JP5498760B2 - Painting system - Google Patents

Description

  The present invention relates to a coating system.

  For example, in a four-wheeled vehicle, various doors such as a passenger compartment door, a bonnet, and a trunk are swingably connected to a vehicle body main body in which a passenger compartment is formed.

  In the painting process, as described in Patent Document 1, for example, a predetermined paint is sprayed from the painting robot onto the vehicle body that is transported together with various doors. In addition, since it is necessary to paint also the site | part in which the door in a vehicle body seats, various doors are made into an open state prior to spraying of a coating material (for example, refer FIG. 1 of patent document 2). In other words, the door is swung in a direction away from the vehicle body, and in this state, the door and the vehicle body are painted.

JP-A-1-266870 JP-A-61-204060

  Both the painting robot and the opener robot are arranged to be guided by the same guide rail. For this reason, if the painting robot and the opener robot are operated simultaneously, they tend to interfere with each other. In this case, for example, it becomes difficult for the painting robot to take an appropriate posture for painting.

  Therefore, the painting robot is put on standby and the painting robot is operated after the opener robot has finished its operation. In this case, it is easy to put the painting robot in an appropriate posture for painting. There is a disadvantage that the working efficiency of the painting robot is lowered. In addition, the problem that the opener robot is soiled by the sprayed paint and the problem that the paint adheres to the door that is swung by the opener robot have become apparent.

  In addition, if the opener robot and the painting robot are arranged on the same guide rail, there is a problem that the painting line becomes excessively long.

  The present invention has been made to solve the above-described problems, and improves the work efficiency of both the painting robot and the opener robot. Further, the opener robot is difficult to get dirty, and both types of doors having different swing directions are used. An object is to provide a coating system that can be opened.

In order to achieve the above object, the present invention provides a painting robot having a painting means for applying an object to be coated which is configured such that a bonnet and a trunk are swingably connected to a vehicle body, and the bonnet. or the trunk a coating system comprising a Luo over Puna robot is swung in a direction away from the vehicle body,
A first displacement mechanism that displaces the coating robot by following the object to be displaced;
A second displacement mechanism for displacing the opener robot having an engagement member engaged with the bonnet or the trunk by following the object to be displaced;
With
The opener robot includes an arm portion provided on an attachment base portion, and the arm portion includes at least three arm members that can be rotated from the base end side as a first arm member, a second arm member, and Having a third arm member ;
The three arm members may have at least three rotational axes extending parallel to the mounting surface of the mounting base of the opener robot,
When the engaging member is engaged with the trunk, the trunk has a shape substantially parallel to the second arm member, and the third arm member is separated from the trunk as compared to the second arm member. It is characterized by being arranged .

  For example, in the prior art described in Patent Document 2, as understood from FIG. 1, there is only one axis for folding the arm in the opener robot (in a standby state). For this reason, the arm part of an opener robot cannot fully be separated from the painting location at the time of a painting operation. For this reason, there exists a possibility that a coating material may adhere to an arm part and may become dirty.

  Also, when moving the opener robot, it is necessary to fold (shrink) the arm part to avoid getting dirty, so that there is a sufficient distance from the object to be coated. In order to fold the arm part without colliding it, the paint booth must be enlarged to enlarge the internal space.

  On the other hand, according to the present invention, the configuration as described above allows the predetermined robot to be swung by operating the opener robot while keeping the posture appropriate for painting to the painting robot. become. This is because it is possible to avoid the opener robot and the painting robot from interfering with each other by appropriately rotating the arm member of the opener robot.

  Therefore, it is not necessary to put the painting robot in a standby state while the opener robot is operating. For this reason, since the working efficiency of the coating robot is improved, it is possible to efficiently coat the object to be coated.

  In addition, it is preferable that an arm member is helically connected as it goes to a front-end | tip from a base end part side. In this case, the space occupied by the arm portion can be reduced in both the standby state and the operating state. For this reason, the installation space for the opener robot can be reduced, and the distance from the base end to the object to be coated can be reduced when the opener robot is in an operating state. As a result, the displacement distance of the opener robot is shortened, so that the laying dimension of the guide member for guiding the opener robot when the opener robot is displaced can be shortened.

  In addition, it is not necessary to enlarge the painting booth to expand the internal space.

  However, there is no particular problem even if the arm member is sequentially connected to the end face on the outer side as it goes from the base end side to the tip end. That is, the present invention includes this case.

  In this case, since the arm member is sequentially separated from the object to be coated, there is an advantage that the opener robot can be more easily avoided from being contaminated by the paint.

  Furthermore, when the three arm members are defined as a first arm member, a second arm member, and a third arm member from the base end side, a rotation shaft of the first arm member and the mounting base portion, and a second arm member And the rotation axis of the third arm member are preferably arranged on substantially the same straight line or substantially the same plane.

  With this configuration, even when the painting robot is working, the opener robot can move beyond the painting robot. That is, it is not necessary to put the painting robot in a standby state when moving the opener robot. In addition, the opener robot can be prevented from being stained with paint.

In the above-described configuration, the first displacement mechanism that further displaces the coating robot along the first guide member following the object to be displaced ,
The pre-Symbol opener robot, and a second displacement mechanism that the displacing along the second guide members to follow the object to be coated to be displaced,
With
The engaging member is engaged with the bonnet or the trunk at another timing,
It is preferable that the opener robot and the painting robot are arranged with a height difference by arranging the first guide member and the second guide member with a height difference.

  In this case, since the opener robot and the painting robot are installed with a height difference from each other, the interference with each other can be more easily avoided. For this reason, even when the opener robot is operating, it becomes easy for the painting robot to take a posture suitable for painting. This improves the work efficiency of the painting robot, which also contributes to the improvement of painting efficiency.

  In addition, as a main body, the vehicle body main body of a four-wheeled vehicle is illustrated, In this case, a bonnet and a trunk are mentioned as a member to be rock | fluctuated.

  According to the present invention, the displacement mechanism for displacing the opener robot and the painting robot is individually provided, and the opener robot is configured to include at least three arm members that can rotate in the arm portion. Interference is avoided while each other is operating. For this reason, even while the opener robot is operating, it becomes easy for the painting robot to take a posture suitable for painting. It can be carried out.

Outline perspective view of main part of painting station Main part schematic perspective view of opener robot Main part schematic side view showing a state where the second claw portion of the hook of the opener robot is engaged with the bonnet and swings to the open state The principal part schematic side view which shows the state which the 1st nail | claw part of the hook approached the trunk Main part schematic perspective view showing a state where the arm part of the opener robot is extended and deployed. Schematic side view of the main part when the bonnet and trunk of another vehicle type are swung open with a hook Main part schematic side view when the bonnet and trunk connected to the vehicle body are swung to the open state by the hook shown in FIGS. 3 and 4 The principal part schematic perspective view of the robot with which the 1st-3rd arm member was connected to the outward side one by one The principal part schematic perspective view which shows the state which the arm part which comprises the robot of FIG. 7 expand | extended and expand | deployed FIG. 6 and FIG. 7 are schematic perspective views of the main part when the painting system is configured by the 5-axis robot shown in FIG. Main part schematic perspective view of another opener robot

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a coating system according to the present invention will be described and described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic partial perspective view of a painting station 11 in which a painting system 10 according to the present embodiment is installed. In this case, the painting system 10 is for painting the vehicle body 12 (object to be painted) of a four-wheeled vehicle, and includes four painting robots 14a to 14d and one opener robot 16. Have.

  A bonnet 18, a trunk 20, and four passenger compartment doors 22 are connected to the vehicle body 12 in a swingable manner in advance. Note that these doors 18, 20, and 22 are in a closed state until the opener robot 16 opens the door.

  The vehicle body 12 is conveyed at a relatively low speed in the direction of arrow A1 in FIG. In other words, the vehicle body 12 is gently displaced along the direction of the arrow A1.

  The coating system 10 extends along the directions of the arrows A1 and A2, and is partitioned by two walls 24 and 26 facing each other, and is disposed in the coating station 11 formed thereby. A first guide rail 28 is laid below each of the walls 24 and 26, and a second guide rail 30 is laid above the wall 26. The first guide rail 28 and the second guide rail 30 are provided on the walls 24 and 26 to the wall 26 so that their extending directions are parallel to the extending direction of the conveyor.

  As described above, the first guide rail 28 is laid below the walls 24 and 26, while the second guide rail 30 is laid above the wall 26. As a result, the space between the painting robots 14a to 14d and the opener robot 16 is increased. There is a difference in height. That is, in this case, the opener robot 16 is provided at a higher position than the painting robots 14a to 14d.

  A traveling carriage 32 provided with each of the painting robots 14a to 14d is movably engaged with the first guide rail 28, while a traveling carriage 32 provided with the opener robot 16 is engaged with the second guide rail 30. A carriage 34 is engaged so as to be freely displaceable. These traveling carriages 32 and 34 are electrically connected to a control circuit (not shown). Under the control action of the control circuit, the traveling carriages 32 and 34 are guided by the first guide rail 28 or the second guide rail 30 in the direction of the arrow A1 or the arrow. It is displaced in the A2 direction. That is, the traveling carriage 32 and the control circuit constitute a first displacement mechanism for displacing the painting robots 14a to 14d, and the traveling carriage 34 and the control circuit constitute a second displacement mechanism for displacing the opener robot 16. To do.

  As the painting robots 14a to 14d, for example, a known articulated robot such as a six-axis robot is employed. A coating gun 38 is disposed at each of the tips of the arm portions 36 of the painting robots 14 a to 14 d, and mist-like paint is sprayed onto the vehicle body body 12 through the coating gun 38.

  Each of the painting robots 14 a to 14 d is provided with an opening / closing jig (not shown) for swinging any of the four passenger compartment doors 22 with respect to the vehicle body 12. That is, the passenger compartment door 22 is swung by the painting robots 14a to 14d, and is thereby opened and closed.

  On the other hand, as shown in FIG. 2, the arm portion 40 of the opener robot 16 has a first arm member 42, a second arm member 43, and a third arm member 44 from the attachment base 41 side close to the traveling carriage 34 to the distal end side. In this order. Of course, these arm members 42, 43, and 44 can be individually rotated, and can be stopped in a state where they are tilted at a predetermined angle.

  Specifically, between the attachment base 41 and the first arm member 42, between the first arm member 42 and the second arm member 43, between the second arm member 43 and the third arm member 44, and the third arm member 44. And the nut 46 (described later) are provided with a first joint portion 100, a second joint portion 102, a third joint portion 104, and a fourth joint portion 106, respectively, and between the nut 46 and the hook 48, respectively. Is provided with a fifth joint 108. The first joint member 100, the second joint member 102, the third joint member 104, the fourth joint member 106, and the fifth joint member 108, the first arm member 42, the second arm member 43, the third arm member 44, The nut 46 and the hook 48 are rotatable about axes D1 to D4 extending in the horizontal direction.

  Here, the first arm member 42, the second arm member 43, and the third arm member 44 are spirally formed by the arm members 42, 43, 44, and one ends thereof are connected to each other via a rotation shaft. Has been. For this reason, when the opener robot 16 is in the standby posture, the third arm member 44 is accommodated between the first arm member 42 and the second arm member 43. At this time, the first joint portion 100 and the third joint portion 104 are close to each other so that the axis D1 and the axis D3 are on substantially the same plane. In addition, when the opener robot 16 is disposed above the painting robots 14a to 14d, the axes D1, D3 are provided below the axes D2, D4, so that the arm unit 40, particularly the second arm member. It is avoided that 43 interferes with painting robot 14a-14d.

  A nut 46 extending in the same direction as the extending direction of the third arm member 44 is connected to the third arm member 44. As shown in FIG. 1, a hook 48 as a hooking member is attached to the nut 46 so as to be oriented in a direction substantially orthogonal to the extending direction of the nut 46. That is, the columnar portion 52 (see FIG. 3) constituting the hook 48 is connected to the fifth joint portion 108 via the nut 46, and thus rotates following the rotation of the fifth joint portion 108. .

  As shown in FIG. 3, the hook 48 has a substantially inverted T shape. That is, in this case, the hook 48 has a first claw portion 54 and a second claw portion 56 that branch from the tip of the columnar portion 52 and extend in opposite directions. The first claw portion 54 and the second claw portion 56 extend in a direction substantially orthogonal to the extending direction of the columnar portion 52. In addition, illustration of the hook 48 is abbreviate | omitted in FIG.

  A first hook part 58 and a second hook part 60 that protrude toward the columnar part 52 are formed at the tips of the first claw part 54 and the second claw part 56, respectively. As will be described later, the bonnet 18 is swung in the open state by the second hooking portion 60 of the second claw portion 56 being engaged (see FIG. 3), while the trunk 20 is the first hooking portion of the first claw portion 54. 58 engages and swings to the open state (see FIG. 4). That is, the hook 48 swings along the arrow direction in FIGS. 3 and 4 as the fifth joint portion 108 rotates at a predetermined angle about the axis D5. The above operation will be described in detail later.

  The coating system 10 according to the present embodiment is basically configured as described above. Next, the operation and effect will be described.

  When the vehicle body 12 to which the various doors 18, 20, 22 are connected is conveyed via the conveyor, the opener robot 16 first operates to open the hood 18 that is in the closed state.

  Specifically, the opener robot 16 operates from the standby state shown in FIG. 2, and as a result, as shown in FIG. 5, the first arm member 42, the second arm member 43, and the third arm member 44 are rotated a predetermined number of times. As the moving operation is performed, the arm portion 40 is expanded. At this time, the arm portion 40 is disposed so that the second arm member 43 is further away from the hood 18 than the first arm member 42 and the third arm member 44. At this time, the hook 48 is positioned such that the second claw portion 56 is separated from the bonnet 18 as indicated by a virtual line in FIG.

  In this state, the fifth joint portion 108 is rotated, and the hook 48 swings toward the bonnet 18 at a predetermined angle following this. As a result, as shown in FIG. 3, the second hooking portion 60 of the second claw portion 56 is hooked on the bonnet 18.

  Thus, by swinging the hook 48, the second hooking portion 60 can be hooked to the bonnet 18 without interfering with any member or part.

  After the proximity sensor (not shown) detects that the bonnet 18 has been engaged with the second engagement part 60 of the second claw part 56, the arm part 40 of the opener robot 16 performs a predetermined operation, As shown by a solid line in FIG. 3, the bonnet 18 is swung in a direction away from the vehicle body 12. That is, the bonnet 18 is opened.

  In this state, the two painting robots 14a and 14b (see FIG. 1) located in the vicinity of the front of the vehicle body 12 are operated to spray paint on the hood 18. That is, the bonnet 18 is painted by the two painting robots 14a and 14b.

  On the other hand, the two painting robots 14c and 14d located in the vicinity of the rear of the vehicle body 12 operate, and the two front passenger compartment doors 22 are swung by the opening / closing jig to be in the open state. The painting robots 14c and 14d further spray paint on the two passenger compartment doors 22 (front side) in the open state.

  As described above, in the present embodiment, the painting robots 14a to 14d and the opener robot 16 are arranged so as to provide a height difference (see FIG. 1). Moreover, since the painting robots 14a to 14d and the opener robot 16 are individually guided, there is no restriction on mutual displacement. For this reason, it is avoided that the painting robots 14a to 14d interfere with the opener robot 16 that supports the hood 18 in the open state. Therefore, it becomes easy for the painting robots 14a to 14d to take an appropriate posture for painting. In this posture, the coating gun 38 comes close to the first claw portion 54 of the hook 48. That is, the paint is sprayed from the first claw portion 54 side toward the vehicle body 12.

  For this reason, there is no need to make the painting robots 14a to 14d stand by. Therefore, the working efficiency of the painting robots 14a to 14d is improved, and the vehicle body 12 can be efficiently painted.

  In addition, since there is a difference in height between the painting robots 14a to 14d and the opener robot 16, it is possible to prevent the paint from adhering to the opener robot 16 during painting. For this reason, the opener robot 16 is prevented from being stained by the paint, and eventually the paint is prevented from adhering to the vehicle body 12 through the opener robot 16.

  While painting is performed in this way, the vehicle body 12 is conveyed at a low speed along the direction of the arrow A1 in FIGS. That is, it is displaced. Following this displacement, the painting robots 14a to 14d and the opener robot 16 are displaced at a speed corresponding to the displacement speed of the vehicle body 12 under the control action of the control circuit. Of course, this displacement is performed via the traveling carriages 32 and 34.

  When the coating of the bonnet 18 is completed, the arm portion 40 then performs a predetermined operation, thereby swinging the bonnet 18 toward the vehicle body body 12 and closing it. In this state, as the fifth joint portion 108 of the opener robot 16 is rotated, the columnar portion 52 of the hook 48 is rotated by a predetermined angle. As a result, the second hooking portion 60 of the second claw portion 56 and the hook 48 are detached from the bonnet 18. Moreover, the arm part 40 will be in the accommodation state.

  On the other hand, the painting of the two passenger compartment doors 22 (front side) is completed. The painting robots 14c and 14d swing these passenger compartment doors 22 toward the vehicle body 12 with the opening / closing jigs to bring them into a closed state.

  Thereafter, the painting robots 14a to 14d and the opener robot 16 are quickly displaced so as to return by a predetermined distance along the direction of the arrow A2. This displacement is also performed via the traveling carriages 32 and 34 under the control action of the control circuit. In this displacement, for example, the opener robot 16 may pass the painting robots 14c and 14d.

  In the present embodiment, the third arm member 44 of the opener robot 16 extends between the first arm member 42 and the second arm member 43. For this reason, since the separation distance between the vehicle body 12 and the opener robot 16 is reduced, the longitudinal dimension of the second guide rail 30 can be reduced. In addition, since the opener robot 16 is compact in both the expanded state and the contracted state of the arm portion 40, the installation space can be reduced.

  The opener robot 16 that has returned to the predetermined position again extends the arm unit 40 to open the trunk 20. Here, the second arm member 43 when the arm portion 40 is extended and the trunk 20 in the closed state are substantially parallel to each other. Therefore, when the third arm member 44 is arranged closer to the trunk 20 than the second arm member 43, there is a concern that the third arm member 44 interferes with the trunk 20, but in the present embodiment, As shown in FIG. 4, when the trunk 20 is opened, the first arm member 42 and the third arm member 44 are disposed so as to be separated from the trunk 20 as compared with the second arm member 43. . For this reason, it is effectively avoided that the third arm member 44 interferes with the trunk 20.

  At the same time, the first hooking portion 58 of the first claw portion 54 of the hook 48 approaches the trunk 20. Also at this time, the first claw portion 54 and the second claw portion 56 are slightly inclined so as to form a predetermined angle with respect to the directions of the arrows A1 and A2 (see the imaginary line in FIG. 4). ).

  And the 5th joint part 108 performs predetermined | prescribed rotation operation | movement similarly to the above. Following this, the hook 48 rotates at a predetermined angle, whereby the first engagement portion 58 engages with the trunk 20 in the closed state.

  After the proximity sensor (not shown) detects that the first hook 58 of the first pawl 54 is engaged with the trunk 20 in this way, the arm 40 of the opener robot 16 performs a predetermined operation. As a result, the trunk 20 is swung in a direction away from the vehicle body 12, and the trunk 20 is opened as shown by a solid line in FIG.

  As can be understood from the above, in the present embodiment, the hook 48 has the first claw portion 54 and the second claw portion 56 that extend in directions opposite to each other. Therefore, both the hood 18 and the trunk 20 can be opened by the single opener robot 16.

  In a state where the trunk 20 is opened, the painting robots 14 c and 14 d on the rear side spray paint on the trunk 20. On the other hand, the painting robots 14a and 14b on the front side swing the two passenger compartment doors 22 on the rear side to the open state by swinging with the opening / closing jigs, On the other hand, paint is sprayed.

  Of course, in this case as well, the painting robots 14a to 14d are prevented from interfering with the opener robot 16 that supports the trunk 20 with the trunk 20 open, as described above. It is easy to take an appropriate posture. At this time, the coating gun 38 is close to the first claw portion 54 of the hook 48 and the paint is sprayed from the first claw portion 54 side toward the vehicle body 12.

  Accordingly, there is no need to wait for the painting robots 14a to 14d, so that the working efficiency of the painting robots 14a to 14d is improved. That is, the coating on the vehicle body 12 can be performed efficiently.

  Further, the opener robot 16 is prevented from being soiled by the paint, and the paint is prevented from adhering to the vehicle body 12 through the opener robot 16.

In addition, in this step, the first arm member 42 and the third arm member 44 are arranged at positions separated from the trunk 20 as compared with the second arm member 43. Therefore, even when the trunk 20 is swung approximately 90 °, it is possible to avoid the trunk 20 from interfering with the first arm member 42 and the third arm member 44.

  Even during this painting operation, the vehicle body 12 is conveyed at a low speed along the direction of the arrow A1 in FIGS. 1 and 4, and the painting robots 14 a to 14 d and the opener robot 16 are attached to the vehicle body 12. Displace at a speed corresponding to the displacement speed.

  Then, when the painting of the trunk 20 and the rear passenger compartment door 22 is completed, the arm portion 40 of the opener robot 16 performs a predetermined operation to swing the trunk 20 to a closed state in which the trunk 20 is seated on the vehicle body 12. Then, the painting robots 14a and 14b swing the passenger compartment door 22 (rear side) by the opening / closing jig so that the passenger compartment door 22 is seated on the vehicle body 12 and closed. Thereafter, the vehicle body 12 is led out from the painting station 11.

  The arm portion 40 of the opener robot 16 with the trunk 20 in the closed state can open the bonnet 18 of the vehicle body 12 that has been transported to the painting station 11 next while maintaining the posture. That is, it is not particularly necessary to contract and unfold the arm portion 40 with the replacement of the vehicle body 12.

  As can be understood from this, according to the present embodiment, after the preceding body body 12 has been painted, the next body body 12 can be quickly painted. For this reason, the coating efficiency per unit time improves.

  In the above description of the operation, the case where the fifth joint portion 108 is rotated and the hook 48 is swung to bring the trunk 20 and the hood 18 into the open state is illustrated. Thus, the hook 48 is inserted from the lateral direction with respect to the vehicle body traveling direction of the trunk 20 or the bonnet 18, and then the fifth joint portion 108 is rotated to open the trunk 20 or the bonnet 18. It is also possible.

  Note that the opener robot 16 can handle doors with different swing directions.

  For example, as shown in FIG. 6, the trunk 20 is opened from the rear window 64 to the rear side of the vehicle body 12, or the bonnet 18 is moved from the front window 66 as shown in FIG. 7. There are also vehicle types that are opened so as to swing to the front side of the vehicle body 12. As can be easily understood from FIGS. 6 and 7, the opener robot 16 having the hooks 48 described above can cope with these types of vehicles.

  As described above, according to the present embodiment, a single opener robot 16 can correspond to a plurality of doors having different swinging directions for opening.

  As shown in FIGS. 8 and 9, the arm portion 40 of the opener robot 16 is configured by sequentially connecting a first arm member 42, a second arm member 43, and a third arm member 44 to the outer side. It may be a thing.

  In this case, when the hook 62 is disposed at a predetermined position of the vehicle body 12, the base end portions of the opener robots 16 a and 16 b are largely separated from the vehicle body 12 as shown in FIG. 10. Further, the arm portion 40 is also separated from the vehicle body 12 by a large distance. Therefore, there is an advantage that the opener robots 16a and 16b are hardly stained by the paint. Here, FIG. 10 shows only the left side of the painting station.

  In FIG. 10, a hook 62 having only one claw is attached to the opener robots 16a and 16b. In this case, only the door that can be swung by engaging the claw portion can be opened, but the other doors cannot be opened. For example, the hook 62a of the opener robot 16a can open the hood 18, but it is difficult to open the trunk 20. Further, the hook 62b of the opener robot 16b can open the trunk 20, but it is difficult to open the hood 18. This is because it is difficult to engage the claw portion of the hook 62a facing rearward of the vehicle body 12 with the trunk 20 and to engage the claw portion of the hook 62b facing front of the vehicle body 12 to the hood 18.

  Therefore, in this case, it may be dealt with by installing two opener robots 16a and 16b.

  In the above-described embodiment, the automobile body 12 of the automobile is illustrated as an object to be coated. However, the object to be coated is not particularly limited to this, and can swing with respect to the body. What is necessary is just to connect the predetermined member to.

  The painting robots 14a to 14d and the opener robot 16 may be arranged in any manner. For example, as described above, the opener robot 16 is disposed on the wall 24 or 26 via the traveling carriage 34, while the painting robots 14a to 14d are disposed on the floor of the painting station 11 via the traveling carriage 32 so as to be displaceable. It may be. Alternatively, the opener robot 16 may be disposed on the floor of the painting station 11 via the traveling carriage 34, and the painting robots 14 a to 14 d may be installed on the walls 24 and 26 via the traveling carriage 32.

  Furthermore, the opener robot 16 may be a robot as shown in FIGS. That is, the present invention includes a coating system having a configuration as shown in FIG.

  Furthermore, the hook 48 may be provided with three or more claw portions.

  Furthermore, the fourth joint portion 106 may be unrotatable (in other words, fixed).

Then, as shown in FIG. 11, the third arm member 44 may be configured to be inserted between the first arm member 4 2 and the second arm member 43. In this case, the axis D1 and the axis D3 are located on the same straight line.

DESCRIPTION OF SYMBOLS 10 ... Painting system 11 ... Painting station 12 ... Body body 14a-14d ... Painting robot 16, 16a, 16b ... Opener robot 18 ... Bonnet 20 ... Trunk 22 ... Passenger compartment door 24, 26 ... Wall 28, 30 ... Guide rail 32, 34 ... Traveling carriage 38 ... Paint gun 40 ... Arm part 41 ... Mounting base part 42, 43, 44 ... Arm member 48, 62 ... Hook 54, 56 ... Claw part

Claims (6)

A coating robot having a coating means for applying an object to be coated configured such that the bonnet and the trunk are swingably connected to the vehicle body, and the hood or the trunk is rocked in a direction away from the vehicle body. a coating system comprising a Luo over Puna robot is moving,
A first displacement mechanism that displaces the coating robot by following the object to be displaced;
A second displacement mechanism for displacing the opener robot having an engagement member engaged with the bonnet or the trunk by following the object to be displaced;
With
The opener robot includes an arm portion provided on an attachment base portion, and the arm portion includes at least three arm members that can be rotated from the base end side as a first arm member, a second arm member, and Having a third arm member ;
The three arm members may have at least three rotational axes extending parallel to the mounting surface of the mounting base of the opener robot,
When the engaging member is engaged with the trunk, the trunk has a shape substantially parallel to the second arm member, and the third arm member is separated from the trunk as compared to the second arm member. A painting system characterized by being arranged .   The coating system according to claim 1, wherein the arm member is spirally connected from the proximal end side toward the distal end.   The coating system according to claim 1, wherein the arm member is sequentially connected to an outer end surface from the base end side toward the distal end. In coating system according to any one of claims 1 to 3 further the painting robot, and the first displacement mechanism for the displacing along the first guide member to follow the object to be coated to displace ,
The pre-Symbol opener robot, and a second displacement mechanism that the displacing along the second guide members to follow the object to be coated to be displaced,
With
The engaging member is engaged with the bonnet or the trunk at another timing,
A painting system, wherein the first guide member and the second guide member are arranged with a height difference so that the opener robot and the painting robot are arranged with a height difference. . A painting robot having a coating means for applying a workpiece to be constructed in which a plurality of members are swingably connected to the main body; and a direction in which the members of the workpiece are separated from the main body. A painting system comprising at least two opener robots for rocking,
A first displacement mechanism that displaces the coating robot by following the object to be displaced;
A second displacement mechanism for displacing the opener robot by following the object to be displaced;
With
At least one of the opener robots has an arm portion that is provided on the attachment base portion and is sequentially connected to the outer end surface from the base end portion toward the tip, and the arm portion is rotatable. As the at least three arm members, the first arm member, the second arm member, and the third arm member are provided from the base end side ,
The three arm members may have at least three rotational axes extending parallel to the mounting surface of the mounting base of the opener robot,
The coating system, wherein the third arm member is arranged closest to the object to be coated among the three arm members . In coating system according to any one of claims 1 to 5, a pre-Symbol first arm member and the rotation axis of the mounting base, a rotary shaft of the third arm member and the second arm member A coating system characterized by being disposed on substantially the same straight line or substantially the same plane.

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