spraying section 7A toward the vehicle body 2. As the paint spraying section 7A, for example, a rotary atomizing head, air An atomizing nozzle type, a hydraulic atomizing nozzle type and the like are widely used.

The robot coating apparatuses 3 and 4 according to the present embodiment.
Is configured as described above. When the vehicle body 2 is conveyed by the conveyor device 1, the left robot painting device 3 paints the left half from the center line OO of the entire outer plate of the vehicle body 2. The right robot painting apparatus 4 paints the right half from the remaining center line OO to paint the entire outer plate of the vehicle body 2.

Therefore, the robot coating apparatus 3 of this embodiment
4 will be described in detail with reference to FIGS.

First, an example of the body 2 of a four-door sedan type passenger car will be described, and the painting sequence will be described based on the locus of each painting machine 7 shown in FIG.

First, when the vehicle body 2 is conveyed forward by the conveyor device 1, the left robot coating device 3,
When the painting machine 7 reaches the point a, the robot painting apparatus 4 on the right side moves each painting machine 7 to the left and right directions (the vehicle body 2) while spraying paint from the paint spraying section 7A of each painting machine 7. The hood 2A is painted by reciprocating in the width direction. When the coating of the hood 2A progresses and each of the coating machines 7 reaches the point b, the reciprocating motion of each of the coating machines 7 is stopped, and the coating machines 7 are moved toward the point c to the boundary between the hood 2A and the front fender 2B. Move along.

When the hood 2A is painted, the hood 2A has a substantially parallelogram shape on both sides of the center line OO. Reciprocating obliquely.

Next, when each of the coating machines 7 reaches the point c, each of the coating machines 7 is reciprocated up and down along the front fenders 2B, 2B of the vehicle body 2, and the front fenders 2B, 2B,
After coating 2B up to point d, the reciprocating motion of each coating machine 7 is stopped, and in this state, each coating machine 7 is linearly moved toward point e to coat front pillars 2C and 2C. When each of the coating machines 7 reaches the point e, the coating machine 7 is reciprocated left and right on the roof 2D, and the roof 2D is coated to the point f. Painting is performed by moving linearly to the point g along the front pillars 2C, 2C.

Next, when the respective coating machines 7 reach the point g, the respective coating machines 7 are reciprocated upward and downward along the side surface of the vehicle body 2, and the front doors 2E, 2E, the center pillars 2F, 2
F, rear doors 2G, 2G, rear pillars 2H, 2H, and front portions of rear fenders 2J, 2J are sequentially painted. When the painted surfaces are painted and each painting machine 7 reaches the point h, the painting machine 7 is reciprocated left and right from the point h to paint the trunk lid 2K.

Further, when each of the painting machines 7 reaches the j point after painting the trunk lid 2K, the reciprocating motion of each of the painting machines 7 is stopped, and the painting machine 7 is moved to the k point while painting the upper parts of the rear fenders 2J, 2J. Later, from this k point, rear fenders 2J, 2J
The back side is painted while reciprocating to the point m. Finally, the rear 2M is painted from point m to point n.

By coating the vehicle body 2 with the left robot coating device 3 and the right robot coating device 4 as described above, the left robot coating device 3 forms a hood that is an upper surface portion of the entire outer plate of the vehicle body 2. 2A, roof 2D, trunk lid 2K, rear half 2M from the center line OO
The left half of the outer panel composed of the left front fender 2B, front pillar 2C, front door 2E, center pillar 2F, rear door 2G, rear pillar 2H, and rear fender 2J on the left side can be entirely coated.

On the other hand, in the robot coating apparatus 4 on the right side, the center line OO of the hood 2A, the roof 2D, the trunk lid 2K, and the rear 2M, which are the upper surfaces, of the entire outer plate of the vehicle body 2.
From the right half and the right half of the outer panel consisting of the right front fender 2B, front pillar 2C, front door 2E, center pillar 2F, rear door 2G, rear pillar 2H, and rear fender 2J, which is the right side part,
The entire outer surface of the vehicle body 2 can be automatically painted.

Next, a hood 2A serving as an upper surface of the vehicle body 2,
The operation of each coating machine 7 when painting the roof 2D, the trunk lid 2K, and the rear 2M will be described with reference to an example of painting the roof 2D.

First, as shown in FIG. 3, when painting is performed while reciprocating each painter 7 left and right on the roof 2D, a position where paint sprayed from each painter 7 does not interfere ( (Left and right away from the center line OO)
In the normal coating, the coating distance between the paint spraying portion 7A of each coating machine 7 and the roof 2D is set to a coating distance L at which a high coating efficiency can be obtained. On the other hand, when each of the coating machines 7 moves toward the center line OO and reaches the vicinity of the center line OO, the operation trajectories M1, M1 indicated by dotted lines in FIG.
As shown in FIG.
With the paint spraying section 7A facing the roof 2D (at a right angle), the coating machines 7 are gradually separated from the roof 2D to increase the coating distance and reduce the coating efficiency of the paint.

Thus, as shown in FIG. 4, the spray pattern P of the paint sprayed from each coating machine 7 is accompanied by the separation of the coating machine 7 from the normal spray pattern P1 (decrease in coating efficiency). And gradually larger spray patterns P2, P3, P
As shown in FIG. 5, the thickness of the coating film F formed on the roof 2D is changed to the center line O in accordance with the decrease in the coating efficiency, as shown in FIG.
The portion where the spray pattern P interferes near −O can be gradually thinned, and it is possible to prevent the coating film thickness of the coating portion where the spray pattern P interferes from becoming thicker than the coating film thickness of other coating portions. .

On the other hand, when each coating machine 7 is reciprocated, the stroke pitch at which each coating machine 7 reciprocates is made constant over the entire painted surface of the vehicle body 2, thereby reducing the coating film thickness. It is made constant to prevent the occurrence of color unevenness and the like.

When each coating machine 7 is reciprocated,
As shown in FIG. 6, by turning back the folded portion T of each coating machine 7 in an arc shape with a radius R that is half of the reciprocating pitch, each of the coating machines 7 is also turned to the painted surface of the vehicle body 2 even at the folded portion T. Painting can always be performed at a constant moving speed without lowering the moving speed.

When each of the coating machines 7 comes off from the painted surface of the vehicle body 2 at the time of painting the vehicle body 2, the spraying of the paint from each of the coating machines 7 may be stopped.

Thus, according to the present embodiment, when the vehicle body 2 is painted, the robot painting apparatus 3 on the left side
Hood 2A and roof 2 serving as the upper surface of the entire outer plate
D, the left front fender 2 which is the left half and the left side from the center line OO of the trunk lid 2K and the rear 2M.
B, the left half of the outer panel including the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J can be entirely painted.

In the robot coating apparatus 4 on the right side, the center line OO of the hood 2A, the roof 2D, the trunk lid 2K, and the rear 2M, which are the upper surface, of the entire outer plate of the vehicle body 2
Right fender and right side front fender 2
B, the right half of the outer panel including the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J can be entirely coated.

Thus, the two robot coating apparatuses 3 and 4 (two coating machines 7 and 4) that minimize the entire outer plate of the vehicle body 2
Since the coating can be performed in 7), the number of the coating robot 6, the coating machine 7, the coating pipe, the solvent pipe, the controller, and the like is reduced to two.
It can be reduced to the size of one unit, and the manufacturing cost can be reduced.

Further, by using two robot coating devices 3 and 4, the installation space for the robot coating devices 3 and 4 can be reduced. In addition to being able to reduce the size of air-conditioning equipment and waste liquid equipment, the running cost can be reduced during operation, in particular, the paint and cleaning solvents discarded during color change can be saved, and the color change setup time can be reduced. Cost can be reduced.

Further, the hood 2 serving as the upper surface of the vehicle body 2
A, when painting the roof 2D, the trunk lid 2K, and the rear 2M, near the center line OO where the spray patterns P of each coating machine 7 interfere with each other, paint the spraying portion 7A of each coating machine 7 While facing each other, the coating machines 7 are gradually separated from the coating surface to increase the coating distance, reduce the coating efficiency of the coating, and gradually reduce the thickness of the coating film F. The thickness of the coating film F at the coating portion where the spray pattern P interferes can be made equal to other portions. Therefore, it is possible to prevent the occurrence of color unevenness due to the variation of the coating film thickness, and it is possible to perform the high quality coating desired for the outer panel coating of the vehicle body 2.

In this embodiment, when each of the coating machines 7 is reciprocated, the folded portion T of each of the coating machines 7 is folded in an arc shape so that each of the coating machines 7 moves at the folded portion T. Preventing a decrease in speed and always applying a constant moving speed, it is possible to improve the coating quality with a constant coating film thickness without wasting the coating as described in the related art. .

Further, when the hood 2A is coated, each coating machine 7 is reciprocated obliquely in accordance with the parallelogram-shaped hood 2A, so that each coating machine 7 can be effectively reciprocated without waste. It is possible to shorten the coating time and reduce the amount of paint used.

Moreover, since the left robot painting device 3 and the right robot painting device 4 can be operated independently, it is possible to apply satisfactory painting even to an asymmetrical left and right vehicle body.

Next, a second embodiment of the present invention is shown in FIGS. 7 to 9. The feature of this embodiment is that the paint spraying part is located on the other side of the coating part where the spray pattern of each coating machine interferes. Each of the coating machines is swung so as to face the coating area of the coating machine. Note that, in the present embodiment, the first
The same reference numerals are given to the same components as those of the embodiment, and the description thereof will be omitted.

In the drawing, M2 and M2 indicated by dotted lines indicate the operation locus of each coating machine 7 according to the present embodiment, and the operation of each coating machine 7 will be described based on the operation locus M2 and M2.

First, at the time of coating at a position where the paint sprayed from each coating machine 7 does not interfere, the coating distance between the paint spraying portion 7A of each coating machine 7 and the roof 2D is increased so that a high coating efficiency can be obtained. Let L be the distance. On the other hand, each coating machine 7 has the center line O
-O, and when each of the coating machines 7 has reached the vicinity of the center line OO, the paint spraying unit 7A moves toward the center line OO as the movement locus M2, M2 approaches. Each coating machine 7 is swung so as to face the coating area of the side coating machine 7, thereby increasing the coating distance and decreasing the coating efficiency of the coating.

As a result, as shown in FIG. 8, the spray pattern P 'of the paint sprayed from each coating machine 7 changes when the coating machine 7 is separated from the spray pattern P1 at the time of normal coating (the coating efficiency decreases). Large spray pattern P gradually deforming
5 and P6, as shown in FIG. 9, the spray pattern P 'near the center line OO interferes with the thickness of the coating film F' formed on the roof 2D as the coating efficiency decreases. It is possible to gradually reduce the thickness of the coating at the portion where the spray pattern P 'interferes, so that the thickness of the coating at the portion where the spray pattern P' interferes can be prevented from becoming larger than the thickness of the coating at other portions.

Thus, in this embodiment constructed as described above, although substantially the same operation and effect as those of the first embodiment can be obtained, in particular, in this embodiment, each coating machine 7 is swung. Since each of them is only performed, each of the coating machines 7 can be operated in a short time, and the coating time can be shortened.

In each of the above embodiments, a four-door sedan car is taken as an example. The upper surface of the vehicle body 2 is a hood 2A, a roof 2D, a trunk lid 2K, a rear 2M, and the side surfaces are a front fender 2B and a front pillar 2C. , The front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J have been described as an example. However, the present invention can also be applied to a front door provided as a top surface in front of a hood, and a two-door car or one-box car It can also be applied to

In each of the above embodiments, the vehicle body 2 is connected to the hood 2A, the front fenders 2B, 2B,
C, 2C, roof 2D, front doors 2E, 2E, center pillars 2F, 2F, rear doors 2G, 2G, rear pillars 2H, 2H, rear fenders 2J, 2J, trunk lid 2K, and rear 2M are described as being painted in this order. ,
The order of painting is appropriately determined by the shape of the vehicle body.

In each of the above-described embodiments, the vehicle body 2 has a left and right symmetrical shape with respect to the center line OO, and is divided into left and right painted surfaces from the center line OO. However, the present embodiment can be applied to a vehicle body in which the left and right sides are asymmetrical, and the left and right painted surfaces may be divided at positions deviated from the center line.

Further, as a coating material, a powder coating material may be used in addition to a solvent-based coating material and a water-based coating material. In this case, a coating machine or the like corresponding to the coating material may be used.

[0065]

As described above in detail, according to the method for automatically painting a car body according to the first aspect of the present invention, when the car body is carried by the carrying means, the robot painting apparatus located on the left side is used.
Body of the upper surface portion and the left, the outer plate left half made of the left half and the left side surface of the upper surface portion of the vehicle body outer panel entire surface including the side portion of the right can be entirely painted, car robot coating device positioned on the right
The entire outer skin of the body, including the upper part of the body and the left and right side parts
The right half of the outer panel consisting of the right half of the top and the right
Since the entire surface of the vehicle body can be independently and automatically painted by two robot painting devices that can be painted completely and minimized, the number of painting robots, painting machines, paint systems, solvent systems, controllers, etc. is reduced to 2 It can be reduced to the size of one unit, and the manufacturing cost can be reduced. In addition, since the installation space for the robot coating equipment can be reduced, the space in the factory can be effectively used by reducing the size of the painting booth, and the air conditioning equipment and waste liquid equipment can be reduced. In particular, it is possible to reduce the running cost by reducing the amount of paint and cleaning solvent discarded at the time of color change and shortening the color change setup time.

Further, according to the invention of claim 1, in at interfering painting area to one another spray pattern by coater each robot painting apparatus body of the upper surface portion, facing the paint spraying of the coating machine is painted surface of the vehicle body In this state, the paint spraying part is gradually separated from the paint surface, and the coating efficiency of the paint is reduced according to the separation of the paint spray part from the paint surface. The coating thickness of the entire painted surface can be kept constant, preventing the occurrence of color unevenness due to the variation of the coating thickness, making it possible to perform the high-quality coating desired for exterior coating of vehicle bodies. it can.

According to the second aspect of the present invention, in a coating area where the spray patterns by the coating machines of the respective robot coating apparatuses interfere with each other on the upper surface of the vehicle body, the coating spray section is directed to the coating area of the other coating machine. Swing each coating machine to
The paint spraying part is gradually separated from the painted surface of the vehicle body, and the coating efficiency of the paint is reduced according to the distance of the paint sprayed part from the painted surface. Because the coating thickness of the coating can be kept constant, it is possible to prevent the occurrence of color unevenness due to the variation of the coating thickness,
It is possible to perform high-quality coating desired for the coating of an outer panel of a vehicle body.

[0068]

[0069]

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a state in which a left robot coating apparatus and a right robot coating apparatus according to a first embodiment of the present invention are disposed on the left and right sides of a vehicle body.

FIG. 2 is an explanatory view of a painting operation showing a painting locus of each painting machine by the painting method according to the first embodiment of the present invention.

FIG. 3 is an explanatory view of a painting operation showing an operation trajectory of each painting machine when painting a roof of a vehicle body.

FIG. 4 is an explanatory diagram showing a spray pattern of a coating machine on an operation trajectory in FIG. 3;

FIG. 5 is an enlarged cross-sectional view of a main part of the roof, showing displacement of a coating film thickness in an operation locus in FIG. 3;

FIG. 6 is a view showing a folded portion of each coating machine according to the embodiment.
It is an arrow B enlarged view of the inside.

FIG. 7 is an explanatory view of a painting operation showing an operation trace of each painting machine when painting a roof of a vehicle body according to a second embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a spray pattern of the coating machine on the operation locus in FIG. 7;

9 is an enlarged cross-sectional view of a main part of a roof, showing a displacement of a coating film thickness on an operation locus in FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveyor apparatus (transportation means) 2 Body 2A Hood (upper part) 2B Front fender (side part) 2C Front pillar (side part) 2D Roof (top part) 2E Front door (side part) 2F Center pillar (side part) 2G Rear door (side) 2H Rear pillar (side) 2J Rear fender (side) 2K Trunk lid (top) 2M Rear (top) 3 Left robot coating device 4 Right robot coating device 6 Articulated coating robot 6C Arm part 7 Coating machine 7A Paint spraying part L Painting distance P, P ', P1 to P6 Spray pattern F, F' Coating film T Folding part

Claims (2)

(57) [Claims] 1. A transport means for transporting a vehicle body, and the transport means
One each on the left and right sides of the
A painting machine is placed at the tip of the arm of each painting robot.
Equipped with left and right robot coating devices provided
Left and right positions of the body by the left and right robot coating equipment
Auto-painting method for the car body, where each part is painted
In the left and right robot coating devices, the robot located on the left
The bot coating system consists of the upper part of the body and the left and right side parts.
The left half of the upper surface and the left side of the entire outer panel of the vehicle body including
The left half of the outer panel consisting of the surface is painted entirely, and the robot painting device located on the right
And the upper surface of the entire outer panel of the vehicle body including the left and right side portions
Painted the right half of the outer panel consisting of the right half of the part and the right side
Then, in a coating area where the spray patterns by the coating machines of the robot coating devices interfere with each other on the upper surface of the vehicle body, the paint spraying section of the coating machine is kept facing the painted surface of the vehicle body. An automatic painting method for a vehicle body, wherein a paint spraying part is gradually separated from a painted surface. 2. Transport means for transporting a vehicle body, and the transport means
One each on the left and right sides of the
A painting machine is placed at the tip of the arm of each painting robot.
Equipped with left and right robot coating devices provided
Left and right positions of the body by the left and right robot coating equipment
Auto-painting method for the car body, where each part is painted
In the left and right robot coating devices, the robot located on the left
The bot coating system consists of the upper part of the body and the left and right side parts.
The left half of the upper surface and the left side of the entire outer panel of the vehicle body including
The left half of the outer panel consisting of the surface is painted entirely, and the robot painting device located on the right
And the upper surface of the entire outer panel of the vehicle body including the left and right side portions
Painted the right half of the outer panel consisting of the right half of the part and the right side
Then, in the coating area where the spray patterns of the coating machines of the robot coating apparatuses interfere with each other on the upper surface of the vehicle body, each of the coating machines is necked so that the coating spray section faces the coating area of the other coating machine. An automatic painting method for a vehicle body, characterized in that the paint spraying part is gradually moved away from a painted surface by swinging.