JP4562802B2 - Automatic painting equipment - Google Patents

Description

  The present invention relates to an automatic coating apparatus for uniformly coating an object to be coated such as a steel material used for ship building materials in one line direction.

Conventionally, what is described in the following patent document 1 is known as an automatic coating apparatus. This is a device that automatically recognizes the shape of the object to be transported and automatically turns the spray gun on and off according to the shape of the object to be transported. , A detection device in which a large number of sensors are arranged in a transverse direction across the conveying device, a coating device having a spray gun, and a control device that processes information from the detection device and generates a coating signal for turning the spray gun on and off. It is to be prepared.
JP-A-6-47323

  In such an automatic coating apparatus, the spray gun is reciprocated in a direction perpendicular to the conveying direction while moving the object to be coated in the conveying direction of the conveying apparatus, so that the amount of paint discharged from the spray gun is reduced. Is constant, the coating film thickness is set according to the conveying speed and the moving speed of the spray gun. At this time, if the transport device is stopped due to a failure during painting work or is operating abnormally even if the spray gun continues to move and the paint is discharged from the spray gun, unnecessary overcoating or inefficiency will occur. There is a problem that uniform coating is performed and the coating is poor.

  In order to cope with this, it is conceivable that the spray gun is turned off and the movement of the spray gun is stopped at the time when the conveying device is abnormally operated (including stopping). In this case, if the spray gun is turned on and the spray movement is restarted at the same time when the transport device is restarted, the coating film thickness is reduced during the acceleration period until the transport speed of the transport device and the spray gun move speed become constant. The film thickness is thicker than the set film thickness, and the coating may be interrupted due to the time difference from when the spray gun is turned on until the paint reaches the object to be painted. Occurs.

  For this reason, at present, if the conveying device stops during the painting operation, it is necessary to rework the coating in a later process, and the working efficiency is significantly reduced. In addition, it is possible to carry out the painting work by widening the flow interval of the object to be painted so that the transport device is not stopped during the painting work as much as possible. This enables automatic painting with high work efficiency. There was a problem that could not be done.

  This invention makes it an example of a subject to cope with such a problem. That is, in automatic painting, if the transport device malfunctions during painting work, the coating can be stopped immediately, and uniform coating can be continued by a normal restart of the transport device, which enables automatic painting with high work efficiency. It is an object of the present invention to be able to

In order to achieve such an object, the automatic coating value according to the present invention comprises at least the configuration according to the following independent claims.
Conveying means for conveying a coating object in one line direction at a set conveying speed; spraying means for spraying paint with a set pattern width along the line direction on the coating object on the conveying means; A spray moving means for reciprocating the spray means in a direction intersecting the line direction at a set moving speed; and a position upstream of the conveying direction from the installation position of the spray moving means with respect to the conveying means. A coating object detection means for detecting the position of the coating object conveyed by the conveyance means, a conveyance state detection means for detecting an operating state of the conveyance means, the coating object detection means, and the conveyance state detection means. On the basis of the detected output, and at least the control means for controlling the operation of the spray moving means, the control means, Immediately after detecting the abnormal operation of the feeding means, the spray means and the spray moving means are stopped, and when the spray means is performing a painting operation on the object to be coated before the abnormal operation is detected, the spray moving means is The spraying means is set to a set moving speed by causing the spraying means to stand by at a position returned by a distance required for acceleration to reach a set moving speed, and to operate the spray moving means when restarting after stopping the conveying means. The operation of the spray means is resumed after reaching the point.

  In the present invention having such characteristics, even in the case of automatic painting, even if the transport device malfunctions during the painting operation, it is possible to immediately stop the coating and continue uniform coating by normal restart of the transport device. Thus, automatic painting can be performed with high work efficiency.

It is explanatory drawing explaining the basic composition of the automatic coating apparatus which concerns on one Embodiment of this invention. It is the block diagram which showed the function structure of the control means in the automatic coating apparatus which concerns on one Embodiment of this invention. It is explanatory drawing for demonstrating the homogeneous coating using the automatic coating apparatus which concerns on embodiment of this invention. In the automatic coating apparatus which concerns on one Embodiment of this invention, it is explanatory drawing which shows the operation | movement control flow including the case where the abnormal operation of a conveyance means is detected. It is explanatory drawing explaining the other operation example of the control means in the automatic coating apparatus which concerns on embodiment of this invention. It is explanatory drawing which shows the operation control flow including the case where the abnormal operation of a conveyance means is detected in the operation example of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory view illustrating the basic configuration of an automatic coating apparatus according to an embodiment of the present invention. The automatic coating apparatus according to the embodiment of the present invention includes at least a transport unit 10, a spray unit 20, a spray moving unit 30, a coating object detection unit 40, a transport state detection unit 44, and a control unit 50.

  The conveyance means 10 can be constituted by, for example, a roller conveyor provided with a conveyance roller 11, a roller drive connecting chain 12, and a roller conveyor drive motor 13, and the conveyance object W is set in one line direction. It is transported at a speed x. The conveyance speed x can be set by the rotation speed of the conveyor drive motor 13. As the conveyor drive motor 13, an inverter motor can be used and driven via a frequency control device.

  The spray unit 20 includes, for example, a spray gun 21 equipped with a replaceable spray tip 21A, a hose 22 for supplying paint and air, a paint jetting unit 23, and the like. Then, the paint is sprayed with the set pattern width P along the line direction. The paint jetting means 23 includes ancillary equipment such as a paint tank, an airless pump, a solenoid valve, a high-pressure compressor, and a control device for controlling the jet of paint. The setting pattern width P can be set with respect to the selected paint viscosity characteristic, coating pressure, and the like, depending on the tip count of the spray gun 21 and the distance between the spray gun 21 and the surface to be coated in the coating object W. The paint is sprayed by turning high-pressure air on and off with an electromagnetic valve and spraying the paint sent by an airless pump.

  The spray moving means 30 includes, for example, a spray moving chain device 31, a spray moving motor 32, and the like, and spray means at a set moving speed y in a direction (for example, an orthogonal direction) intersecting the line direction of the conveying means 10. (Spray gun 21) is reciprocated. The movement speed y can be set by the rotation speed of the spray movement motor 32, and the position (movement start position and movement stop position) of the spray gun 21 can be controlled by the rotation position control of the spray movement motor 32. . As the spray movement motor 32, a servo motor can be adopted, and according to this, accurate and high-speed positioning control of the spray gun 21 can be performed.

  The coating object detection unit 40 is installed at an upstream position in the line direction away from the installation position of the spray moving unit 30 with respect to the transport unit 10, for example, at a predetermined interval in a direction intersecting the line direction (for example, an orthogonal direction). A plurality of sensors 41 are arranged on the surface to detect the position of the coating object W conveyed by the conveying means 10 and the two-dimensional shape as necessary. As the sensor 41, a proximity sensor is used when the steel material is the coating object W. As one embodiment, a sensor driving device 42 that reciprocates the support portion of the sensor 41 along the arrangement direction of the sensors 41 within the sensor interval, and a sensor position detection device 43 that detects the position of the sensor 41 during the reciprocating motion. Can be added. An air cylinder or the like can be used as the sensor driving device 42, and the sensor position detection device 43 can be formed by an encoder or the like incorporated in a wheel portion provided on a support portion of the sensor 41. According to this, the distance moved by the air cylinder can be calculated from the signal from the encoder, and the current position of the sensor 41 that has detected the coating object W can be determined.

  The coating object detection means 40 can output a position orthogonal to the line direction of the coating object W conveyed across the sensor 41 by the sensor 41 in accordance with the progress of the conveyance. Moreover, the position of the coating object W in the line direction after crossing the sensor 41 can be output by performing the operation detection of the conveying unit 10 by detecting the rotation of the conveying roller 11 together. Thereby, the coating object detection means 40 can detect the two-dimensional shape of the coating object W and the position on the line.

  The conveyance state detection unit 44 detects an operation state of the conveyance unit 10 and detects, for example, an encoder pulse by an encoder provided in the conveyance roller 11, the roller drive connection chain 12, or the roller conveyor drive motor 13. It is possible to employ a device that can transmit to the control means and detect the operation speed of the conveying means 10 or the conveying speed at the time of operation.

  The control means 50 controls at least the operation of the spray means 20 and the spray movement means 30 based on the detection outputs of the coating object detection means 40 and the conveyance state detection means 44. The operation of the conveying means 10 and the operation of the sensor driving means 42 can be controlled as necessary, and the accuracy of the detection output of the coating object detection means 40 is improved based on the detection output of the sensor position detection device 43. You can also.

  More specifically, the control means 50 receives detection signals from the coating object detection means 40 and the conveyance state detection means 44 including the sensor position detection means 43, and the paint ejection means 23, the spray movement motor 32, the conveyor An operation control signal for the drive motor 13 is output. Thereby, the conveyance speed x can be arbitrarily set and controlled according to the type of the painting object W, and the two-dimensional of the painting object W detected by the painting object detection means 40 including the sensor position detection means 43. Depending on the shape and position, the movement width of the spray moving means 21, the moving speed y, the movement start or stop timing, the spray start or stop timing of the spray means 20, and the like can be arbitrarily set and controlled.

  As an embodiment of the present invention, the control means 50 controls the spray start / stop timing in the spray means 20 based on the detection result of the position of the coating object W conveyed at the set conveyance speed x, spray movement. The main function is to control movement start / stop timing and position in the means 30 or to change the setting of the movement speed y.

  As one embodiment of the control means 50, the spray means 20 and the spray moving means 30 are stopped immediately after detecting the abnormal operation of the transport means 10, and the spray means 20 is applied to the coating object W before the detection of the abnormal operation. During the painting operation, the spray means 20 is put on standby at a position returned by the distance required for acceleration for the spray movement means 30 to reach the set movement speed, and the spray movement means 30 is activated when the conveying means 10 is normally restarted. Thus, after the spray moving means 30 reaches the set moving speed, the operation of the spray means 20 is resumed.

  Further, the control means 50 is for executing a homogeneous coating with no over-coating and no unrecognized coating determined by the set moving speed of the spray moving means 30, the set conveying speed of the conveying means 10 and the set pattern width of the spray means 20. The moving range of the spray moving means is set by the reciprocating distance.

  Alternatively, the control means 50 sets the movement width of the spray movement means 30 corresponding to the width of the painting object W detected by the painting object detection means 40, and executes homogeneous coating without excessive overcoating and without any remaining paint. Thus, the operation timing of the spray means 20 and the spray moving means 30 is controlled.

  FIG. 2 is a block diagram showing a functional configuration for the control means 50 to perform such control. The control unit 50 includes a transport operation recognition unit 51 that recognizes the operation state of the transport unit 10, an emergency stop unit 52 that stops the spray unit 20 and the spray moving unit 30 in an emergency when the transport unit 10 stops, and a coating object W. A painting operation confirmation means 53 for confirming whether or not painting is being performed, a movement start position setting means 54 for setting a movement start position of the spray movement means 30, and a movement of the spray movement means 30. There is an operation timing setting means 55 (movement timing setting means 55A, spray timing setting means 55B, conveyance restart timing setting means 55C) for setting the operation timing of the spray means 20 and the restart timing of the conveyance means 10.

  Further, the control unit 50 sets the conveyance speed x of the conveyance unit 10 and the movement speed y of the spray moving unit 30 and receives the change information of the set pattern width P of the spray unit 20 so that the uniform coating with the set film thickness is performed. The movement width is set according to the movement start position and movement stop position of the spray movement means 30, the painting condition setting means 56 for setting the conditions for performing the painting, the painting object recognition means 57 for recognizing the two-dimensional shape and position of the painting object W. It has a movement condition setting means 58.

  The transport operation recognition unit 51 has a function of recognizing normal transport operation, stop, or abnormal operation of the transport unit 10 based on a detection signal from the transport state detection unit 44. For example, when a state of operating at a constant speed at the transport speed set by the encoder pulse output from the transport state detection unit 44 is recognized, it is recognized as a normal transport operation, and no pulse output can be obtained. When the state is recognized as a stopped state and a state operating at a non-constant speed is recognized, it is recognized as an abnormal operation. The conveyance speed can be actually measured by the encoder pulse from the conveyance state detection means 44, and thereby the feedback control of the conveyance speed x becomes possible.

  The emergency stop means 52 is a function that immediately stops the operation of the spray means 20 and the spray moving means 30 when the conveyance operation recognition means 51 confirms that the conveyance means 10 is stopped. The spray means 20 is preferably provided with a shutter means for preventing dripping or the like. The shutter means is immediately closed by a command from the emergency stop means 52, whereby the occurrence of defective film formation can be prevented. Since the spray moving means 30 is operated by the spray moving motor 32, the spray moving motor 32 is immediately stopped by a command from the emergency stop means 52, and the stop position is set by the pal count of the spray moving motor 32 composed of a pulse motor, for example. recognize.

  For example, the in-painting confirmation means 53 detects that the painting object W transported by the transportation means 10 is present within the set pattern width P of the spray means 20 and confirms that the painting work is in progress. More specifically, based on the state in which the spray moving means 30 is operating when the coating object W is present within the set pattern width P of the spray means 20 (the spray moving means 30 is not in a standby state). Make sure that painting is in progress.

  The movement start position setting means 54 sets the movement start position of the spray movement means 30 according to the position and width of the coating object W, and also stops the operation of the spray movement means 30 in response to a command from the emergency stop means 52 Set the re-moving position of. In this case, the spray means 20 is put on standby at a position returned by a distance required for acceleration for the spray movement means 30 to reach the set movement speed.

  The operation timing setting means 55 is restarted when the movement timing setting means 55A for setting the movement start timing of the spray movement means 30, the spray timing setting means 55B for setting the ON timing of the spray means 20, and the conveying means 10 are stopped. Conveyance restart timing setting means 55C for setting the timing, and at the time of restart after stopping the spray means 20 and the spray moving means 30 due to the stop of the transport means 10, the transport means 10, the spray moving means 30 and the spray. The operation timing of the means 20 is set appropriately. For example, after the spray moving means 30 is stopped, the spray moving means 30 is first actuated from a state where the spray moving means 30 waits at a position where the spray moving means 30 has returned by a distance required for acceleration to reach the set moving speed. When the moving means 30 is accelerated and reaches a set moving speed, the conveying means 10 is activated and the spray means 20 is activated when passing through the stop point.

  When considering the acceleration of the conveying means 10, after returning the distance required for the acceleration for the conveying means 10 to reach the set conveying speed once the conveying means 10 is restarted, the spray moving means 30 is accelerated to move the setting. The conveying means 10 is actuated before reaching the speed and passing through the stop. In other words, the time when the spray moving means 30 reaches the set moving speed, the time when the conveying means 10 reaches the set conveying speed, and the time when the discharge paint of the spray means 20 reaches the coating object W are matched, and the time is stopped at the coincidence. Set the operation timing to pass through the location.

  FIG. 3 is an explanatory diagram for explaining homogeneous coating using the automatic coating apparatus according to the embodiment of the present invention. If uniform coating without uneven coating is to be performed with an automatic coating apparatus, there is a certain relationship among the transport speed x of the transport means 10, the travel speed y of the spray moving means 30, and the pattern width P of the spray means 20. I need it. FIG. 3 shows a coating pattern in which a coating object is transported by the transporting means 10 and sprayed while being moved twice and a half in the direction intersecting the line direction by the spraying means 20 having a pattern width P along the line direction. Is shown. The figure (a) shows the case where spray coating is performed twice during both reciprocations, and the figure (b) shows the case where spray coating is performed only once in one way during reciprocation. ing.

Here, as shown in FIGS. 4A and 4B, in order to perform uniform coating without excessive overcoating and without unpainted coating, the one-way travel distance of the spray moving means 30 is L. The relationship of the following formula (1) is required.

  If this relationship is satisfied, a uniform double coating can be performed within the double slanted range S1 shown in FIG. 5A, and a uniform single coating can be performed within the slanted range S2 in FIG. It can be performed. When the relationship of the formula (1) is broken, for example, when the synchronization of the conveyance speed x and the reciprocating movement speed y is broken without changing L and P, and y> L · x / P, As shown in FIG. 3C, excessive overcoating (coating unevenness) locations S3 (three times application location) and S4 (four times application location) for the second application are generated. The conveyance speed x is a parameter that affects the work speed of the painting operation, and the coating film thickness is determined by the conveyance speed x and the reciprocating movement speed y. Further, the spray pattern width P is set by the tip count of the spray gun and the distance between the gun and the surface to be coated in consideration of the paint viscosity characteristics, the coating pressure, and the like. As described above, when the conveyance speed x, the movement speed y, and the spray pattern width P are set according to the coating conditions, in order to perform the above-described uniform coating without uneven coating, the spray moving means 30 moves once and again. The distance L is naturally determined.

  FIG. 4 is an explanatory diagram showing an operation control flow including a case where an abnormal operation of the conveying means 10 is detected while performing the homogeneous coating shown in FIG. 3A or 3B during normal operation. When the operation control flow starts after the start of the apparatus or one painting operation is completed, the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S01). Thereafter, the apparatus enters a standby state in this state, and waits for the coating object W to enter a predetermined spray area (step S02: “NO”).

  When it is recognized that the painting object W is present in the spray area by the painting operation confirmation means 53 and the painting object recognition means 57 (step S02: “YES”), the conveyance means 10 is normally operated by the conveyance operation recognition means 51. (Step S03), and if it is operating normally (step S03: “YES”), the spray movement is performed under the painting conditions set by the painting condition setting means 56 and the movement condition setting means 58. The means 30 is operated to start spray movement (step S04), the spray means 20 is turned on and spraying is started (step S05). Thereafter, the reciprocating movement of the spray moving means 30 and the spraying operation of the spray means 20 are continued until the spray position reaches the line direction end of the object to be coated W. For example, a uniform two-time application as shown in FIG. Is executed. After the spray position reaches the line direction end of the coating object W by the coating object recognition means 57, when the coating object W is out of the spray area (step S02: “NO”), the spray is stopped ( In step S06, the spray movement is stopped (step S07), and the initial standby state is restored again (step S01).

  On the other hand, when it is recognized that the painting object W exists in the spray area by the painting work confirmation means 53 and the painting object recognition means 57 and it is confirmed that the painting work is being performed (step S02: “YES”). When the transport operation recognizing unit 51 detects an abnormal operation of the transport unit 10 (step S03: “NO”), the emergency stop unit 52 immediately turns off the spray unit 20 and stops the spray (step S03). S09), the spray moving means 30 is stopped (step S10), and the stopped state is continued until the conveying means 10 can be normally operated (step S11: “NO”).

  Thereafter, when the control means 50 recognizes that the transport means 10 can be normally operated (step S11: “YES”), the movement start position setting means 54 moves the spray moving means 30 in the reverse direction, and the spray means 20 Is returned to a re-sprayable position and waited (step S12). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position. When considering the acceleration of the conveying means, the conveying means 10 is reversely moved by a distance required to accelerate from the stop state to the set conveying speed, and the conveying means 10 is put on standby at that position.

  Then, by the operation timing setting means 55 (movement timing setting means 55A, spray timing setting means 55B, conveyance restart timing setting means 55C), the spray movement means 30 reaches the set movement speed at the spray stop position and the conveyance means 10 is set. The spray movement resumption timing and the conveyance means reactivation timing are set so as to reach the conveyance speed, the spray movement is resumed (step S13) and the conveyance means reactivation (step S14), and the spray means 20 is sprayed at the spray stop position. The spray operation is started at a timing when the operation can be resumed (step S15).

  According to such an operation control flow, when the conveying means 10 is operating normally, for example, a homogeneous two-time coating as shown in FIG. 3A can be realized, and the conveying means 10 operates abnormally during the painting operation. When the state is reached, the coating is immediately stopped, and when the normal operation of the transport means 10 is resumed, the uniform coating can be continuously performed without any breaks.

FIG. 5 is an explanatory diagram for explaining another example of the operation of the control means 50 in the automatic coating apparatus according to the embodiment of the present invention. Here, an example will be described in which the uniform two-time coating is executed in accordance with the width of the object to be coated W (the double hatched portion indicates the coating range of the uniform two-time coating). First, since a desired film thickness is determined depending on the type of the object to be coated W and the like, the coating conditions such as the conveyance speed x, the movement speed y, and the pattern width P are set and input to the coating condition setting means 56 based on the film thickness and the operation speed. Is done. In order to perform a homogeneous coating without leaving recoated without and paint surplus based on the coating conditions, L = (y / x) of the homogeneous coating pattern S _L based on virtual reciprocating distance L obtained as a · P virtually Set.

  When the coating object W crosses the coating object detection means 40 and a detection signal is input to the control means 50, the coating object recognition means 57 detects the two-dimensional shape and position of the coating object W on the transport means 10. Recognize As for the position of the coating object W on the transport unit 10, a position perpendicular to the line direction is detected by the sensor 41, and a position in the line direction is detected by detecting the operation of the transport unit 10. Specifically, the recognition of the two-dimensional shape data and the position of the painting object W is performed by the painting object W scheduled to pass through the painting range while the spray moving means 30 virtually moves one way with the virtual reciprocation distance L. Recognize the maximum width of. Thereby, the movement width of the spray moving means 30 can be set so as to include the maximum width.

The movement condition setting means 58 sets a position Y ₀ and a position Y ₁ that are the movement width of the spray movement means 30 according to the two-dimensional shape and position of the painting object W recognized by the painting object recognition means 57. . This setting can be performed for each one-way movement of the spray moving means 30 or for each reciprocation. As illustrated, the position Y ₀ and the position Y ₁ are set so as to include the recognized width Wy of the painting object W. The position Y ₀ and the position Y ₁ is the target value in the position control of the spray moving motor 32 (servomotor).

In particular, in order to realize uniform coating, the position Y ₀ and the position Y _{1 as} the movement width of the spray moving means 30 are set to be wider than the recognized width Wy of the coating object W, and the spray movement is performed. The acceleration distance movement until the means 30 is moved at a constant speed at the set speed y from the stop state is prevented from being applied to the width Wy of the coating object W. That is, as the movement width of the spray moving means 30, the spray moving means 40 moves from the stop state to the width Wy of the coating object W detected by the painting object detection means 40 until it moves at a constant speed of the set moving speed y. The minimum width is set by adding the acceleration (deceleration) distance.

The movement timing setting means 55A starts the movement of the spray movement means 30 when the coating object W approaches the spray position where the spray gun 21 is installed by a predetermined distance. The initial position of the spray gun 21 is arbitrary (for example, a reference position in consideration of maintenance), but the movement is started when the coating object W approaches a distance with a margin. In the example of FIG. 5, the movement of the spray moving means 30 is started when the coating object W enters the spray region 2 </ b> P while the spray gun 21 at an arbitrary position makes one round trip at the virtual set distance L. Then, first, where it is stopped by operating the spray moving means 30 to move the spray gun 21 to the position Y ₁ corresponding to the width end of the coated object W.

After the movement, it waits for a waiting time t1 that is assumed to reciprocate at the moving speed y by the virtual reciprocating distance L, and after the waiting time t1, the moving direction is reversed and the spray moving means 30 is moved at the moving speed y. Is operated to move the spray gun 21 to the position Y ₀ corresponding to the width end on the opposite side of the object to be coated W and stop there. The movement timing setting means 55A repeats this operation in accordance with the positions Y ₀ and Y ₁ set for one-way movement or for each reciprocation, and the standby time t1 that matches the virtual reciprocation distance L with the reciprocation at the movement speed y. , T2,..., T6 are set. In the example of FIG. 5, since the width Wy of the coating object W is shown as an example, the positions Y ₀ and Y ₁ are fixed. However, when the width Wy is different along the line direction, Y ₀ and Y ₁ are changed for each movement, and standby times t1, t2,..., T6 are also changed each time. In FIG. 5, the solid line arrow indicates the moving direction and the moving timing at which the spray moving means 30 actually moves the spray gun 21 at the set moving speed y, and the dotted line arrow indicates the length of the standby time.

  The spray timing setting means 55B confirms that the coating object W falls within the set pattern width P of the spray gun 21 within the movement time set by the movement timing setting means 55A. Set the stop timing. Specifically, after the spray moving means 30 starts moving for the first time, the coating object W further approaches the spray position having the set pattern width P by a predetermined distance, and the spray position is the width of the coating object W. Spraying is started when the end position is entered, and spraying is stopped when the opposite end position is removed.

When the movement condition setting means 58 sets the position Y ₀ and the position Y ₁ wider than the width Wy of the coating object W by the amount of acceleration / deceleration, the spray start timing of the spray means 20 is the movement of the spray movement means 30. The spray stop timing of the spray means 20 is set earlier by the amount of the deceleration distance movement from the stop of the movement of the spray moving means 30.

  An operation control flow in the case where an abnormality occurs in the operation of the transport means 10 when performing uniform two-time coating in the reciprocating movement range corresponding to the width Wy of the coating object W will be described below. FIG. 6 is an explanatory diagram for explaining this operation control flow.

  When the control flow starts after the start of the apparatus or one painting operation is finished, the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S21). Thereafter, the standby time count is stopped, and the standby time counter is reset (step S22). In this state, the apparatus enters a standby state and waits for the coating object W to enter a predetermined spray region (step S23: “NO”).

  When it is recognized that the coating object W is present in the spray area (step S23: “YES”), in the case of the initial movement, when the transport means 10 is operating normally (step S24: “YES”), Since the standby time count is stopped in step S22 (step S25: “NO”), the spray moving means 30 immediately starts moving (step S28).

  After the spray movement, it is confirmed that the coating object W falls within the set pattern width P (within the spray position) of the spray gun 21, and when the coating object W exists in the spray position (step S29: “ YES ”), the spray gun 21 is turned on to start spraying (step S30), and spraying is continued until the spray position reaches the end of the coating object W (step S32:“ NO ”→ step S23:“ YES ”→ step S24:“ YES ”→ step S25:“ NO ”→ step S28). If it cannot be confirmed that the coating object W is present at the spray position (step S29: “NO”), the spraying is stopped (step S31). After that, since step S32 becomes “YES”, the spray movement is stopped and the standby time count is started (S33).

  Thereafter, the standby time count is continued until the set standby time elapses, and the spray movement is stopped (step S23: “YES” → step S24: “YES” → step S25: “YES”). → Step S26: “NO” → Step S33). When the standby time has elapsed (step S26: “YES”), the spray movement direction is reversed (step S27), the standby time count is stopped, the standby time counter is reset (S22), and spray movement is started (step). S23: “YES” → step S24: “YES” → step S25: “NO” → step S28).

  After that, the movement is continued until the spray position reaches the end of the coating object W, and spraying is started and continued within a range where it is confirmed that the coating object W exists at the spray position. When it is no longer confirmed that there is a spray, the spray is stopped, the spray movement is stopped, the standby time count is started again, and this is continued until the standby time elapses. This control flow is repeated, and when it becomes impossible to confirm that the coating object W is present in the spray area (step S23: “NO”), the spray moving means 30 is stopped after moving to the spray reference position (step S21).

  In such a control operation, the reciprocating movement distance L for executing uniform coating without excessive overcoating and without unpainted is virtually arbitrarily changed, and the timings of the spray means 20 and the spray movement means 30 are accordingly changed. By performing the control, it is possible to arbitrarily perform the film thickness control for each coating object W by adjusting the moving speed y with respect to the set transport speed x without changing the pattern width P of the spray means 20. it can. At this time, the moving speed y of the spray moving means 30 is set to a high speed with a margin higher than the minimum speed at which the waiting time becomes zero, and the film thickness measured after the trial coating is excessive or insufficient with respect to the target film thickness. Make final adjustments to correct for minutes. For example, when the coating film thickness is insufficient by X%, the moving speed y of the spray moving means 30 is adjusted to an arbitrary target film thickness by decelerating by X%.

  In such an operation control flow, when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is being counted (step S24: “YES”) Step S40: “YES”), the standby time count is interrupted (Step S41), and the spray stop state is maintained until the conveying means 10 operates normally (Step S23: “YES” → Step S24: “NO” → Step S40). : “YES” → step S41).

  On the other hand, when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is not being counted (step S40: “NO”). Since the spray means 20 and the spray moving means 30 are in operation, the spray stop (step S42) and the spray movement stop (step S43) are immediately performed, and the spray moving means 30 is returned to a resprayable position (step S44). ), The standby state is maintained until the conveying means 10 operates normally (step S23: “YES” → step S24: “NO” → step S40: “NO” → steps S42, S43, S44). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position.

  When the conveying means 10 operates normally (step S24: “YES”), the flow returns to the normal operation flow, the spray movement is started from the standby position described above (step S28), and the set movement speed is reached. Spraying is resumed when the spray stop position is passed (step s30).

  According to such an operation control flow, when the conveying means 10 is operating normally, for example, a uniform two-time coating according to the width of the object to be coated W as shown in FIG. 5 can be realized. When the conveying means 10 is in an abnormal operation state, the coating is immediately stopped, and when the normal operation of the conveying means 10 is resumed, it is possible to continue the uniform coating without any breaks.

  Further, by setting the movement width of the spray moving means 30 according to the width of the object to be coated W and performing homogeneous coating with no overcoating and no unpainted, the reciprocating movement distance of the spray moving means 30 Thus, the life of the apparatus can be improved to the minimum, and the movement of the spray gun 21 can be suppressed as much as possible when the spraying is stopped. Therefore, clogging of the spray nozzle due to solidification of the paint can be eliminated. Furthermore, by setting the above-described waiting times t1, t2,..., T6 as appropriate, it is possible to realize uniform coating without any over-coating and without any remaining coating while arbitrarily changing the conveyance speed x and the movement speed y. Can do. Thereby, it is possible to perform homogeneous coating while arbitrarily controlling the coating film thickness.

  As described above, according to the embodiment of the present invention, in automatic painting, if the conveying device malfunctions during the painting operation, the coating is immediately stopped, and uniform coating can be continued by normal restart of the conveying device. Thus, automatic painting can be performed with high work efficiency.

Claims (3)

Conveying means for conveying the coating object in one line direction at a set conveying speed,
Spray means for spraying paint with a set pattern width along the line direction on the object to be coated on the transport means;
Spray moving means for reciprocating the spray means in a direction crossing the line direction at a set moving speed;
A coating object detection unit that detects the position of the coating object that is installed at the upstream position in the line direction away from the installation position of the spray moving unit and is conveyed by the conveyance unit with respect to the conveyance unit;
Conveying state detecting means for detecting an operating state of the conveying means;
Control means for controlling the operation of at least the spray means and the spray moving means based on the detection outputs of the coating object detection means and the conveyance state detection means,
The control means stops the spray means and the spray moving means immediately after detecting the abnormal operation of the transport means, and when the spray means is performing a painting operation on the object to be coated before the abnormal operation is detected. The spray moving means is put on standby at a position returned by a distance required for acceleration for the spray moving means to reach a set moving speed, and the spray moving means is operated when the conveying means is restarted. An automatic coating apparatus, wherein the operation of the spray means is resumed after reaching a set moving speed.   The control means is a reciprocating movement for performing homogeneous coating without excess overcoating and without unrecognized coating determined by a set moving speed of the spray moving means, a set conveying speed of the conveying means, and a set pattern width of the spraying means. 2. The automatic coating apparatus according to claim 1, wherein a moving width of the spray moving means is set by a distance. The painting object detection means arranges a plurality of sensors at predetermined intervals in a direction intersecting the line direction, detects a two-dimensional shape of the painting object,
The control means sets the movement width of the spray moving means for performing spraying in accordance with the width of the painting object detected by the painting object detection means, and also performs no overprinting and no unpainted paint. 2. The automatic coating apparatus according to claim 1, wherein the operation timing of the spraying means and the spray moving means is controlled so as to execute uniform coating without any.

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