JP4149753B2 - Spindle painting method using painting robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is a method of placing an object to be coated on a rotating spindle and painting with a painting robot, and a plurality of objects to be coated are simultaneously applied to a spindle continuously attached to a conveyor by a plurality of spray guns. It is related with the method of coating sequentially, painting the parts to be painted while passing through the painting area, and continuously painting.
[0002]
[Prior art]
When painting a large amount of objects to be coated, the simplest method is to pass the objects to be coated, which are sequentially sent by a conveyor, by passing them through the spraying area of a spray gun that is continuously spraying. in use. However, in this case, not only the coating surface but also the sprayed part is unnecessarily sprayed, and there is a lot of waste of the paint, which is not preferable economically, in terms of resources and environment.
[0003]
In particular, recent high-quality paints such as mobile phones, audio equipment, optical equipment and the like that require high-grade feeling require high-quality paints as well as expensive paints, and thus there is a need for improvements in the painting methods. Furthermore, since these products are required to be produced at low cost by mass production, it is necessary to realize highly efficient coating while maintaining high productivity.
[0004]
In response to such demands, as shown in FIG. 3, an automatic spindle coating is used in which a rotating folder capable of placing a plurality of objects to be mounted is provided on a rotating spindle, and coating is performed while revolving the objects to be coated. . According to this method, spray guns are arranged in several places according to the painting location on the object to be sent while revolving one after another, and each spray gun paints the designated location to paint area. When it passes, the coating is completed, and productivity can be improved by feeding the conveyor and arranging the spray gun.
However, even in this case, it is difficult to individually control the spraying, and unnecessary spraying is performed. Therefore, the spray paint as described above is wasteful, which leaves a problem.
[0005]
In order to eliminate such waste of paint and to improve the quality of finished paint, it is necessary to control the spraying time more appropriately, and to control the spraying position and direction and the spraying distance. For this purpose, a painting robot or the like which operates while controlling the movement and spraying of the spray gun is used, and a method of combining this with the spindle painting as described above has been adopted.
[0006]
However, even in this case, the painting robot installs a rotating spindle in a turntable manner, and finishes the painting of the object to be coated placed on the rotating folder at the painting position, and then places it on the next rotating holder. Since the object to be coated is sent to the painting position and starts painting, there is a problem that productivity is lowered due to the difficulty of painting multiple rotating folders at the same time due to the interruption of the turntable movement time .
[0007]
[Problems to be solved by the invention]
The present invention solves each of these problems, and is intended to obtain a high-efficiency coating method with high productivity, good paint finish, no paint waste, and high efficiency. The problem is a painting method that combines high productivity of painting and dedicated spindle painting by a painting robot that can achieve high coating efficiency and coating uniformity.
[0008]
In other words, the spray gun spraying position is adjusted to the rotating folder for the object to be continuously transferred while being placed on the rotating folder of the spindle, and a plurality of objects to be coated are applied in a spindle system with a lean operation. This increases productivity. In order to make the quality of the painted surface that rotates at a high speed high and constant, when applying the vertical surface of the surface to be painted, the spray gun is placed on the left side on the right side of the center of the spindle that rotates clockwise. Requires a spray gun to be placed to the left of the center of the counterclockwise rotating spindle, and it is necessary to take a relative positional relationship between the spray gun and the rotating body.
[0009]
[Means for Solving the Problems]
In order to solve these problems, the present invention provides a rotating folder for placing a plurality of objects to be placed on a circumference on a spindle attached to a conveyor that is continuously fed, rotated, and transferred in a revolving state. The object to be painted is painted by the painting robot. The rotating spindle is rotated forward and backward in the first half and second half of the painting area, and mounted on the painting robot so as to face the rotating folders in both painting areas. With the spray gun applied, the object to be revolved placed on the rotating folder is painted, and each object to be painted is applied in a different rotation direction while passing through the first half painting area and the second half painting area, which are the respective rotation areas. The spraying is performed so that the painting process is completed. Thus, a plurality of objects to be coated can be coated simultaneously and continuously, and productivity can be improved.
[0010]
The spray gun that performs the synchronous operation is installed on both sides of the gun stay that is mounted on the arm of the painting robot and moves in parallel with the traveling direction of the conveyor, and is movable relative to the center of the gun stay. Spraying while setting or moving the spray gun to the position where it is opposed to the center of each rotary spindle, and the spray gun provided is opposed to the first half paint area and the second half paint area as the respective rotation areas Thus, the spraying position according to the rotation direction can be adjusted to the object to be revolved, and the paint can be applied effectively.
[0012]
Also, depending on the possible coating time while passing through one painting area, after painting continuously in the same rotation direction for multiple rotating folders in both painting areas, the same painting in the opposite rotation direction , By combining a plurality of pieces as one set and sequentially spraying them, it is possible to use the time required to pass through the coating region as the maximum coating time and to set up a process without wasted time.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an example of an apparatus for carrying out the coating method of the present invention. The spray gun 1 can be sprayed while freely moving a spray gun attached to the tip of the arm 2 by an operation signal from a control device provided separately by the painting robot. In this embodiment, a gun stay 3 is provided at a front end of the arm 2 at a substantially right angle to the arm, and spray guns 4 </ b> A and 4 </ b> B are attached to both sides of the gun stay 3. These spray guns are moved up, down, left, right, and up and down by the operation function of the painting robot 1 while being installed on the gun stay 3.
[0014]
Further, the gun stay 3 extends and contracts symmetrically with respect to the central portion attached to the painting robot 1, and the interval between the spray guns attached to both sides is variable. The expansion / contraction mechanism may be selected within the range of conventional elemental technologies, such as using a screw with a reverse pitch or a link mechanism. The operation is sent to a servo motor or the like in the same manner as the control signal of the painting robot and controlled at a necessary interval. In the case of the present embodiment, as shown in the figure, two spray guns are installed on both sides of the gun stay 3, and four spray guns are simultaneously operated on both sides to increase the painting efficiency.
[0015]
An object to be coated is placed on a rotating folder 6 attached to a conveyor 5 disposed in front of the painting robot 1 and is carried to a painting position. The conveyor 5 is provided with spindles 7 at predetermined intervals, and each spindle 7 is automatically rotated by rotation driving devices 15A and 15B provided in the painting area. As a means for rotating, a method of transmitting a rotational force when the friction roller portion of the spindle comes into contact with a belt rotated by a driving device or the like is used. The rotation directions of the rotation driving devices 15A and 15B are reversed as indicated by arrows, and the spindle is configured to rotate in the respective regions with the intermediate portion as a boundary.
[0016]
As shown in FIG. 3, each spindle is provided with a rotating folder 6 provided with four object folders 8 around it, and the object W fitted and placed in the object folder 8 is The periphery of the spindle 7 is revolved. The number and shape of the object folder 8 may be changed depending on the size of the object to be coated and various coating conditions, and it is desirable that the rotating folder 6 can be easily replaced.
[0017]
As described above, since the object to be coated is revolving, spraying from the spray gun is performed while controlling the eccentric distance S from the center of rotation according to the direction of rotation, improving the efficiency of coating and the finish state. Figured. Further, since the opposite surface is not sufficiently painted only from the same direction, painting by reverse rotation is necessary, and in this case, the distance S to be decentered is deviated from the center.
[0018]
In the present invention, it is necessary to decenter the spray guns placed in both rotation areas in opposite directions in order to perform painting by both rotations simultaneously and simultaneously by the spray guns provided on both sides of the gun folder provided in the painting robot. As a means to cope with this, a gun stay is adopted in which the interval between the mounting positions of the spray gun is variable.
[0019]
The movement of the conveyor 5 and spindle 7 and the positional relationship between the spray guns 4A and 4B installed on the gun stay 3 of the painting robot 1 are shown in FIG. For example, the spindle 7 attached to the conveyor 5 that moves from the left side to the right side of the painting area is rotated in the reverse direction from the middle to the left, right front, and rear, as described above, and each spray gun 4A, 4B Installation and movement are performed so as to confront the object to be coated (rotating folder) within the range of the rotation area.
[0020]
Normally, when painting is performed regardless of the direction of rotation of the folder, a spray gun is placed at the center of rotation.However, for objects to be revolved as in the embodiment of the present invention, a spray gun is placed at the center of rotation. When directed, the film thickness on the left and right side surfaces and the front surface of the object to be coated will be uneven. Furthermore, by arranging the spray gun at the position where the paint surface is facing, the coating efficiency can be increased and the finish can be improved. On the other hand, spraying in the direction of escape from the spray of the spray gun not only lowers the coating efficiency but also increases the coating of coarse particles with a high spraying speed, which adversely affects the finish.
[0021]
Therefore, as shown in FIG. 2, the left rotation folder 6A is installed to the right of the rotation center, and the right rotation folder 6B is installed to the left of the rotation center. Further, when the distance to be decentered differs from the center of rotation depending on the object to be coated and the part to be coated, the distance X between the spray guns installed on both sides is adjusted by expanding and contracting. In addition, if the effect of coating can be obtained by spraying and moving the spray gun from the center of rotation toward the outside, for example, the spacing between the spray guns on both sides can be changed during operation. I need it. As described above, these movements are taught as the operation control signal of the painting robot and can control the operation.
[0022]
A coating chamber 10 is provided around the conveyor 5 serving as a coating area, and dust entry prevention, paint mist exhaust processing, and the like are performed.
[0023]
The actual coating performed with these configurations will be described in detail below. As shown in FIG. 3, four objects to be coated are placed on the rotating folders 6 provided on the spindle 7 of the conveyor 5, and sequentially fed into the coating area. The lower surface, the middle surface, and the upper surface are painted by the painting robot 1 programmed in advance while revolving to the right until reaching the center of the painting area. At this time, the objects to be coated placed in the two rotating folders (first two folders) are sprayed simultaneously by the two spray guns 4A on the left side, and then another two rotating folders (second two folders). Then, the painting robot moves, and the lower surface of the object to be coated is further moved to the next two rotating folders (third two folders) to sequentially coat the lower surface of the object to be painted.
[0024]
For the next inside surface, paint again in the order of the 3rd 2 folder, 2nd 2 folder, 1st 2 folder, and finally the top 2nd 1st folder, 2nd 2 folder, 3rd Paint in order of the two folders in order to finish painting in the left rotation area. Thereafter, the conveyor speed and the spray time are adjusted so that the first to third folders are sent to the right reverse rotation region.
[0025]
The object to be coated fed to the right side of the next rotation area is in a reverse rotation state and revolves with the coating surface on the opposite side to the spray gun 4B located on the left side of the rotation axis.
[0026]
That is, the painted surface that could not be sufficiently painted in the left region is painted in the right region, and a uniform painted surface as a whole is formed. In this state, the same painting as that of the spray gun 4A is performed and the painting is completed. Of course, while the spray gun 4B is performing these coatings, the next set of objects to be coated are subjected to the same coating by the spray gun 4A and are sequentially coated.
[0027]
In this example, the set of 6 folders is set to be completed by painting 6 times, but the conveyor speed, the number of paintings, and the painting time are set to minimize the movement of the painting robot between each rotating folder. With this setting, the position of the painting robot is adjusted to return to the origin position when one set of painting is completed.
[0028]
In the present invention, by using a painting robot, the necessary part is sprayed on the object to be coated, and when moving to the next object to be painted or the next painting surface, the spraying is interrupted so that only necessary spraying is performed. Efficient painting can be performed.
[0029]
【The invention's effect】
As described above, according to the spindle coating method using the coating robot, the following effects can be obtained.
[0030]
That is, according to the present invention, when a rotating spindle is connected to a continuous feed conveyor and a workpiece to be revolved is coated, the rotation direction of the spindle is divided into normal and reverse rotation areas, and the coating is performed so that the two areas can operate synchronously. The spray gun mounted on the robot is sprayed on the object to be revolved by the spindle, the spraying position is adjusted to the direction of rotation, and it is operated in a properly arranged state to paint the object to be sequentially transferred. Since it can be constructed so that a large number of objects to be transferred can be applied simultaneously, it can be applied continuously without waste and productivity can be improved.
[0031]
In addition, in order to be able to confront symmetrically the object to be revolved by the spindle that rotates forward and backward, the position of the spray gun mounted in both areas is always properly installed by expansion and contraction of the gun stay, so in spindle painting Reduces the time required to switch the rotation, change the spraying position of the painting robot, and move the table, which was required for turntable type spindle painting, and minimizes painting downtime It can improve the nature. According to the embodiment of the present invention, the production amount is two to three times per hour as compared with the case of these turntable type.
[0032]
In addition, spindle coating on a continuous conveyor using a painting robot has become possible, so that the amount of paint used can be reduced to about 1/5 compared to spindle coating with a conventional fixed gun. Significant reduction of paint used. This is because automatic spindle coating is continuous spraying, but the method of the present invention is spraying only when necessary, and the proper spraying distance, spraying position and aiming angle are adjusted for the object to be coated. This is because it is possible to perform spraying while following, and the most efficient spraying position can be selected for the object to be revolved.
[0033]
Further, although not specified, in order to enhance the effect of the present invention, a more stable coating is possible by incorporating a flow rate control device in the path of each spray gun, and a color change device using a color change valve. The painting effect can be further improved by using various auxiliary devices that incorporate the control of the painting robot, such as the combination of installation and control, and automatic cleaning of the air cap of the spray gun.
[0034]
As described above, the present invention enables coating with high productivity, coating efficiency, and finish, and produces a large amount using a high-grade paint, thereby obtaining a coating method that is extremely effective for reducing production costs. In addition, paint emissions can be reduced, waste can be reduced, resources can be effectively used, and the impact on the environment can be greatly improved.
[Brief description of the drawings]
FIG. 1 is an overall schematic diagram showing an example of a robot coating apparatus used for carrying out the present invention. FIG. 2 is a layout diagram of a spray gun facing the spindle. FIG. 3 is a layout diagram of an object to be coated and a spray gun placed on the spindle and revolving. [Explanation of symbols]
1, painting robot 2, painting robot arm 3, gun stay 4A, 4B, spray gun 5, conveyor 6, rotating folder 7, spindle 8, workpiece folder W, workpiece

Claims (3)

In a state where a spindle is continuously attached at a constant interval to a conveyor that is continuously fed , and a rotating folder for placing a plurality of objects to be coated on the circumference of the spindle is rotated and revolved . In the method of painting the object to be transferred by the painting robot, the rotating folder is rotated forward / reversely in the first half and the second half of the painting area, and the rotating folder in the first half painting area and the second half painting area as the respective rotation areas. The spraying gun that is mounted on the painting robot and operates synchronously with each other, paints the object to be revolved by placing it in the rotating folder, and passes through the first and second half painting areas that are the respective rotation areas. A painting method in which spraying is performed so that each painting object is painted in a different rotational direction and the painting process is completed. The spray gun for performing the synchronization operation, is mounted on the arm of the coating robot provided on both sides of Gansute that moves while remaining parallel to the advancing direction of the conveyor, relative movable with respect to the center of the Gansute, the two side The spray guns installed in the front and rear coating areas, which are the respective rotation areas, are opposed to each other, and the relative distance between the two spray guns is extended to set the spray guns symmetrically with respect to the center of each rotation spindle. The coating method according to claim 1, wherein the spraying is performed while being moved. The coating method according to claim 1 or 2, wherein a plurality of rotating folders placed in each coating area are continuously applied in the same rotation direction in accordance with a possible coating time while passing through one of the coating areas. After that , the same painting method is applied in the reverse rotation direction, and a plurality of rotating folders are combined into one set and sprayed sequentially.

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