JP5412803B2 - Coating apparatus and coating method - Google Patents

Description

  The present invention relates to a coating apparatus and a coating method for coating inner and outer surfaces of a tubular body such as a cast iron pipe.

  Conventionally, the coating of the inner surface of a tube body is performed by inserting a coating gun from one end of the tube or both ends of the tube and coating from the inner center of the tube toward the tube end or from one end of the tube to the other end. In the case of a tube having a small inner diameter, it is difficult to automatically insert a coating gun from the tube end of the tube and uniformly apply the coating liquid to a predetermined thickness without any spots, which is done manually.

  As an apparatus for automating coating, Patent Document 1 proposes an automatic control data creation apparatus for a painting robot. This automatic control data creation device classifies objects to be painted into painting sites, and based on this classification, determines the order of painting that does not cause degradation of painting quality, etc., based on the basic data in the painting work database. Feature data is extracted from a CAD system that designs a painting object, a robot operation procedure is created based on the feature data and the site-specific data in the painting work database, and the control data is converted. In Patent Document 1, it is assumed that control data for efficiently operating a painting robot can be automatically created by this control data automatic creation device without causing degradation of coating quality.

  In Patent Document 2, an automatic painting robot system and an automatic painting apparatus are proposed. In this automatic painting device, an image line sensor provided for various shapes of painting objects is connected to the input side of the shape recognition device, and the respective three-dimensional design data of the various shapes of painting objects is displayed on the output side. It is connected to the input side of the automatic painting robot control device inputted in advance, and its output side is connected to the automatic painting robot. In Patent Document 2, this automatic coating apparatus automatically performs coating suitable for each shape on various shapes of coating objects that are sequentially conveyed, eliminating the need for a teaching operation for the robot, It is said that the work can be automated easily.

  Further, in Patent Document 3, as described, an inner surface coating apparatus for a deformed pipe is proposed. This inner surface coating apparatus includes a turntable carriage that can position a deformed pipe and support it in a horizontal direction, and a coating gun that can move in five axial directions. In Patent Document 3, with this inner surface coating apparatus, the inner surface of a deformed pipe having a complicated shape can be powder-coated automatically and constantly under certain conditions without requiring manual labor. I can do it.

Japanese Patent No. 3194471 JP-A-8-57373 Japanese Patent No. 2798325

  By the way, in order to automate the coating of the inner and outer surfaces of a tubular body having a small inner diameter using the above-described conventional coating apparatus, there are the following problems.

  That is, when painting the inner surface of the tube, the inner diameter of the tube does not have enough room for the size of the coating gun that sprays the coating liquid, so the inner surface of the tube does not interfere with the inner surface of the tube. It is difficult to paint the coating uniformly without moving the painting gun with high precision.

  Further, the sensor for controlling the movement of the coating gun needs to be an optical sensor or the like that is not in contact with the pipe body, and it is necessary to prevent the coating liquid from adhering to the sensor.

  Furthermore, it is necessary to be able to flexibly cope with changes in tube types and variations in installation accuracy of the tubes.

  Therefore, the present invention has been made in view of the above-described circumstances, and can automate the coating of the inner and outer surfaces of a tube having a small inner diameter, thereby changing the type of tube and variations in installation accuracy of the tube. An object of the present invention is to provide a coating apparatus and a coating method that can flexibly cope with the above.

  In order to solve the above-described problems and achieve the above object, a coating apparatus according to the present invention has any one of the following configurations.

[Configuration 1]
An outer surface painting means, an inner surface painting means, a moving operation means for moving the outer surface painting means and the inner surface painting means, and a holding jig which is attached to the outer surface painting means and holds a pipe body to be painted is detected. a non-contact sensor, a storage means for storing the shape data of the tubular body, moving the operating means, and control means for controlling the non-contact sensor and the storage means, the control means, Te predetermined plurality of positions odor by a non-contact sensor the holding jig for holding the tube was examined knowledge, from the moving operation of the outer surface coating means to the detection position, to calculate the relative position between the outer surface coating means and the tube, the moving operation means based on the calculation result controlled, performs coating of the outer surface of the tubular body by an outer surface coating means, based on the shape data calculation binding Hate及 beauty tube calculates the position of the inner surface of the tubular body, the moving operation means based on the calculation result Control and inner coating It is characterized in carrying out the coating of the inner surface of the tubular body by means.

[Configuration 2]
In the coating apparatus having the configuration 1, the non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or a laser sensor, to detect the surface portion of the holding jig for holding the tube, and an outer surface coating means It is characterized by measuring the distance.

[Configuration 3 ]
In the coating apparatus having the configuration 1 or the configuration 2 , the non-contact sensor measures the relative position between the outer surface coating means and the pipe body before the outer surface coating means starts to coat the outer surface of the pipe body, While the outer surface of the body is being painted, it is protected by protective means.

  Moreover, the coating method which concerns on this invention has any one of the following structures.

[Configuration 4 ]
The outer surface painting means and the inner surface painting means are used to control the movement of the outer surface painting means and the inner surface painting means. a coating method of coating, a non-contact sensor mounted on the outer surface coating means detects a holding jig for holding the tube Te predetermined plurality of positions odor, from moving operation of the outer surface coating means to the detection position The relative position between the outer surface coating means and the pipe is calculated, and the outer surface coating means is controlled to move based on the calculation result, and the outer surface of the pipe is painted by the outer surface coating means. The position of the inner surface of the tubular body is calculated based on the shape data, the inner surface coating means is controlled to move based on the calculation result, and the inner surface of the tubular body is coated by the inner surface coating means. A.

[Configuration 5 ]
In the coating method having the structure 4, as a non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or by using a laser sensor, it is characterized in that to detect the holding jig for holding the tube .

[Configuration 6 ]
In the coating method having Configuration 4 or Configuration 5, before starting the coating of the outer surface of the pipe body by the outer surface coating means, the relative position between the outer surface coating means and the pipe body is measured, and the coating of the outer surface of the pipe body is performed. During implementation, the non-contact sensor is covered with a cover.

In the coating apparatus according to the present invention having the configuration 1, the control means, the holding jig by non-contact sensor Te predetermined plurality of positions odor retaining the tube was examined knowledge, the moving operation of the outer surface coating means to the detection position from the amount, calculates the relative position of the outer surface coating means and the tube to control the movement operation means based on the calculation result, performs coating of the outer surface of the tubular body by an outer surface coating means, calculated binding Hate及 beauty tube The position of the inner surface of the tube is calculated based on the shape data of the body, the moving operation means is controlled based on the calculation result, and the inner surface of the tube is coated by the inner surface coating means. It is possible to paint the inner surface of the tube body without interfering with each other.

Further, in the coating apparatus, since the holding jig by non-contact sensor to retain the tubular member at a predetermined plurality of locations to search known, also for variations in the installation position accuracy of the type of change and the tube of the tube It can respond flexibly. Moreover, since the installation precision of a pipe body and an inner surface coating means can be eased, cost reduction is achieved.

In the coating apparatus according to the present invention having the configuration 2, the non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or a laser sensor, to detect the surface portion of the holding jig for holding the tube Since the distance to the outer surface coating means is measured, according to the movement of the outer surface coating means, the distance from the outer surface of the tube or the surface of the holding jig holding the tube is measured, and the outer surface is coated. The relative position between the means and the tube can be quickly measured. In this case, utilizing the fact that the position of the holding jig varies depending on the diameter and type of the tube, and identifying the type of the tube by detecting characteristic parts such as the holding jig and the flange of the tube Is possible. In this case, since the presence / absence of the holding jig is only detected, high-speed detection and calculation can be performed when accurate position measurement and fine position correction are not required.

In the coating apparatus according to the present invention having the configuration 3 , the non-contact sensor measures the relative position between the outer surface coating means and the tube body before the outer surface coating means starts painting the outer surface of the tube body. Measurement can be performed quickly. In this case, the tube type and positioning accuracy can be checked before painting, so that corrections to variations in positioning accuracy can be made and coating failure and contact between the coating means and the tube can be prevented. And can be painted. Further, since the non-contact sensor is protected by the protection means while the outer surface of the tubular body is being coated, it is possible to prevent the coating liquid from adhering to the non-contact sensor.

In the coating method according to the present invention having the structure 4, a non-contact sensor mounted on the outer surface coating means detects a holding jig for holding the tube Te predetermined plurality of positions odor, the outer surface coating means to the detection position The relative position between the outer surface coating means and the pipe body is calculated from the amount of movement of the outer surface, and the movement of the outer surface coating means is controlled based on the calculation result. The position of the inner surface of the tubular body is calculated based on the result and the shape data of the tubular body, and the inner surface coating means is controlled to move based on the calculated result, and the inner surface of the tubular body is coated by the inner surface coating means. It is possible to paint the inner surface of the tubular body without causing the coating means and the tubular body to interfere with each other.

Further, in this painting method, the relative position of the tubular body is calculated by detecting a holding jig that holds the tubular body at a plurality of predetermined positions by a non-contact sensor. It is possible to flexibly cope with variations in installation position accuracy. Moreover, since the installation precision of a pipe body and an inner surface coating means can be eased, cost reduction is achieved.

In the coating method according to the present invention having the structure 5, as the non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or using a laser sensor, since detecting the holding jig for holding the tube, the outer surface According to the movement of the coating means, the surface portion of the outer surface coating means and the holding jig can be detected, and the relative position between the outer surface coating means and the tubular body can be quickly measured.

In the coating method according to the present invention having the configuration 6 , the relative position between the outer surface coating means and the pipe body is measured before the outer surface coating means starts painting the outer surface of the pipe body, so that the measurement can be performed quickly. The time required for positioning the outer surface coating means and the inner surface coating means can be shortened. Further, since the non-contact sensor is covered with the cover while the outer surface of the tubular body is being coated, it is possible to prevent the coating liquid from adhering to the non-contact sensor.

  That is, the present invention is capable of automating the painting of the inner and outer surfaces of a tubular body having a small inner diameter, and can flexibly cope with changes in the type of the tubular body and variations in the installation accuracy of the tubular body. A method can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Configuration of painting apparatus according to the present invention]
FIG. 1 is a side view showing a configuration of a coating apparatus according to the present invention.

  As shown in FIG. 1, the coating apparatus according to the present invention is an apparatus for coating the inner and outer surfaces of a pipe body 101 that is a coating object, and includes an outer surface coating machine 1 serving as an outer surface coating means, and an inner surface coating means. The inner surface coating machine 2 is configured. The outer surface coating machine 1 is provided with a coating gun 3 for injecting a coating liquid, and is moved by a moving operation means. The inner surface coating machine 2 includes a coating gun 4 that sprays a coating liquid, and is moved by a moving operation means.

  FIG. 2 is a block diagram showing the configuration of the coating apparatus according to the present invention.

  As shown in FIG. 2, the moving operation means 5 for moving the outer surface coating machine 1 and the inner surface coating machine 2 is controlled by the control means 6. Storage means 7 for storing shape data (CAD data) of the tube body 101 is connected to the control means 6. The storage means 7 is controlled by the control means 6 and outputs the shape data of the tubular body 101 stored in advance to the control means 6.

  The painting apparatus includes a non-contact sensor 8a for detecting the position of the tube body 101. In this embodiment, the non-contact sensor 8a is an ultrasonic sensor or a laser sensor, and is attached to the outer surface coating machine 1, and holds the outer surface portion of the tube body 101 or the tube body 101. The distance to the holding jig 102 to be measured is measured.

  In this coating apparatus, the tube body 101 is held at a predetermined position on the mounting base 103 by a holding jig 102 as shown in FIG. The holding jig 102 is created in accordance with the size and shape of the tube body 101 for each model of the tube body 101. The mounting table 103 is installed on the turntable 104. The turntable 104 can be rotated horizontally around a vertical rotation axis. Further, the mounting table 103 is provided with a rotation driving mechanism for supporting the holding jig 102 and rotating the holding jig 102 around the central axis of the tube body 101 together with the tube body 101. The rotation of the turntable 104 and the rotation drive mechanism is controlled by the control means 6.

  In this coating apparatus, the control means 6 measures the distance between the outer surface coating machine 1 and the pipe body 101 at a predetermined plurality of locations by the non-contact sensor 8a. Further, the control means 6 calculates the position of the inner surface of the tube body 101 based on the measured distance between the outer surface coating machine 1 and the tube body 101 and the shape data of the tube body 101.

  Then, the control means 6 controls the moving operation means 5 based on the measured distance between the outer surface coating machine 1 and the tube body 101, and the outer surface coating machine 1 coats the outer surface of the tube body 101. Further, the control means 6 controls the moving operation means 5 based on the calculated position of the inner surface of the tube body 101, and paints the inner surface of the tube body 101 by the inner surface coating machine 2.

  It should be noted that either the coating of the outer surface of the tube body 101 and the coating of the inner surface of the tube body 101 may be performed first or simultaneously. However, the measurement by the non-contact sensor 8a and the calculation based on the measurement result are performed before the coating by the outer surface coating machine 1 or the inner surface coating machine 2 is started. The non-contact sensor 8a is covered and protected by a cover serving as a protection means while the outer surface coating machine 1 is painting the outer surface of the tube body 101. This cover prevents the coating liquid from adhering to the non-contact sensor 8a.

  In the present invention, the protection means is not limited to the cover, and may be any means that can prevent the coating liquid from adhering to the non-contact sensor 8a. For example, the protection means may be an air curtain or the non-contact sensor 8a. A configuration is conceivable in which a cover with a hole is provided only on the measurement surface, the air pressure in the cover is increased, and the measurement surface is protected by ejecting air from the measurement surface.

[Coating method according to the present invention (operation of coating apparatus)]
The coating method according to the present invention is executed by the above-described coating apparatus according to the present invention, and uses the outer surface coating machine 1 and the inner surface coating machine 2 to move the outer surface coating machine 1 and the inner surface coating machine 2. This is a coating method in which the outer surface of the tubular body 101 that is the object to be coated is painted by the outer surface coating machine 1 and the inner surface of the tubular body 101 is painted by the inner surface coating machine 2.

  In this coating method, the distance between the outer surface coating machine 1 and the pipe body 101 is measured at a plurality of predetermined positions by the non-contact sensor 8a, and the movement of the outer surface coating machine 1 is controlled based on the measurement result. The outer surface of the tube body 101 is painted by the machine 1, the position of the inner surface of the tube body 101 is calculated based on the measurement result and the shape data of the tube body 101, and the inner surface coating machine 2 is moved based on the calculation result. The inner surface of the pipe body is coated by the inner surface coating machine 2 under control.

  FIG. 3 is a flowchart showing the procedure of the coating method according to the present invention.

  In this coating method, as shown in FIG. 3, in step st <b> 1, the outer surface coating machine 1 is moved to the measurement point of the tube body 101 at high speed without spraying the coating liquid. Next, in step st2, the noncontact sensor 8 is used to detect the position (distance) of the tube body 101 at an arbitrary number of locations.

  In step st3, the outer surface coating machine 1 is moved to the control origin position, and the non-contact sensor 8 is accommodated. That is, the non-contact sensor 8 is covered with the cover while the outer surface coating machine 1 is painting the outer surface of the tube body 101.

  In step st4, from the information measured by the non-contact sensor 8, the model identification and installation error of the tube body 101 are calculated.

  In step st5, the outer surface coating machine 1 is moved to the vicinity of the tube body 101 to coat the outer surface of the tube body 101. This coating is performed at an appropriate speed and without unevenness.

  In step st6, the posture and position of the coating gun 4 of the inner surface coating machine 2 are corrected, and in step st7, the inner surface coating machine 2 is moved to the vicinity of the tube body 101 to coat the inner surface of the tube body 101. This coating is performed at an appropriate speed and without unevenness.

[Other configuration of coating apparatus according to the present invention]
FIG. 4 is a side view showing another example of the configuration of the coating apparatus according to the present invention.

  The coating apparatus according to the present invention includes a non-contact sensor 8b for detecting the position of the tube body 101 as shown in FIG.

  In this embodiment, the non-contact sensor 8b is a photoelectric sensor, an ultrasonic sensor, a fiber sensor, or a laser sensor, which is attached to the outer surface coating machine 1 and holds the tubular body 101. The surface portion of 102 is detected.

  The control means 6 can detect the surface portion of the holding jig 102 based on output signals from these photoelectric sensors, ultrasonic sensors, fiber sensors, or laser sensors.

  In the coating method using this coating apparatus, when detecting the position (distance) of the tubular body 101 using the non-contact sensor 8b in step st2 of FIG. 3, a photoelectric sensor, an ultrasonic sensor, a fiber sensor, or The presence or absence of the holding jig 102 is detected using a laser sensor, and the position coordinates of the outer surface coating machine 1 at the detected position are recorded. This detection is performed at a location corresponding to the number of holding jigs 102, for example, at two locations.

  In this coating device, the fact that the position of the holding jig differs depending on the diameter and type of the tube body is used to detect characteristic points such as the holding jig and the flange portion of the tube body. Identify body types. In addition, since this coating apparatus only detects the presence / absence of a holding jig, high-speed detection and calculation are possible when accurate position measurement and fine position correction are not required. Other procedures are the same as those in the above-described embodiment.

It is a side view which shows the structure of the coating device which concerns on this invention. It is a block diagram which shows the structure of the coating device which concerns on this invention. It is a flowchart which shows the procedure of the coating method which concerns on this invention. It is a side view which shows the other example of a structure of the coating device which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 External surface coating machine 2 Internal surface coating machine 3, 4 Coating gun 5 Moving operation means 6 Control means 7 Storage means 8 Non-contact sensor 8a Non-contact sensor (ultrasonic sensor, laser sensor)
8b Non-contact sensor (photoelectric sensor, ultrasonic sensor, fiber sensor, laser sensor)
101 Tubing body 102 Holding jig 103 Mounting base 104 Turntable

Claims (6)

Exterior coating means,
Inner surface painting means,
Moving operation means for moving the outer surface coating means and the inner surface coating means;
A non-contact sensor that is attached to the outer surface coating means and detects a holding jig that holds a tubular body that is a coating object;
Storage means for storing shape data of the tubular body;
Control means for controlling the movement operation means, the non-contact sensor and the storage means,
Said control means test known a holding jig for holding the pre-Symbol tube body by the non-contact sensor Te predetermined plurality of positions odor, from moving operation of the outer surface coating means to the detection position, said outer surface coating means calculates the relative position of the tube, and controls the moving operation means based on the calculation result, performs coating of the outer surface of the pipe body by the outer surface coating means, said calculating formation Hate及 beauty the pipe body The position of the inner surface of the tubular body is calculated based on the shape data, the moving operation means is controlled based on the calculation result, and the inner surface of the tubular body is painted by the inner surface painting means. Painting equipment. It said non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or a laser sensor, to detect the surface portion of the holding jig for holding the pre-Symbol tube body, measures the distance between said outer surface coating means The coating apparatus according to claim 1. The non-contact sensor measures the relative position between the outer surface coating means and the pipe body before the outer surface painting means starts painting the outer surface of the pipe body, and the outer surface of the pipe body is painted. It is while being claim 1, characterized in that it is protected by the protective means, or painting apparatus according to claim 2, wherein. The outer surface coating means and the inner surface coating means are used to control the movement of the outer surface coating means and the inner surface coating means, and the outer surface painting means coats the outer surface of the tubular body that is the object to be coated. A painting method for painting
A non-contact sensor mounted on said outer surface coating means detects a holding jig for holding the pre-Symbol tube body Te predetermined plurality of positions odor, from moving operation of the outer surface coating means to the detection position, said outer surface coating calculates the relative position of the previous SL tube means, said outer surface coating means to move the control based on the calculation result, performs coating of the outer surface of the pipe body by the outer surface coating means, said calculation result and said Calculating the position of the inner surface of the tubular body based on the shape data of the tubular body, controlling the movement of the inner surface coating means based on the calculation result, and coating the inner surface of the tubular body by the inner surface coating means. Characteristic painting method. Wherein as the non-contact sensor, a photoelectric sensor, ultrasonic sensor, a fiber sensor, or by using a laser sensor, a method of painting according to claim 4, wherein the detecting a holding jig for holding the pre-Symbol tube body. Before starting the coating of the outer surface of the tubular body by the outer surface coating means, the relative position between the outer surface coating means and the tubular body is measured, and while the outer surface of the tubular body is being painted, claim 4, characterized in that covering the non-contact sensor by a cover or a coating method of claim 5, wherein.

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