JP6427092B2 - Electrostatic coating equipment - Google Patents

Description

  In the present invention, the object to be coated is connected to the tip end of the arm of the previous coating robot via the holder, and the connected body of the object to be coated and the holder is held by the previous coating robot. The coating is preceded by electrostatic coating, and following the electrostatic coating, the holder is connected to the tip of the arm of the coating robot while the connection between the substrate and the holder is maintained. In a state in which the connection object to the arm tip of the coating robot is shifted to hold the connected object of the object and the holder by the rear coating robot, the rear electrostatic coating machine performs the rear electrostatic coating on the object In particular, the present invention relates to an electrostatic coating system suitable for electrostatic coating of non-conductive objects such as resin products.

  Conventionally, in an electrostatic coating facility where a non-conductive object such as a resin product is placed on a carrier such as a carrier, the electrostatic coating system carries a plurality of electrostatics on the object. When electrostatic coating is sequentially applied by a coating machine, as described in Patent Document 1 below, a carrier for transportation in which a ground state (electrically grounded state) is maintained through rails etc. regardless of transportation movement; The object placed on it is electrically connected by an earth wire, and by connecting this earth wire, the object to be coated (particularly the surface to be coated) is brought into an earthed state where an electrical attraction to the charged paint particles occurs. It was

  Then, according to this conventional method, it is only necessary to electrically connect the object to be coated and the carrier for transfer by the earth wire prior to the electrostatic coating, and in each of the electrostatic coating by the plurality of electrostatic coating machines in sequence. The electrostatic effect between each electrostatic sprayer and the object to be coated (that is, the effect of electrically attracting charged paint particles sprayed from the electrostatic sprayer to the object to be coated) can be secured.

JP-A-2-4475 JP, 2005-103446, A

  By the way, in recent years, as shown in FIG. 17 of Patent Document 2 described above, a coating robot for holding an object to be coated is separately installed corresponding to each of a plurality of spray coating machines, and coating is performed between these coating robots. It has been proposed to sequentially coat the objects to be coated with a plurality of spray coating machines while adopting a transport form in which the objects are sequentially delivered.

  However, when non-conductive objects such as resin products are to be electrostatically coated sequentially by a plurality of electrostatic coating machines, as described above, the objects to be coated are received between the coating robots for holding the objects. In the delivery mode, there is no transport carrier such as a transport carriage that moves with the coated object while maintaining the ground state, so the coated object and the nearest ground for each electrostatic coating by each electrostatic coating machine It is necessary to connect the status point with the ground wire, and it is necessary to perform the reconnection operation of the ground wire to the substrate every time the substrate is transferred between the adjacent painting robots. Therefore, as compared with the case where the object to be coated is transported by the transport carrier, the accompanying work becomes complicated and the painting operation efficiency is also greatly reduced.

  In addition, when the painting work area is unmanned by adopting a transfer form for delivering the work between the painting robots, the operator can work on the painting work area for reconnection of the ground wire to the work. There are also some difficult problems to get into.

  In view of this situation, the main object of the present invention is to effectively solve the problems as described above which occur when the electrostatic coating equipment adopts a transport mode for delivering the substrate between the painting robots.

The first feature configuration of the present invention relates to electrostatic coating equipment, and the feature is that
The object to be coated is connected to the tip end of the arm of the previous coating robot via a holder, and the connected object between the object to be coated and the holder is held by the previous coating robot. Apply a preliminary electrostatic coating to the paint,
Subsequent to the preceding electrostatic coating, the connection between the object to be coated and the holder is maintained, and the holding tool is connected to the arm end of the previous coating robot, and the arm end of the following robot is connected Apply the following electrostatic coating to the object to be coated by the subsequent electrostatic coating machine in a state in which the connected body of the object to be coated and the holder is held by the subsequent coating robot while being shifted to the coupled state with respect to Electrostatic coating equipment,
The holder is provided with a conductive means for grounding the object to be coated, which electrically connects the object-side connection portion to the object connected to the holder;
The conductive member for grounding the object to be coated is moved as the holder in the object-connected state shifts from the connection state to the arm tip of the preceding painting robot to the connection state to the arm tip of the subsequent painting robot. The robot side connection portion is configured to switch from the electrical connection state to the ground state portion of the preceding painting robot to the electrical connection state to the ground state portion of the subsequent painting robot.

  According to this configuration, the holder in the object-connected state shifts from the connection state with respect to the arm tip of the preceding coating robot to the connection state with respect to the arm tip of the following coating robot (that is, between the painting robots) With the transfer of the object to be coated), the robot side connection part of the conductive means for object earth in the holder is electrically connected to the ground state point of the previous painting robot, and the ground state point of the subsequent painting robot Switch to the electrical connection state.

  Therefore, prior to the preceding electrostatic coating, the object side connection portion of the conductive means for object earthing in the holder is electrically connected to the object together with the connecting operation of the holder to the object, etc. The conductive object (particularly, the surface to be coated) of the object to be coated is electrically connected to the conductive member for grounding the object in the holder, and the holder regardless of the transfer of the object between the painting robots. An earthed state (electrically grounded state) can be established through the ground state point of the painting robot in the connected state.

  And thereby, it becomes unnecessary to perform the reconnection operation of the earth wire to a to-be-coated-article every time of the delivery of a to-be-coated-article between painting robots, and while making incidental work slight. It is possible to ensure high painting work efficiency, and to eliminate the need for workers to enter the painting work area for reconnection operation of the ground wire to the object for unmanned painting work area. it can.

A second feature of the present invention specifies an embodiment suitable for the implementation of the first feature, the feature being
The connecting portion of the holder with respect to the object to be coated is a point at which the object side connecting portion of the conductive means for grounding the object to be coated is provided.

  According to this configuration, the object-side connection portion of the conductive means for grounding the object to be coated is electrically connected to the object to be coated as the holder is connected to the object prior to the preceding electrostatic coating. Can also be completed, thereby electrically connecting the object side connection of the conductive means for object earthing to the object separately from the connecting operation of the holder to the object In addition to the above, incidental work can be made even smaller.

  Also, in order to electrically connect the object-to-be-coated connection portion of the conductive means for grounding the object to be coated to the object by means of a crocodile clip etc. In comparison, the portion between the substrate and the holder can be simplified in appearance, and the adhesion of the excess spray paint (overspray paint) in the portion can be suppressed, whereby the adhesion It is also possible to effectively suppress the deterioration of the coating quality of the substrate due to peeling off and scattering after the paint dries and reattaching to the substrate.

  Further, the object-side connection portion of the conductive means for grounding the object to be coated is electrically connected to the object by means of a crocodile clip or the like at a point different from the connection point between the object and the holder. In this case, the object to be coated with the conductive means for grounding the object to be coated is caused by moving or changing the posture of the connection body between the object to be coated and the holder with respect to the electrostatic coating machine by the arm operation of the coating robot. Although there is a possibility that the electrical connection between the side connection portion and the object to be coated may be broken unexpectedly, according to the above configuration, such an unexpected breakage accident can be effectively avoided.

The third feature of the present invention specifies an embodiment suitable for the implementation of the second feature, the feature being
As a connecting portion of the holder with respect to the object to be coated, a suction cup for adsorbing the object to be coated is provided in the holder;
A state in which the suction disk is in electrical contact with the object as it is attracted to the object and elastically deformed to the contraction side as the object-side connection portion of the conductive means for the object earth. And a conductive spring that elastically deforms on the compression side is provided on the suction cup.

  In this configuration, the holder is connected to the object to be coated by adsorbing the suction cup provided on the holder to the object to be coated. Accordingly, the conductive spring provided on the suction disk as the object-to-be-coated connection portion of the conductive means for the object to be grounded is elastically deformed to the compression side in a state of being in electrical contact with the object to be coated. The electrical contact of the object to the object to be coated can be ensured by the elastic resiliency to the extension side of the spring, whereby the object to be coated (particularly the surface to be coated) is more reliably and stably grounded. be able to.

The fourth feature of the present invention specifies an embodiment suitable for the implementation of the second feature, the feature being
As a connecting portion of the holder to the object to be coated, a conductive suction cup to be adsorbed to the object to be coated is provided on the holder;
This conductive suction cup is at the point where the object-side connection portion of the conductive means for the object-ground is connected.

  In this configuration, the above-mentioned conductive suction cup provided on the holder is attached to the object to be adsorbed, whereby the holder is connected to the object to be coated, and the conductive sucker is used as a conductive member for grounding the object It electrically connects to a to-be-coated-article as a to-be-coated-article side connection part of a means.

  And according to this configuration, by the adsorption of the conductive suction cup to the object to be coated, the electrical connection of the conductive suction cup to the object to be coated can be ensured, whereby the object to be coated (particularly the object to be coated) Surface can be reliably and stably grounded.

  In addition, compared with attaching a separate conductive member to the object-side connection of the conductive means for object earthing to the suction cup as a holder connecting part to the object, the suction cup structure is simplified, and its manufacture is also possible. It can be easy.

The fifth characterizing feature of the present invention specifies an embodiment suitable for any one of the first to fourth characterizing features, and the feature is that
The tip ends of the arms of the preceding painting robot and the following painting robot connected to the holder are made to be the ground state points of the respective painting robots,
The connecting portion of the holder to the tip of the arm of each of the preceding coating robot and the following coating robot is at the robot side connecting portion of the conductive means for grounding the object to be coated.

  According to this configuration, the robot-side connecting portion of the conductive means for the object to be coated in the holder is preceded at a location different from the connection portion between the arm tip of the previous painting robot and the trailing painting robot and the holder. The portion between the holder and the painting robot can be simplified in appearance as compared to the case where the painting robot and the trailing painting robot are electrically connected to the ground state location respectively.

  And by this simplification, adhesion of the excessive spray paint in the portion between the holder and the painting robot can be suppressed, whereby after the adhesion paint dries, it peels off and scatters and reattaches to the object to be coated. It is possible to effectively suppress the deterioration of the coating quality of the object due to

  In addition, the robot side connection part of the conductive means for the object ground in the holder is preceded by the front coating robot and the rear at a location different from the connection point between the arm tip of the first coating robot and the second coating robot and the holder. When electrically connected to the ground state locations of the row coating robots, the arm of the coating robot moves the connection between the object to be coated and the holder with respect to the electrostatic coating machine, or changes the posture thereof. Although there is a risk that the electrical connection between the robot-side connection of the conductive means for grounding the object to be coated and the ground state locations of the preceding coating robot and the trailing coating robot may be unexpectedly broken, According to the configuration, such an unexpected breakage accident can be effectively avoided.

The sixth characterizing feature of the present invention specifies an embodiment suitable for implementing any of the first to fifth characterizing features, and the feature is that
In the holder, the holder forming member positioned midway between the connecting portion for the object to be coated and the connecting portions for the leading coating robot and the trailing end of the trailing coating robot is formed of a conductive material.
The holder forming member is a relay conductive portion for electrically connecting the object-to-be-coated connection portion and the robot-side connection portion in the conductive member for grounding the object to be coated.

  According to this configuration, the holder forming member in the holder is also used as a relay conductive portion for electrically connecting the coating object side connection portion and the robot side connection portion in the conductive object grounding member. In other words, since the holder forming member is used to enable electrical conduction between the object-side connection portion and the robot-side connection portion of the object-grounding conductive means, the object-to-be-coated The conductive means for the ground of the object to be coated, as compared with the case where the electrical conduction between the object-to-be-coated side of the conductive means for the ground and the robot side is formed by a dedicated conductive member other than the holder forming member Can simplify the structure of the holder including the

A seventh feature of the present invention specifies an embodiment suitable for implementing any of the first to sixth features, and the feature is:
In the object to be coated, there is provided an auxiliary conductive means for grounding from the location where the object side connection part of the conductive means for the object to be grounded is connected to the surface to be coated of the object to be coated;
The object-to-be-coated side connection portion of the object-to-be-coated earthing conductive means is electrically connected to the auxiliary conductive means for grounding provided on the object to be coated as an electrical connection to the object to be coated It is at a certain point.

  In this configuration, the surface to be coated of the object to be coated is a ground state in the paint robot in the holder connected state through the auxiliary conductive means for grounding provided on the object and the conductive means for grounding the object in the holder. Connect electrically to the location.

  Therefore, according to this configuration, it is possible to set the location where the coated object side connection portion of the conductive means for coated material grounding is connected in the coated object to an arbitrary location apart from the surface to be coated. In electrostatic coating on the surface to be coated of the object to be coated, the conductive means for grounding the object connected to the object to be coated can be prevented from becoming an obstacle.

The eighth feature of the present invention specifies an embodiment suitable for the implementation of the seventh feature, the feature being
The conductive adhesive tape attached to the surface of the object to be coated by the auxiliary conductive means for grounding, or a coating layer of a conductive agent applied to the surface of the object to be coated, or the adhesive tape It is a conductive wire fixed to the surface of an object.

  That is, with the conductive adhesive tape, the coating layer of the conductive agent, or the conductive wire fixed by the adhesive tape, the auxiliary conductive means for grounding can be easily formed on the object to be coated.

Front view of the painting booth in the electrostatic painting facility II-II line arrow view in FIG. 1 III-III line arrow view in FIG. 1 Enlarged view of the holder An enlarged sectional view showing a connecting structure of an arm tip and a holder The perspective view which shows the connection state of a to-be-coated-article and a holder The perspective view which shows the auxiliary conduction means for earthings of another embodiment

  1 to 3 show a coating booth 1 of an electrostatic coating facility for coating a material to be coated W (in this example, a resin bumper which is an automobile part). By sequentially carrying in to the coating area 2 (first to fourth coating areas 2a to 2d), the coating machines 4 (spray coating machine 4a, electrostatic coating machines 4b to 4d) equipped on the upper part of each coating area 2 The surface to be coated of the object to be coated W (in this example, the front surface of the resinous damper) is sequentially painted.

  Specifically, in the first coating area 2a, primer coating is performed on the surface to be coated of the object to be coated W carried in by spraying the conductive primer by the spray coater 4a.

  Subsequently, in the second coating area 2b, electrostatic coating of the first base paint is performed by the electrostatic coating machine 4b on the surface to be coated of the incoming object to be coated W after primer coating.

  Subsequently, in the third coating area 2c, electrostatic coating of the second base paint is performed on the surface to be coated of the object W coated with the first base paint by the electrostatic coating machine 4c.

  Subsequently, in the fourth coating area 2d, the surface to be coated of the object W coated with the second base paint is subjected to electrostatic coating of clear paint by the electrostatic coating machine 4c.

  And the to-be-coated-article W which these coating complete | finished is sent to the drying furnace 3, and bake-drying processing is carried out.

  In addition, the coating machine 4 of each painting area 2 is arrange | positioned in the upper part of the painting area 2 by the substantially perpendicular downward attitude | position.

  On the side of the painting area row, the robot installation areas 5 adjacent to each painting area 2 are separately arranged in the painting area alignment direction, and each robot installation area 5 is adjacent to each other Painting robots 6 (first to fourth painting robots 6 a to 6 d) for holding the object W in the painting area 2 are installed.

  An earth wire 35 is connected to each of the painting robots 6, and by the connection of the earth wire 35, an arm tip 7a of each painting robot 6 is in a ground state (electrically grounded state).

  The two paint areas 2 adjacent to each other are in a relationship between the preceding paint area located on the upper side in the direction of travel of the object W and the subsequent coat area located on the lower side in the direction of travel of the object W .

  Specifically, while the first coating area 2a is the preceding coating area, the second coating area 2b is the subsequent coating area, and the second coating area 2b is the preceding coating area, while the third coating area is the third coating area. The area 2c is a trailing coating area, and the third coating area 2c is a preceding coating area 2, whereas the fourth coating area 2d is a trailing coating area.

  The preceding / following relationship is the same for each of the coating machine 4, the robot installation area 5, and the coating robot 6.

  In each of the coating areas 2, the object to be coated W is held by being connected to the tip end 7 a of the arm 7 of the coating robot 6 via the branch-like holder 8.

  As shown in FIG. 4, the holder 8 is provided with a plurality of suction cups 9 to be adsorbed to the object to be coated W as a connecting portion to the object to be coated W.

  These suction cups 9 correspond to a plurality of connection target points on the article W (in this example, four points at the back side of each end of the bumper front and four points at the back of each side of the bumper) It is provided on the holder 8 in the above arrangement.

  The holder 8 is formed of metal pipe material, and the inner hole (pipe hole) of the pipe material is a suction passage 10 for sucking the internal air of the suction cup 9 by suction means (not shown).

  That is, by suctioning the internal air of the suction cup 9 through the suction passage 10 by suction means, the suction cup 9 is adsorbed to the article W, whereby the holder 8 is connected to the article W.

  The suction path 10 includes a suction port 10a connecting suction means, a main suction path 10b connected to the suction port 10a, and a branch suction path 10c branched from the main suction path 10b and opened inside each suction cup 9 Become.

  While the main suction path 10b allows air flow from the inside of each suction cup 9 toward the suction port 10a (that is, air suction by suction means connected to the suction port 10a), reverse air flow (that is, air flow) A non-return valve 11 of a ball type or the like is provided to shut off the air flow from the suction port 10a to the inside of each suction cup 9).

  That is, after adsorbing each suction cup 9 to the article W by suction of air by the suction means, even in a state where the suction means is separated from the suction port 10a, backflow of air by this check valve 11 (in other words, By preventing the suction cups 9 from being open to the atmosphere, the suction state of each suction cup 9 with respect to the object to be coated W is maintained, and the connection state between the holder 8 and the object to be coated W is maintained.

  The holder 8 is provided with a cover 12 for each of the suction cups 9, and when the suction cups 9 are in a non-sucked state in a stretched state, the tip suction part of the suction cups 9 projects from the enclosed area of the cover 12 When the suction cup 9 is in the suctioned state and in a contracted state, the tip suction part of the suction cup 9 is configured to retract toward the inside of the enclosure region of the cover 12.

  That is, by providing the cover 12, it is possible to prevent the excessive spray paint (overspray paint) from the coating machine 4 from adhering to the suction cup 9 while allowing the suction cup 9 to adsorb to the article W.

  On the other hand, as an arm / holder connecting structure for connecting the arm tip 7a of each painting robot 6 to the holder 8, as shown in FIG. 5, the hole 13 is provided in the arm tip 7a of each painting robot 6 And, a connecting projection 14 is formed in the holder 8 so as to be inserted and fitted into the connecting hole 13.

  The connecting hole 13 of each arm tip 7a has a straight hole 13a having a cylindrical inner circumferential surface, and a tapered inlet 13b having a conical tapered inner circumferential surface whose diameter increases toward the hole inlet side. Are formed in a concentric arrangement.

  On the other hand, the connecting convex portion 14 of the holder 8 has a columnar end portion 14 a fitted to the straight hole portion 13 a of the connecting hole 13 and a taper fitted to the tapered inlet portion 13 b of the connecting hole 13. The step portion 14b is formed concentrically.

  That is, when inserting the connecting convex portion 14 of the holder 8 into the connecting hole 13 of each arm distal end portion 7 a, the columnar distal end portion 14 a of the connecting convex portion 14 is tapered of the connecting hole 13. The connecting convex portion 14 is smoothly guided to the center of the connecting hole 13 by being in sliding contact with the tapered inner peripheral surface of the inlet 13b.

  Then, in a state in which the insertion and fitting are completed, the cylindrical outer peripheral surface of the columnar distal end portion 14 a of the connecting convex portion 14 is brought into surface contact with the cylindrical inner peripheral surface of the straight hole portion 13 a of the connecting hole 13. At the same time, the tapered outer peripheral surface of the tapered stepped portion 14b of the connecting convex portion 14 is brought into surface contact with the tapered inner peripheral surface of the tapered inlet portion 13b of the connecting hole 13, whereby each coating robot 6 is The arm distal end portion 7a is securely connected to the holder 8 with high connection accuracy.

  The suction port 10a of the suction passage 10 in the holder 8 is opened in the connecting joint surface of the arm tip 7a and the holder 8 (specifically, the tip surface portion of the connecting projection 14).

  The connecting hole 13 of each arm distal end portion 7a is provided with a permanent magnet 15 to be attracted to the connecting convex portion 14 of the holder 8 inserted and fitted in the connecting hole 13, and the connecting hole An arm-side suction passage 16 which exerts an air suction force is opened between the joint 13 and the connection projection 14 inserted and fitted thereto.

  That is, the insertion and fitting state of the connecting hole 13 and the connecting convex portion 14 is maintained by the magnetic force of the permanent magnet 15 and the air suction force applied through the arm-side suction path 16, thereby The connected state of the arm tip 7 a of the painting robot 6 and the holder 8 is maintained.

  Apart from the arm-side suction path 16 for connecting the holding tool, the inner surface of the connecting hole 13 which is a connection joint surface between the arm leading end 7a and the holding tool 8 is provided in the connection hole 13 of each arm front end 7a. An air passage 17 for detection is formed which is open and closed by connection of the arm distal end portion 7a and the holder 8 (that is, insertion and fitting of the connection convex portion 14 into the connection hole 13).

  Further, pressure application means (shown in FIG. 1) applies a predetermined positive pressure to each of the painting robots 6 by supplying compressed air to the detection air passage 17 which is closed by connecting the arm tip 7 a and the holder 8 (shown in FIG. And a pressure detection means 18 for detecting the air pressure in the detection air passage 17.

  In other words, the connected body of the object W and the holder 8 comes into contact with other objects, etc., causing an abnormality in the connection between the arm tip 7a of each painting robot 6 and the holder 8, or the holder When an abnormal external force is applied to 8, the positive pressure applied to the detection air path 17 is reduced by the opening of the detection air path 17 as a result, and the pressure detection means 18 detects a reduction in the positive pressure applied. , Detects the above-mentioned connection abnormality and abnormal external force.

  Then, when an abnormality is detected by the pressure detection means 18, the control means 19 executes predetermined security processing such as emergency stop of the operation of each painting robot 6 or issuing an alarm.

  A ring-shaped sealing material (not shown) surrounding the opening is attached to the opening of the detection air passage 17 on the inner surface of the connection hole 13, and air is sucked through the arm-side suction passage 16 by this sealing material. An area to which a force is applied and an area to which a positive pressure is applied through the detection air passage 17 are divided.

  The control means 19 automatically operates each painting robot 6 in accordance with a preset operation program, and in each painting area 2, the arm tip 7a of each painting robot 6 is held via the holder 8 as described above. While the objects W to be coated are connected, the objects W to be coated are applied by the downward paint spray from the coating machines 4 while the objects W to be coated are displaced relative to the coating machine 4 by the automatic operation of the coating robots 6 .

  Further, in this coating, the control means 19 changes the posture of the object W while maintaining the horizontal position perpendicular to the downward position of the coating machine 4 at the coating points on the object W at each time point. The paint W is displaced relative to the coating machine 4.

  Between the painting robots 6 at the boundary between adjacent robot installation areas 5 there is provided a delivery section 20 where the painting robots 6 next to each other deliver the article W, and the painting in the preceding painting area 2 is The to-be-coated-articles W which were complete | finished are sent to the following coating area 2 through this delivery part 20. As shown in FIG.

  Specifically, after the completion of the preceding coating in the preceding coating area 2, the control means 19 performs a combination of the object W and the holder 8 with the preceding coating robot 6 and the following coating by the operation of the preceding coating robot 6. The arm portion 7a of the previous painting robot 6 is connected to the holder 8 while keeping the connection between the object W and the holder 8 held by the delivery unit 20 between the robot 6 and the object W. To release.

  Then, after the arm tip 7a of the previous painting robot 6 is moved away from the delivery unit 20, the arm tip 7a of the subsequent painting robot 6 is connected to the object W by the operation of the subsequent painting robot 6 It is connected to the holder 8 held by the delivery unit 20 in the state of being kept, and subsequently, it shifts to the rear coating in the rear coating area 2.

  In the state where the suction of air through the arm-side suction path 16 for holding fixture connection is stopped at the arm tip portion 7a of each painting robot 6, the magnetic force of the permanent magnet 15 is resisted against the connection hole 13 for connection. Connection release means (not shown) is provided to release the connection between the arm tip 7 a and the holder 8 by releasing the projection 14.

  That is, the control means 19 stops the suction of air through the arm-side suction path 16 and automatically operates the connection release means, so that the arm tip 7 a of the preceding coating robot 6 and the holder 8 in the delivery unit 20. Unlink the.

  The to-be-coated-article W carried in to the 1st coating area 2a is made to hold | maintain the carrying-in part 21 of the 1st coating area 2a vicinity in the state which connected the holding fixture 8 beforehand by the operator or another robot. Holding of the arm tip portion 7a of the first painting robot 6a by the operation of the first painting robot 6a for the 1 painting area 2a is held by the carry-in portion 21 in a state in which connection with the object W is maintained. It is connected to the tool 8 and subsequently to the primer coating in the first coating area 2a.

  Moreover, the to-be-coated-article W which finished clear coating in the last 4th coating area 2d is conveyed by the operation of the 4th coating robot 6d for 4th coating area 2d with the holder 8 in the vicinity of 4th coating area 2d The carriage 22 is placed on the carriage 22 to release the connection between the arm tip 7 a of the fourth painting robot 6 d and the holder 8, and thereafter, it is sent to the drying furnace 3 together with the holder 8 and the carrier carriage 22.

  And, at this time, while the resinous coated object W is softened by the thermal environment in the drying furnace 3, the suction disks in the object to be coated W are opened by releasing the internal negative pressure of each suction cup 9 in the holder 8 into the atmosphere. Prevent deformation of the adsorption site.

  In contrast to the electrostatic coating machines 4b to 4d sequentially electrostatically coating the resin-made object W in the second to fourth coating areas 2b to 2d following the first coating area 2a, the holder 8 has A conductive means 36 for grounding the object to be coated is provided for bringing the object W connected thereto to a ground state (electrically grounded state), and the conductive means 36 for grounding the object to be coated is a resin-made article By electrically connecting to W, the surface to be coated of the object to be coated W in each of the second to fourth coating areas 2b to 2d is electrically connected to the spray charged paint particles from the electrostatic coating machines 4b to 4d. To an earthing state where an attractive effect occurs.

  Specifically, the suction cup 9a is attracted to the object W to be attached to the inside of one of the suction cups 9a of the plurality of suction cups 9 attached to the holder 8 as a connecting portion to the object W to be elastic on the contraction side. A conical spiral spring 37 made of a conductive material which is elastically deformed on the compression side in a state of being in electrical contact with the object W as it is deformed is equipped. The object side connection portion of the conductive means 36 for grounding the object is provided.

  In addition, while the arm tip 7a of each painting robot 6 becomes a ground state location by the connection of the ground wire 35 to the painting robot 6, it is made of a conductive material which is a connecting portion of the holder 8 to each arm tip 7a. The connecting convex portion 14 is used as a robot side connecting portion of the conductive member 36 for grounding the object to be coated in the holder 8.

  Then, at the back of the suction cup 9a equipped with the spring 37, the spring 37 made of a conductive material is connected and electrically connected to a metal pipe material which is a forming material of the holder 8 by a metal bolt or the like. The connection convex portion 14 made of a conductive material in the portion 8 is electrically connected by welding or the like to a metal pipe material which is a forming material of the holder 8.

  That is, in the holder 8, a holder forming member located midway between the suction cup 9 a (that is, the connecting portion to the object W) and the connecting convex portion 14 (that is, the connecting portion to the arm tip 7 a) Relay conductor for electrically connecting the object-side connection (that is, the spring 37 in the suction cup 9a) and the robot-side connection (that is, the connection projection 14) in the object earthing conductive means 36 is there.

  In other words, the object-side connection portion (spring 37 in the suction cup 9a) and the robot-side connection portion (connection convex portion) of the conductive means 36 for the object-to-be-grounded using the metal pipe material forming the holder 8 14) can be conducted electrically.

  On the other hand, prior to primer coating by the spray coating machine 4a in the first coating area 2a, as shown in FIG. 6, a conductive adhesive tape 38 as an auxiliary conductive means for grounding is applied to the resinous object W to be coated. From the edge of the object to be coated W (the front surface of the resinous bumper in this example) to the suction object of the suction cup 9a with the spring 37 on the back surface of the object W (that is, the back surface to the surface to be coated) Is attached.

  Thus, in a state where the four suction cups 9 in the holder 8 are adsorbed to the article W and the holder 8 is connected to the article W, the spring 37 in the suction cup 9 a is the subject of the conductive means 36 for grounding the article It is electrically connected to one end of the conductive pressure-sensitive adhesive tape 38 of the object to be coated W at the suction target portion of the suction cup 9a as a coating side connection portion.

  Subsequently, the first paint robot 6a for the first paint area 2a operates the first paint robot 6a for the first paint area 2a with respect to the holder 8 in the connected object state held by the carry-in unit 21 near the first paint area 2a. In a state in which the arm distal end portion 7a of the robot 6a is coupled, the coupling convex portion 14 of the holder 8 serves as the robot side connection portion of the conductive member 36 for grounding the object to be coated. By being electrically connected to the portion 7a, the conductive adhesive tape 38 in the object W is brought into the ground state (electrically grounded state) through the object-grounding conductive means 36 in the holder 8.

  Then, in a state where the connected body of the object to be coated W and the holder 8 is held by the first coating robot 6a in this state, the surface to be coated a of the object to be coated W is applied by the spray coater 4a of the first coating area 2a. When the conductive primer is coated, the coating layer of the conductive primer formed on the surface a to be coated of the article W is for grounding the article on the conductive adhesive tape 38 and the holder 8 of the article W. It becomes a ground state through the conductive means 36.

  After that, in a state where the connected body of the object to be coated W and the holder 8 passes through the delivery unit 20 and is delivered from the first painting robot 6a to the second painting robot 6b for the second painting area 2b, The coating layer of the conductive primer formed on the surface a to be coated of the object W is passed through the conductive adhesive tape 38 on the object W and the conductive means 36 for grounding the object on the holder 8 to form the second coating robot 6b. It electrically connects with respect to the arm tip part 7a which is a grounding state location, and becomes a grounding state.

  That is, as a result of this, in the second paint area 2b, the second paint robot 6b holds the connected body of the object W and the holder 8 as the first electrostatic paint for the object W. The first base paint can be electrostatically coated on the coated surface of the conductive primer on the surface a to be coated of the object to be coated W by the electrostatic coating machine 4b as a coating machine.

  Similarly, a state in which the connected body of the object to be coated W and the holder 8 passes through the delivery unit 20 and is delivered from the second painting robot 6b to the third painting robot 6c for the third painting area 2c, The coating layer of the conductive primer formed on the surface a to be coated of the object W to be coated is the object to be coated W in a state where it is delivered from the third coating robot 6c to the fourth coating robot 6d for the fourth coating area 2d. Are electrically connected to the arm tip portion 7a which is the ground state portion of the third painting robot 6c or the fourth painting robot 6d through the conductive adhesive tape 38 in the second embodiment and the conductive means 36 for grounding the object in the holder 8 It goes to the ground state.

  And thereby, in the 3rd coating area 2c, the connection body of the to-be-coated-article W and the holder 8 is made into a 3rd coating robot as a trailing electrostatic coating following the precedence electrostatic coating in the 2nd coating area 2b. Electrostatic coating of the second base paint on the coated surface of the first base paint on the coating target surface a of the object to be coated W by the electrostatic coating machine 4c as a subsequent electrostatic coating machine while being held by 6c Becomes possible.

  Further, in the fourth coating area 2d, as a subsequent electrostatic coating following the preceding electrostatic coating in the second and third coating areas 2b and 2c, the connected body of the object to be coated W and the holder 8 is the fourth coating In the state of being held by the robot 6d, the clear paint may be electrostatically coated on the coated surface of the second base paint on the surface a to be coated of the object W by the electrostatic sprayer 4d as a subsequent electrostatic sprayer. It will be possible.

  In short, in the electrostatic coating equipment of this example, the connecting object side connection portion of the conductive member 36 for the object to be coated earth in the holding member 8 is connected to the object to be coated W as the holder 8 is connected to the object W to be coated. Electrically connected to

  Subsequently, when the holder 8 in the connected object state is connected to the arm tip 7 a of the preceding coating robot 6, the robot side connection portion of the conductive member 36 for the object ground in the holding member 8 is previously coated The object W is electrically connected to the ground state portion of the robot 6 to be in the ground state, and in this state, the leading electrostatic coating by the leading electrostatic coating machine 4 is enabled.

  Then, following the prior electrostatic coating, the holder 8 in the object-connected state shifts from the connection state of the front coating robot 6 to the arm tip 7 a to the connection state of the subsequent coating robot 6 to the arm tip 7 a. At the same time, the robot side connection part of the conductive means 36 for grounding the object to be coated in the holder 8 is electrically connected to the ground state location of the previous painting robot 6 from the electrical connection state to the ground location space of the subsequent painting robot 6 As a result, the object W to be coated is brought into the ground state again so that the subsequent electrostatic coating by the subsequent electrostatic coating machine 4 can be performed.

  That is, by doing in this way, the worker enters the coating booth 1 and performs the reconnection operation of the ground wire to the object W every time the object W is transferred between the painting robots 6. It is unnecessary.

  Next, the ventilation facility for each paint area 2 and each robot installation area 5 will be described. A partition wall 24 is provided between each paint area 2 and each robot installation area 5 adjacent to it, and this partition wall 24 A work opening 24 a is formed to extend the arm 7 of the painting robot 6 installed in the robot installation area 5 to the corresponding painting area 2.

  Also, in the ceiling space of each robot installation area 5, an air supply chamber 26 for the robot installation area that receives ventilation air sa supplied from an air conditioner (not shown) through the air supply path 25a for the robot installation area. It is provided.

  In the ceiling of each robot installation area 5 which also serves as the lower wall of the air supply chamber 26, an air supply port for blowing out the ventilation air sa received in the air supply chamber 26 for the robot installation area to each robot installation area 5 27 is provided.

  On the other hand, in the painting area side portion of the ceiling pocket in each robot installation area 5, the air supply chamber 28 for the paint area receiving the ventilation air sb supplied from the air conditioner through the air supply path 25b for the paint area It is provided.

  Further, two sock filters 29 (cylindrical filters) extending from the air supply chamber 28 for this painting area to one side wall 2w of each painting area 2 are provided, and these sock filters 29 The spray means 4 is disposed at a central portion between the two.

  That is, for each paint area 2, the ventilation air sb received in the air supply chamber 28 for the paint area is supplied from the two sock filters 29 to the upper part of each paint area 2.

  Above the two sock filters 29 in the upper part of each paint area 2, the duct width covering substantially the entire area of each paint area 2 in plan view from the air supply chamber 28 for the paint area one side wall 2w of each paint area 2 A crossover duct 30 extending to the top is provided.

  On the lower surface of the tip of the transition duct 30, an air inlet 31 for an air curtain is formed, which forms an air curtain fa flowing downward along one side wall 2w of each painted area 2.

  That is, part of the ventilation air sb received in the air supply chamber 28 for the paint area is discharged downward from the air supply port 31 for the air curtain through the transition duct 30, so that one side wall 2w of each paint area 2 Form an air curtain fa that flows downward along.

  The air curtain air supply port 31 is disposed coaxially with the spray means 4 in the width direction of each coating area 2, and the width dimension d of the air curtain air supply port 31 (in other words, the width dimension of the air curtain fa ) Is smaller than the width dimension of the coating area side wall 2 w and smaller than the separation dimension of the two sock filters 29.

  Under each paint area 2, air ea discharged downward from paint area 2 with air supply to paint area 2 and air supply to corresponding robot installation area 5 is received, and its discharge air ea A collection unit 32 is provided for separating and collecting the excess spray paint contained.

  Exhaust air ea which has been separated and cleaned by the excess spray paint in the collection portion 32 is discharged through an exhaust passage 33 by an exhaust fan (not shown).

  Therefore, each robot installation area 5 is maintained at a higher pressure than the adjacent painting area 2, and from these robot installation areas 5, the handling opening 24 a formed in the partition wall 24 with the corresponding painting area 2 is used. A laterally or obliquely downward air flow ra flowing into the paint area 2 is formed, and the air flow ra suppresses the scattering of the excess spray paint on the side of the robot installation area 5 in each paint area 2.

  That is, combined with the suppression of the paint scattering by the downward paint spray by the spray means 4, the paint stream 6 is prevented by the air flow ra from suppressing the scattering of the excess spray paint to the robot installation area 5 side. As well as the adhesion of the excess spray paint to the main body of the main body, the adhesion of the excess spray paint to the arm 7 of the coating robot 6 is also effectively prevented.

  Further, by forming an air curtain fa flowing downward along one side wall 2w of each painted area 2, the excess spray paint directed to one side wall 2w of painted area 2 is captured by air curtain fa, whereby each painting is performed. The adhesion of the excess spray paint to one side wall 2w of the area 2 is also reliably prevented.

  That is, as described above, by suppressing the paint scattering by the downward paint spray by the spray means 4, the spread width of the excess spray paint toward one side wall 2w of the paint area 2 is also suppressed small. Even if the width dimension d is small, the paint adhesion to one side wall 2w of each painted area 2 can be effectively prevented.

  In addition, the adjacent coating area 2 is divided by the partition wall 34 or the air curtain, and thereby, the excessive spray paint between the adjacent coating areas 2 (that is, between the preceding coating area and the following coating area) Prevent mutual movement of

  Also, adjacent robot installation areas 5 are opened or separated from each other in the direction in which they are arranged, or are separated by an air curtain so that they are separated between adjacent paint robots 6 (that is, the preceding paint robot and the rear paint robot 6). The delivery of the object W through the delivery unit 20 between the line coating robot and the line coating robot is facilitated.

[Another embodiment]
In the above-described embodiment, as the auxiliary conductive means for grounding, the object W to be coated is spread from the location where the object side connection portion of the conductive means 36 for the object to be coated is connected to the object surface W to be coated. The conductive pressure-sensitive adhesive tape 38 is attached to the object to be coated W. Alternatively, a layer of application of a conductive agent such as a conductive paint may be provided on the object to be coated W as auxiliary conductive means for grounding.

  Further, as shown in FIG. 7, a conductive wire 39 such as a wire is used as an auxiliary conductive means for grounding, and one end portion of the conductive wire 39 is an object to be coated. The conductive wire 39 is fixed on the surface of the article W by the conductive adhesive tape 40a or the like in a state of being electrically connected to the portion where the coating side connection portion is connected, and the other end of the conductive wire 39 is the article It may be fixed on the surface of the coated object W by the conductive adhesive tape 40 b or the like in a state of being electrically connected to the surface a to be coated of W.

  The connection structure between the object to be coated W and the holder 8 is not limited to the connection structure by the suction cup 9 shown in the above-mentioned embodiment, but the object to be coated W is held by a clamp provided on the holder 8 Connection structure, a connection structure connecting the coated object W and the holder 8 by fitting or engagement, or a connection holding the connected state of the object W and the holder 8 by magnetic force or suction force Various forms of connection structures, such as structures, may be employed.

  Further, the connecting structure between the arm tip 7a of the painting robot 6 and the holder 8 is not limited to the connecting structure shown in the above embodiment, for example, a holder provided by a clamp provided at the arm tip 7a Various forms of connection structures, such as a connection structure that holds 8 can be employed.

  In the above embodiment, the conductive spring 37 is mounted on the suction cup 9a provided on the holder 8 as a connecting portion to the object W, and the conductive spring 37 is connected to the object side of the object conductive means 36 for grounding the object. Instead of this, a conductive suction cup is provided on the holder 8 as a connecting part to the object W, and the conductive suction disc itself is used as the object to be coated by the conductive means 36 for grounding the object to be coated. The object-side connection portion of the conductive means 36 for the object to be coated, such as the object-side connection portion, can be variously changed in the structure of the electrical connection to the object W.

  Further, in the above-described embodiment, an example in which the connecting convex portion 14 provided on the holder 8 as a connecting portion to the arm distal end portion 7 a of the painting robot 6 is used as the robot side connecting portion of the conductive member 36 for grounding object However, the present invention is not limited to this, and various changes in the structure of the electrical connection structure for the ground state portion of the painting robot 6 can be made at the robot side connection portion of the conductive means 36 for the object ground.

  Furthermore, in the above embodiment, the connecting portion of the holder 8 to the object W is the object-side connecting portion of the conductive means 36 for grounding the object, and the holder for the arm tip 7 a of the painting robot 6 Although an example in which the connecting portion of 8 is used as the robot-side connecting portion of the conductive means 36 for grounding the object to be coated has been shown, instead of this, a portion of the holder 8 other than the connecting portion to the object W is for grounding the object It may be an object-to-be-coated connection portion of the conductive means 36.

  In that case, the object-side connection portion of the object earthing conductive means 36 has a structure in which the object W is connected to the object W by manual operation or the connection of the holder 8 to the object W is made. It may be any structure of the structure automatically connected to the substrate W.

  Similarly, in the holder 8, the portion other than the connecting portion of the painting robot 6 to the ground end portion 7 a is connected with the object 8 in the object-connected state from the connecting state to the arm end portion 7 a of the preceding painting robot 6. An object to be switched from the electrical connection state to the ground state location of the previous painting robot 7 to the electrical connection state to the ground location area of the subsequent painting robot 6 as the state of connection to the arm tip 7a of 6 is shifted to It may be a robot side connection portion of the grounding conductive means 36.

  The ground state location of the painting robot 6 that electrically connects the robot side connection part of the conductive means 36 for grounding the object is not limited to the arm tip 7 a of the painting robot 6, and the arm tip of the painting robot 6 It may be a place other than 7a.

  In the above-described embodiment, the metal pipe material as a holder forming member located halfway between the connecting portion for the object W and the connecting portion for the arm tip 7 a of the painting robot 6 in the holder 8 is held. In the conductive member 36 for grounding the object to be mounted mounted on the tool 8, an example is shown in which it is used as an intermediate conductive portion for electrically connecting the object-side connector and the robot-side connector. The intermediate conductive portion for electrically connecting the object-side connection portion and the robot-side connection portion in the coating material grounding conductive means 36 may be formed of a dedicated conductive material different from the holder forming member.

  In the embodiment described above, in order to transfer the connected body of the object to be coated W and the holder 8 between the painting robots 6, the connected body of the object to be coated W and the holder 8 is in the process of the delivery. An example is shown where the delivery unit 20 is held, but instead, the delivery unit 20 is omitted and the connected body of the object W and the holder 8 is handed over from the preceding coating robot 6 to the following coating robot 6 It may be delivered directly.

  The electrostatic coating facility according to the present invention can be applied not only to resinous bumpers of automobile parts but also to electrostatic coating on various substrates W, and also ensures the substrates to be delivered between painting robots. In order to provide a ground state, the present invention can be applied not only to the case where the substrate is nonconductive but also to the case where the substrate is conductive.

  The present invention is any electrostatic coating equipment that sequentially applies a plurality of electrostatic coatings to a substrate while adopting a transport mode of delivering the substrate between the painting robots. It can be applied to electrostatic coating equipment for

6 Paint robot 7a Arm tip part, ground state part 8 Holder W coated object 4b to 4d Electrostatic coating machine 36 Conductive means for workpiece earth 14 Connecting part to arm tip part, connecting convex part, robot side connection part 9a Connecting part to the object to be coated, suction cup, object to be coated side connecting portion 37 spring, object to be coated side connecting portion 38 auxiliary conductive means for grounding, conductive adhesive tape 39 auxiliary conductive means for grounding, conductive wire

Claims (8)

The object to be coated is connected to the tip end of the arm of the previous coating robot via a holder, and the connected object between the object to be coated and the holder is held by the previous coating robot. Apply a preliminary electrostatic coating to the paint,
Subsequent to the preceding electrostatic coating, the connection between the object to be coated and the holder is maintained, and the holding tool is connected to the arm end of the previous coating robot, and the arm end of the following robot is connected Apply the following electrostatic coating to the object to be coated by the subsequent electrostatic coating machine in a state in which the connected body of the object to be coated and the holder is held by the subsequent coating robot while being shifted to the coupled state with respect to Electrostatic coating equipment,
The holder is provided with a conductive means for grounding the object to be coated, which electrically connects the object-side connection portion to the object connected to the holder;
The conductive member for grounding the object to be coated is moved as the holder in the object-connected state shifts from the connection state to the arm tip of the preceding painting robot to the connection state to the arm tip of the subsequent painting robot. An electrostatic coating facility in which the robot side connection unit is switched from the electrical connection state to the ground state portion of the preceding painting robot to the electric connection state to the ground state portion of the subsequent painting robot.   The electrostatic coating equipment according to claim 1, wherein the connecting portion of the holder to the object to be coated is the object-side connecting portion of the conductive means for grounding the object to be coated. As a connecting portion of the holder with respect to the object to be coated, a suction cup for adsorbing the object to be coated is provided in the holder;
A state in which the suction disk is in electrical contact with the object as it is attracted to the object and elastically deformed to the contraction side as the object-side connection portion of the conductive means for the object earth. The electrostatic coating equipment according to claim 2, wherein the suction cup is provided with a conductive spring which elastically deforms on the compression side. As a connecting portion of the holder to the object to be coated, a conductive suction cup to be adsorbed to the object to be coated is provided on the holder;
The electrostatic coating equipment according to claim 2, wherein the conductive suction cup is used as the object-side connection portion of the conductive means for the object-ground. The tip ends of the arms of the preceding painting robot and the following painting robot connected to the holder are made to be the ground state points of the respective painting robots,
The connection part of the said holder with respect to the arm front-end | tip part of each of the said advance coating robot and the said trailing paint robot is made into the said robot side connection part of the electrically conductive means for the said to-be-coated object earth | ground. Electrostatic coating equipment described in the paragraph. In the holder, the holder forming member positioned midway between the connecting portion for the object to be coated and the connecting portions for the leading coating robot and the trailing end of the trailing coating robot is formed of a conductive material.
The holder forming member according to any one of claims 1 to 5, wherein in the conductive member for grounding the object to be coated, the object-to-be-coated side connection portion and the robot side connection portion are electrically connected. Electrostatic coating equipment described in Item 1 below. In the object to be coated, there is provided an auxiliary conductive means for grounding from the location where the object side connection part of the conductive means for the object to be grounded is connected to the surface to be coated of the object to be coated;
The object-to-be-coated side connection portion of the object-to-be-coated earthing conductive means is electrically connected to the auxiliary conductive means for grounding provided on the object to be coated as an electrical connection to the object to be coated The electrostatic coating installation of any one of Claims 1-6.   The conductive adhesive tape attached to the surface of the object to be coated by the auxiliary conductive means for grounding, or a coating layer of a conductive agent applied to the surface of the object to be coated, or the adhesive tape The electrostatic coating equipment according to claim 7, which is a conductive wire fixed to the surface of an object.

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