JP6847131B2 - Automatic painting equipment and painting method - Google Patents

Description

The present invention relates to an automatic coating apparatus and a coating method for injecting paint onto an object to be coated by using a commonly used spray gun as it is.

Conventionally, industrial products such as automobiles and home appliances, or parts and members (objects to be painted) that make up buildings such as buildings and bridges are often automatically painted using a painting device (for example, patents). Reference 1).

However, in the repair painting of automobiles, it is necessary to perform a painting method corresponding to various situations such as the part of the repaired part, the repair method, the condition, the vehicle type, and the characteristics of the paint. Therefore, general-purpose mechanization is difficult, and it is necessary to select various types of spray guns, and the current situation is that the work is performed manually by people who are familiar with the characteristics of the spray guns.

Japanese Unexamined Patent Publication No. 2016-083607

By the way, in repair painting, it is necessary to reproduce the so-called "painted skin" around the repaired portion in the painting of the repaired portion. However, it is difficult to reproduce this painted skin by manual painting work. Further, in the manual painting work, there is a problem that the quality such as the finish and the film thickness varies, and the physical variation due to the joint coating also occurs, resulting in unstable quality.

For this reason, in the past, in order to make this difference in painted skin inconspicuous, in addition to skin adjustment, it was necessary to remove dust and correct sagging (painting unevenness), which increased labor and loss time. There is a problem that the efficiency is lowered, the labor cost for re-correction, and the material cost such as waste paint are increased.

Therefore, the present invention solves the above-mentioned problems, and reduces the labor and loss time required for removing dust and correcting uneven coating by improving the reproducibility of the coated surface in repair coating of automobiles and the like. It is an object of the present invention to provide an automatic coating apparatus and a coating method capable of performing the coating.

In order to solve the above problems, the present invention is an automatic coating device that injects paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A horizontal drive mechanism that reciprocates the spray gun mounting portion in the horizontal direction,
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit is provided.
The vertical drive mechanism is arranged along a vertically erected base.
The base portion is arranged at one end of the horizontal drive mechanism.
A vertically erected support is arranged on the other end side of the horizontal drive mechanism.
A work space is formed between the base portion and the support.
The spray gun is characterized in that it can be moved up, down, left and right in the work space.
Further, the present invention is an automatic coating apparatus for injecting paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit.
A horizontal track portion that guides the spray gun mounting portion in the horizontal direction, and a horizontal track portion.
A fixing jig fixed to the horizontal pedestal at predetermined intervals,
The screw part screwed into the screw hole of each of the fixing jigs,
With the connecting portion connected to the screw portion and fixed to the horizontal track portion,
With
The curved state of the horizontal track portion is adjusted and held by changing the length from the screwed portion to the connecting portion with respect to the fixing jig.
Further, the present invention is an automatic coating apparatus for injecting paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A horizontal drive mechanism that reciprocates the spray gun mounting portion in the horizontal direction,
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit.
A vertical track portion that guides the spray gun mounting portion in the vertical direction, and a vertical track portion.
A fixing jig fixed to the base body at predetermined intervals,
The screw part screwed into the screw hole of each of the fixing jigs,
With the connecting portion connected to the screw portion and fixed to the vertical track portion,
With
The curved state of the vertical track portion is adjusted and held by changing the length from the screwed portion to the connecting portion with respect to the fixing jig.
In the above invention, a trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit, a horizontal drive mechanism or a vertical drive mechanism, and a drive control that controls the operation of the trigger drive unit. It is preferable to further include a unit.

Further, the present invention is a coating method using the above-mentioned automatic coating apparatus.
A spray gun mounting step of supporting the spray gun on the spray gun mounting portion and engaging the trigger driving portion with the trigger portion of the spray gun.
While the spray gun mounting portion is moved in the horizontal direction or the vertical direction by the horizontal drive mechanism and the vertical drive mechanism, a driving force is applied to the trigger portion by the trigger drive portion, and the paint nozzle is used to paint the object. It is characterized by including a drive control step of injecting paint onto an object.
Further, the present invention is a coating method using the above-mentioned automatic coating apparatus.
In the work space, the worker grabs the spray gun and puts a finger on the trigger portion to make the worker's body movement follow the movements of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive portion.
It is characterized by that.

According to these inventions, the spray gun is automatically moved in the horizontal and vertical directions by the driving force from a power source such as a motor, and the trigger portion is driven by the trigger driving portion to automatically inject paint. It is possible to accurately reproduce the coated skin by avoiding variations in quality such as finish and film thickness and physical variations due to joint coating. As a result, the coating quality can be stabilized.

In addition, since the spray gun can be detachably attached to the spray gun mounting part, the spray gun can be removed and replaced with another spray gun, and various commercially available general spray guns can be used. it can. As a result, according to the present invention, it is possible to select various types of spray guns corresponding to various situations such as a part of a repaired portion, a repair method thereof, a state, a vehicle type, and characteristics of a paint.

In the above invention, the trigger driving unit is moved forward and backward while being in contact with the trigger portion, and the trigger engaging portion that presses or releases the trigger portion and the trigger engaging portion are moved forward and backward while being in contact with the trigger portion. It is preferable to further include a trigger drive range setting mechanism for setting the drive range.

In this case, a commercially available spray gun can be easily adapted to this device because the trigger engaging portion can be made to move by imitating the movement of the fingertip of the person who holds the trigger and the driving range can be freely set. It is possible to easily match the characteristics of each company's spray gun with various painting conditions.

In the above invention, the horizontal drive mechanism includes a horizontal track portion that guides the spray gun mounting portion in the horizontal direction, a horizontal track holding portion that holds the curved state of the horizontal track portion, and a curved state by the horizontal track holding portion. It is preferable to further include a horizontal orbit adjusting unit for adjusting the above.

In this case, by bending the horizontal track portion to match the horizontal curve of the surface of the object to be coated, painting is performed at a spray gun distance and moving speed suitable for the horizontal curve of the surface of the object to be coated. be able to. At this time, since the movement trajectory of the spray gun can be set by adjusting the curved state of the horizontal track portion, it is possible to easily visually check and adjust the movement trajectory in the field work without requiring complicated operations and knowledge. it can.

In the above invention, the vertical drive mechanism has a vertical track portion that guides the spray gun mounting portion in the vertical direction, a vertical track holding portion that holds the curved state of the vertical track portion, and a curved state by the vertical track holding portion. It is preferable to further include a vertical trajectory adjusting unit for adjusting.

In this case, by bending the vertical track portion to match the vertical curve of the surface of the object to be coated, painting is performed at a spray gun distance and moving speed suitable for the vertical curve of the surface of the object to be coated. be able to. At this time, since the movement trajectory of the spray gun can be set by adjusting the curved state of the vertical track portion, it is possible to easily visually check and adjust the movement trajectory in the field work without requiring complicated operations and knowledge. it can.

In the above invention, a rotating portion that rotates the injection direction of the spray gun up and down, a rotation control track portion that maintains a curved state corresponding to the vertical curvature of the surface of the object to be coated, and the rotation. A rotation control track holding portion that holds the curved state of the control track portion, a rotation control track adjusting section that adjusts the curved state of the rotation control track portion, and a spray gun mounting portion in the vertical direction. It is preferable to further include a rotation control unit that detects the bending state of the rotation control track portion according to the movement of the rotation control unit and rotates the rotation unit according to the detected bending state.

In this case, the angle of the spray gun suitable for the vertical curve of the surface to be coated is adjusted by bending the rotation control track portion so as to match the vertical curve of the surface of the object to be coated. Can be done. At this time, since the change in the rotation angle of the spray gun can be set by adjusting the bending state of the rotation control track portion, the movement trajectory in the field work can be visually confirmed and adjusted without requiring complicated operations and knowledge. Can be done easily.

Further, in the above invention, the vertical drive mechanism is arranged along a vertically erected base portion, and the base portion is arranged at one end of the horizontal drive mechanism and on the other end side of the horizontal drive mechanism. A vertically erected support is arranged, a work space is formed between the base portion and the support, and the spray gun can move up, down, left and right in the work space. Is preferable.

In this case, in the work space, the worker grabs the spray gun and puts his finger on the trigger part to follow the movement of the worker to the movement of the spray gun, so that the worker moves during painting. Can be trained.

According to these inventions, in repair painting of automobiles and the like, the paint is automatically sprayed while automatically moving the spray gun in the horizontal and vertical directions, so that the quality such as finish and film thickness varies, and the coating is spliced. Eliminates the physical variation caused by the paint, stabilizes the paint quality, and improves the reproducibility of the paint skin to adjust the paint skin, remove dust, and correct the sagging (painting unevenness). It is possible to reduce labor costs and material costs such as waste paint.

It is a perspective view which looked at the automatic coating apparatus which concerns on embodiment from the left front. It is a perspective view which looked at the automatic coating apparatus which concerns on embodiment from the right front. It is a perspective view which looked at the automatic coating apparatus which concerns on embodiment from the right rear side. It is a perspective view which looked at the automatic coating apparatus which concerns on embodiment from the left rear. It is explanatory drawing which shows the basic operation of the automatic coating apparatus which concerns on embodiment. It is a top view which shows the back-and-forth movement at the time of the horizontal movement of the spray gun which concerns on embodiment. It is a side view which shows the back-and-forth movement at the time of the vertical movement of the gantry which concerns on embodiment. It is a perspective view which shows the trigger operation of the spray gun which concerns on embodiment. It is a perspective view which shows the vertical rotation of the spray gun which concerns on embodiment. It is a top view which shows the vertical rotation of the spray gun which concerns on embodiment. It is explanatory drawing which shows the operation at the time of setting the vertical rotation of the spray gun which concerns on embodiment. It is a perspective view which shows the back-and-forth movement mechanism at the time of the horizontal movement of the spray gun which concerns on embodiment. It is a top view which shows the back-and-forth movement mechanism at the time of the horizontal movement of the spray gun which concerns on embodiment. It is a top view which shows the control panel which concerns on embodiment. It is a front view which shows the tilt operation of the horizontal pedestal which concerns on embodiment. It is a front view which shows the operation at the time of accommodating the horizontal pedestal which concerns on embodiment. It is explanatory drawing which shows the movement locus of the spray gun which concerns on embodiment. It is a perspective view which looked at the automatic coating apparatus which concerns on a modification example from the left front. It is a front view of the automatic coating apparatus which concerns on the modification. It is a side view of the automatic coating apparatus which concerns on modification 1. FIG. It is a perspective view of the automatic coating apparatus for toning which concerns on change example 2. FIG.

(Basic configuration of automatic painting equipment)
Hereinafter, the automatic coating apparatus according to the embodiment of the present invention will be described in detail with reference to the drawings. 1 to 4 are perspective views of the automatic coating apparatus 1 according to the embodiment of the present invention.

As shown in these figures, the automatic coating device 1 of the present embodiment includes a spray gun mounting portion 11 on which the spray gun 10 is mounted, a lateral R advancing / retreating mechanism 17 that supports the spray gun mounting portion 11 so as to be able to advance and retreat, and a spray. A horizontal drive mechanism 12 for moving the gun 10 in the horizontal direction, an elevating mechanism 13 for raising and lowering the spray gun 10 in the vertical direction, and a base portion 15 serving as a main body of the apparatus are provided. Further, a control panel 20 as shown in FIG. 14 is connected to the automatic painting device 1, so that drive control and operation setting of the automatic painting device 1 can be performed.

The base portion 15 is a device main body that supports each mechanism described later, and is arranged radially from the base main body 151 having a long rectangular shape in the vertical direction and the bottom portion 152 of the base main body 151 in the horizontal direction. It has four legs 153 (153a, 153b).

The side of the base body 151 that faces the object to be painted is the front side, and the elevating mechanism 13 and the horizontal drive mechanism 12 for moving the spray gun 10 up, down, left, and right are arranged on this front side, and the center of gravity of the entire automatic painting device 1 is arranged. Is biased toward the front side, so that the leg portion 153a on the front side is longer than the leg portion 153b on the back side and is set to project toward the front side.

Further, on the front surface of the base body 151, an elevating rack 131 for elevating and lowering the vertical drive unit 132 of the elevating mechanism 13 is extended in the vertical direction over the vertical direction, and the elevating mechanism 13 is vertically driven along the elevating rack 131. The unit 132 can be raised and lowered. The elevating rack 131 is a linear gear having straight tooth-shaped teeth, and the step motor of the vertical drive unit 132 is meshed with the rack, and the vertical drive unit 132 is moved up and down by the rotational drive of the step motor. Further, a vertical curved rail 181 of the vertical R advancing / retreating mechanism 18 is arranged on the right side surface of the base main body 151, and a curved rail 141 for rotation control of the gun angle adjusting mechanism 14 is arranged on the other left side surface.

The control panel 20 is a device for setting and controlling the operation of each mechanism provided in the present device, and is electrically connected to the base main body 151 and other mechanical parts via a cable (not shown). There is. As shown in FIG. 14, on the operation surface of the control panel 20, direction buttons 23a to 23d for instructing the vertical and horizontal movement of the spray gun 10 and the speed and movement in the horizontal direction (x direction in the figure) of the spray gun 10 are provided. A horizontal movement setting unit 21 that sets the distance and movement range, a vertical movement setting unit 22 (22a to 22c) that sets the pitch of the vertical drive unit 132, and a trigger that sets the drive range and drive amount of the trigger drive mechanism 16. The setting knobs 24a and 24b, the hold switch 25, the main control buttons 28 (28a to 28d) for controlling a series of operations, and the main power switch 27 are arranged.

The direction buttons 23a to 23d are switches for arbitrarily moving the horizontal drive mechanism 12 and the elevating mechanism 13 by the operator, and the spray gun 10 moves up, down, left and right while the switch is pressed. The horizontal movement setting unit 21 has a dial 21c for setting the movement speed of the horizontal slider 122, a display board 21a for displaying the set speed, a movement direction changeover switch 21d, and a mode switch 21b for switching between the execution state and the standby state. Have.

The vertical movement setting unit 22 includes left and right up / down switches 22a / 22c for switching the presence / absence of movement at the right end / left end of the reciprocating path of the vertical drive unit 132, and a dial 22b for adjusting the pitch of the down / up step. When both the left and right elevating switches 22a and 22c are turned on, as shown in FIG. 17A, the elevating operation is executed on both the left and right, and the elevating operation is performed at both the outward end point and the return end point, and as a result, the horizontal slider 122 It descends and rises in a zigzag manner. When only one of the left and right elevating switches 22a and 22c is turned on, as shown in FIGS. (B) and (c), the elevating operation is executed only on either one of the left and right switches turned on, and the horizontal slider. The 122 reciprocates at the same height and then moves up and down at each end point. When both the left and right lift switches 22a and 22c are turned off, as shown in FIG. 3D, the lift operation is not executed on either the left or right side, and the horizontal slider 122 keeps reciprocating at the same height. It becomes. Note that, in FIG. 17, the control of descending while reciprocating from top to bottom to the left and right is illustrated, but for example, control of reciprocating from bottom to top and reciprocating to ascending is also possible.

The trigger setting knob 24a is an adjustment knob for setting the front-rear movement amount and the movement range of the trigger engaging portion 161, and sets the drive range of the servomotor portion 162 according to the maximum value and the minimum value of the operation amount. Specifically, the knob 24a sets the maximum displacement of the trigger engaging portion 161 to the rear, and the knob 24b sets the maximum displacement to the front (minimum displacement to the rear). The hold switch 25 is a switch for switching between holding the trigger and releasing it during vertical movement. The main control buttons 28a to 28d include a start button 28a, a stop button 28b, a standby button 28c, and a spray injection button 28d. The start button 28a and the stop button 28b are buttons for starting / stopping the repeated operation of horizontal movement and vertical movement set by the horizontal movement setting unit 21 and the vertical movement setting units 22a to 22c.

The spray gun 10 is an instrument that sprays paint onto an object to be coated to paint the object to be coated. Specifically, as shown in an enlarged view in FIG. 8, the spray gun 10 has a paint nozzle 10a for ejecting paint at the tip of the gun body 101, and opens and closes the flow path of the paint leading to the paint nozzle 10a. It has a trigger 10c that opens and closes the needle valve 10b, which is a valve. A grip 10d is attached to the lower part of the gun body 101 so that an operator can hang a finger on the trigger 10c by grasping the grip 10d. By pulling the trigger 10c while holding the grip 10d and holding the gun body 101, the needle valve 10b retracts and compressed air is ejected, and the negative pressure caused by this causes the paint in the tank 102 to be ejected from the paint nozzle 10a. Will be done. As the spray gun 10, a general commercially available product can be used, and the spray gun 10 is appropriately selected according to various situations such as the repaired part, the repair method, the condition, the vehicle type, and the characteristics of the paint. Attached to the device.

The spray gun 10 constitutes a part of the automatic painting device 1 by being attached to the spray gun mounting portion 11. The spray gun mounting portion 11 is a portion that detachably supports the spray gun 10, includes a holder portion 111 that detachably grips the grip 10d of the spray gun 10, and is detachably engaged with the trigger 10c to trigger the trigger. A trigger drive mechanism 16 that applies a driving force to 10c is provided. The holder portion 111 is a jig that detachably fixes the grip 10d, and in addition to a clip mechanism and a vise mechanism that sandwich and hold the grip 10d, an auxiliary member such as an adapter that is fitted to the grip 10d is a strong magnet. It also includes indirect fixing means such as detachably fixing with a fixture or the like.

The trigger 10c is a mechanism that grips the trigger 10c of the spray gun 10 like a human finger, and moves forward and backward while being in contact with the trigger 10c to press or release the trigger 10c, and a trigger engaging portion 161. A servomotor portion 162 that moves the trigger engaging portion 161 back and forth is included. The trigger engaging portion 161 is a member obtained by bending the rod member into an L shape, and is formed so as to reach the trigger 10c from the servomotor portion 162 arranged behind the spray gun 10 so that the bent portion is caught by the trigger 10c. It is arranged in the above and can be moved back and forth by the servo motor unit 162.

Further, in the present embodiment, the control panel 20 constitutes a part of the trigger drive range setting mechanism, and the trigger engaging portion 161 moves back and forth with respect to the servomotor portion 162 on the control panel 20 while contacting the trigger 10c. The drive range is set. As a result, by moving the trigger engaging portion 161 back and forth, the trigger engaging portion 161 can move in a manner similar to the fingertip of the person holding the trigger.

The rear end side of the spray gun mounting portion 11 is connected to the lateral R advancing / retreating mechanism 17, and the connecting portion is connected to a gun as a rotating portion that rotates the injection direction of the spray gun 10 up and down. An angle actuator 144 is arranged, and as shown in FIG. 9, the spray gun mounting portion 11 is raised and lowered via the gun angle actuator 144. The gun angle actuator 144 is a drive source that constitutes a part of the lateral R advancing / retreating mechanism 17, and is rotated up and down based on control by the control panel 20 to move the spray gun mounting portion 11 up and down with respect to the advancing / retreating arm 172. To look down on.

The advancing / retreating arm 172 is a rod-shaped support member that moves the spray gun mounting portion 11 including the spray gun 10 back and forth in the paint spraying direction of the spray gun 10. It is connected. The horizontal drive mechanism 12 is a mechanism for sliding and moving the spray gun 10 in the horizontal direction (x direction in the drawing) orthogonal to the injection direction of the spray gun 10 along the straight rail 121 laid on the horizontal gantry 123. .. A horizontal slider 122 is slidably engaged with the straight rail 121, and an advancing / retreating arm 172 is connected to the horizontal slider 122.

When the horizontal slider 122 slides in the horizontal direction along the straight rail 121, the advancing / retreating arm 172 is also moved in the horizontal direction following this, and as a result, the spray gun 10 connected to the tip of the advancing / retreating arm 172 is connected. Will be moved horizontally. As the advancing / retreating arm 172 moves in the horizontal direction, the advancing / retreating arm 172 is moved back and forth in the y direction in the figure following the curvature of the horizontally curved rail 171 by the lateral R advancing / retreating mechanism 17, and the injection position of the spray gun 10 is moved back and forth. It has become so.

On the other hand, the rear end side of the horizontal gantry 123 is connected to the pedestal body 151 so as to be vertically movable via the elevating mechanism 13. The elevating mechanism 13 is a drive source that slides the horizontal gantry 123 up and down with respect to the base body 151, and elevates and elevates the horizontal gantry 123 up and down based on control by the control panel 20.

More specifically, an elevating rack 131, which is a linear gear extending in the vertical direction, is provided on the front surface of the base body 151, and the elevating mechanism 13 includes a gear that meshes with the elevating rack 131. It goes up and down by rotating it with a step motor or the like. When the elevating mechanism 13 moves up and down, the horizontal gantry 123 is also moved in the vertical direction (z direction in the figure), and is connected to the horizontal drive mechanism 12 on the horizontal gantry 123 and the tip of the advancing / retreating arm 172 of the horizontal drive mechanism 12. The spray gun 10 is moved up and down.

Further, as the horizontal gantry 123 moves up and down, the vertical R advancing / retreating mechanism 18 moves the advancing / retreating arm 182 of the vertical R advancing / retreating mechanism 18 in the front-rear direction (y direction in the figure), and as a result, advancing / retreating. The spray gun 10 connected to the tip of the arm 182 is slid and moved in the y direction in the drawing. By moving the advancing / retreating arm 182 back and forth, the advancing / retreating arm 182 is moved back and forth in the injection direction (y direction in the drawing) following the curvature of the vertically curved rail 181.

Further, as the horizontal gantry 123 moves up and down, the gun angle adjusting mechanism 14 moves the advancing / retreating arm 142 of the gun angle adjusting mechanism 14 in the front-rear direction (y direction in the drawing), and as a result, the gun The angle actuator 144 rotates, and the spray gun 10 connected to the tip of the advancing / retreating arm 142 is raised and lowered.

Further, since the paint used in the automatic painting device 1 basically contains a flammable component, it has an explosion-proof structure. This explosion-proof structure includes, for example, a pressure-resistant explosion-proof structure in which even if an explosive gas invades the container of an electric device and explodes inside, the container can withstand the explosion pressure and the external explosive gas does not ignite. In order to prevent electric sparks from being generated during normal operation or in parts where high temperatures should not be generated, a safety-enhanced explosion-proof structure with an increased degree of safety in terms of structure and temperature rise can be mentioned.

(Structure of each part)
The configuration of each of the above parts of the automatic coating apparatus 1 having the above basic configuration will be described in detail.

(1) Horizontal drive mechanism 12
The horizontal drive mechanism 12 is a mechanism for reciprocating the spray gun mounting portion 11 horizontally along the lateral direction (x direction in the drawing) of the object to be coated, and is a horizontal mount 123, a straight rail 121, and a horizontal slider 122. It is composed of and.

The horizontal pedestal 123 is a horizontal plate-like member extending along the lateral direction (x direction in the drawing) of the object to be coated, and is supported by the vertical drive unit 132 of the elevating mechanism 13 on the lower surface side in the vertical direction. That is, it is moved up and down along the vertical direction (z direction in the figure) of the object to be coated. Further, the horizontal gantry 123 is connected to the vertical drive unit 132 so as to slide and move relatively horizontally in the front-rear direction, that is, in the direction of contact and separation with respect to the object to be coated (y direction in the drawing).

Further, on the lower surface side of the horizontal gantry 123, an advancing / retreating arm 182 is provided so as to project rearward and face the right side surface of the base body 151. The advancing / retreating arm 182 constitutes a part of the vertical R advancing / retreating mechanism 18, and as the horizontal gantry 123 moves up and down, the advancing / retreating arm 182 follows the curvature of the vertically curved rail 181 in the front-rear direction (y direction in the drawing). Advance and retreat. As the advancing / retreating arm 182 advances / retreats, the mechanisms on the vertical drive unit 132 and the vertical drive unit 132 are collectively slid and moved in the y direction in the drawing.

Further, a rotating shaft is provided at the connecting portion between the horizontal pedestal 123 and the vertical drive unit 132 so as to be horizontal in the direction (y direction) toward the object to be coated Ob1. The horizontal pedestal 123 is rotatably supported by an axis, and as shown in FIG. 15, the moving direction of the horizontal slider 122 is tilted. As a result, the horizontal slider 122 can be reciprocated diagonally with respect to the horizontal. In addition, using this rotation mechanism, as shown in FIG. 16, the horizontal gantry 123 can be rotated by 90 ° and can be erected along the height direction (z direction) of the main body 151, and the space required for storage can be reduced. can do.

The straight rail 121 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal pedestal 123, and is a groove extending linearly along the lateral direction (x direction in the drawing) of the object to be coated. It is in the shape.

Limit switches are provided at both ends (starting end, ending) of the straight rail 121 as a regulating means for setting the sliding range of the horizontal slider 122. This limit switch is a pair of members that are movably arranged at positions that are the start and end points of the horizontal slider 122 on the straight rail 121. For example, a magnet or a convex portion that is movably bonded to the inside of the straight rail 121. The horizontal slider 122 is fixed at an arbitrary position to be inverted.

Further, the bottom portion of the groove-shaped straight rail 121 communicates with a belt case 124 provided on the lower surface of the horizontal pedestal 123, and the belt case 124 is circulated along the longitudinal direction of the straight rail 121. The endless orbital belt 125 is hung around the reels at both ends, and is orbitally driven by a motor or the like. The horizontal slider 122 is a drive unit that is slidably engaged with the groove-shaped straight rail 121 and reciprocates along the straight rail 121 in the lateral direction (x direction in the drawing).

The horizontal slider 122 reciprocates left and right as the orbital drive of the orbiting belt 125 rotates in the forward and reverse directions. The orbiting belt 125 is an endless (annular) member such as a belt, a chain, or a wire, is hung on a reel or a motor pinion, and is driven to orbitally by driving these drive sources. The moving range and moving speed of the horizontal slider 122 are set and controlled by the control panel 20. The horizontal slider 122 may be driven by a method in which a power source such as a step motor is built in the horizontal slider 122 and the slider is self-propelled.

Further, an advancing / retreating arm 172 is connected to the upper part of the horizontal slider 122, and the horizontal slider 122 slides in the horizontal direction along the straight rail 121, so that the advancing / retreating arm 172 also slides in the horizontal direction. With the movement of the advancing / retreating arm 172 in the horizontal direction, the advancing / retreating arm 142 is moved back and forth in the y direction in the drawing following the curvature of the horizontally curved rail 171 by the lateral R advancing / retreating mechanism 17, and the injection position of the spray gun 10. Is back and forth.

(2) Lifting mechanism 13
The elevating mechanism 13 is a mechanism for moving the spray gun mounting portion 11 in the vertical direction along the lateral direction (x direction in the drawing) of the object to be coated, and is composed of the elevating rack 131 and the vertical drive portion 132. To.

The elevating rack 131 is a vertical track portion that vertically guides the spray gun mounting portion 11 on the front surface of the base body 151, and extends linearly along the vertical direction (z direction in the drawing) of the object to be coated. It is installed. The vertical drive unit 132 is a drive unit that is slidably engaged with the elevating rack 131 and elevates and elevates along the elevating rack 131 in the vertical direction (z direction in the drawing) of the object to be coated. Specifically, the vertical drive unit 132 includes a gear that meshes with an elevating rack 131 provided on the front surface of the base body 151, and the vertical drive unit 132 moves up and down by rotating this gear with a step motor or the like. The vertical drive unit 132 is driven up and down by a power source such as a step motor built in the vertical drive unit 132. As the mechanism for raising and lowering the drive, in addition to a method in which a power source is built in the vertical drive unit 132, a chain mechanism or a wire mechanism for moving the vertical drive unit 132 may be provided on the base body 151 side. it can. The movement range, movement speed, and movement timing of the vertical drive unit 132 are set and controlled by the control panel 20.

When the vertical drive unit 132 moves up and down, the horizontal pedestal 123 supported by the vertical drive unit 132 is also moved in the vertical direction (z direction in the figure), and the horizontal drive mechanism 12 on the horizontal pedestal 123 and its horizontal drive are also moved. The spray gun 10 connected to the mechanism 12 is moved up and down at once. Further, the horizontal gantry 123 is also moved up and down by raising and lowering the vertical drive unit 132, and along with the vertical movement of the horizontal gantry 123, the advancing / retreating arm 182 follows the curvature of the vertically curved rail 181 in the front-rear direction (y direction in the drawing). Is advanced and retreated. As the advance / retreat arm 182 advances / retreats, the mechanisms on the vertical drive unit 132 and the vertical drive unit 132 are collectively slid in the y direction in the drawing, and the injection position of the spray gun 10 is moved back and forth.

(3) Lateral R advance / retreat mechanism 17
As shown in FIG. 6, the lateral R advancing / retreating mechanism 17 is accompanied by the horizontal movement of the horizontal slider 122 along the horizontal direction, that is, the lateral direction (x direction in the drawing) of the object to be coated Ob1, in the horizontal direction of the spray gun 10. It is a mechanism that changes the movement trajectory of. Specifically, the lateral R advancing / retreating mechanism 17 maintains the curved state of the horizontally curved rail 171 and the horizontally curved rail 171 which are horizontal orbital portions that guide the spray gun mounting portion 11 in the horizontal direction, and the curved state of the horizontally curved rail 171. It is composed of a curved rail holding portion 173 for adjusting the state and an advancing / retreating arm 172.

The horizontally curved rail 171 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal gantry 123, and is extended so as to be bendable along the lateral direction (x direction in the drawing) of the object to be coated Ob1. ing. The horizontally curved rail 171 is made of a material and a thickness that can be bent, and for example, an iron plate, hard plastic, or the like can be used. The horizontally curved rail 171 of the present embodiment is fixed on the horizontal pedestal 123 by four curved rail holding portions 173.

The curved rail holding portion 173 has a screw portion 173a as a horizontal track adjusting portion, a fixing jig 173b as a horizontal track holding portion, and a connecting portion 173c, respectively. Each fixing jig 173b is fixed on the horizontal gantry 123 at predetermined intervals in the x direction, and a portion provided with a screw hole is erected perpendicularly to the upper surface of the horizontal gantry 123, and a screw portion 173a is provided in the screw hole. It is screwed in the y direction. The connecting portion 173c is a support member fixed to the lower end of the horizontally curved rail 171 and is connected to the tip of the screw portion 173a and moves back and forth in the y direction according to the screwing position of the screw portion 173a with respect to the fixing jig 173b. Will be done. As a result, the screw portion 173a is screwed into the fixing jig 173b and fixed to the upper surface of the horizontal gantry 123, and the length from the screwed portion to each fixing jig 173b to the connecting portion 173c at the tip is changed. , The horizontally curved rail 171 is installed on the horizontal gantry 123 so as to be curved in the y direction in the drawing.

As shown enlarged in FIGS. 12 and 13, the horizontal slider 122 is slidably engaged with the straight rail 121 and reciprocates along the straight rail 121 in the lateral direction (x direction in the drawing). It is a drive unit that drives. The reciprocating drive of the horizontal slider 122 is performed by a power source such as a step motor built in the horizontal slider 122. As the mechanism for reciprocating the drive, in addition to a method in which the power source is built in the horizontal slider 122, a chain mechanism or a wire mechanism for moving the horizontal slider 122 may be provided in the horizontal pedestal 123. The moving range and moving speed of the horizontal slider 122 are set and controlled by the control panel 20.

Further, an advancing / retreating arm 172 is connected to the upper part of the horizontal slider 122. The advancing / retreating arm 172 is a member that supports the spray gun mounting portion 11, is arranged so as to be orthogonal to the straight rail 121, and is engaged with the horizontal slider 122 so as to be slidable in the x direction. There is. A pair of support rollers 122a and 122b arranged in the front-rear direction (x direction) are arranged on the upper surface of the horizontal slider 122, and the advance / retreat arm 172 is sandwiched between the support rollers 122a and 122b. It follows the guidance of the gripping roller 172a on the rear end side and follows the guidance in the y direction. The gripping rollers 172a and 172a project downward in pairs at the rear end of the lower surface of the advancing / retreating arm 172, and grip the front and back surfaces of the horizontally curved rail 171.

With such a configuration, in the lateral R advancing / retreating mechanism 17, the horizontal slider 122 slides linearly in the horizontal direction (x direction) along the straight rail 121, and the advancing / retreating arm 172 follows this in the horizontal direction. As the advancing / retreating arm 172 moves in the horizontal direction (x direction), the gripping rollers 172a and 172a are moved back and forth in the y direction in the figure following the curvature of the horizontally curved rail 171. As a result, the advancing / retreating arm 172 is moved back and forth in the y direction in the figure, and the injection position of the spray gun 10 is moved back and forth.

(4) Vertical R advance / retreat mechanism 18
As shown in FIG. 7, the vertical R advancing / retreating mechanism 18 moves the spray gun 10 in the vertical direction with the vertical movement of the horizontal gantry 123 in the vertical direction, that is, in the vertical direction (z direction in the drawing) of the object to be coated Ob1. It is a mechanism that changes the locus in the y direction. Specifically, as shown in FIG. 7, the vertical R advancing / retreating mechanism 18 includes a vertically curved rail 181 which is a vertical orbital portion that guides the spray gun mounting portion 11 in the vertical direction (z direction in the drawing), and a vertically curved rail 181. It is composed of a curved rail holding portion 183 that holds the curved state and adjusts the curved state of the vertically curved rail 181, and an advancing / retreating arm 182.

The vertically curved rail 181 is a vertical track portion that guides the horizontal pedestal 123 in the vertical direction on the right side surface 151a of the base body 151, and can be curved along the vertical direction (y direction in the drawing) of the object to be coated Ob1. It has been extended. The vertically curved rail 181 is formed of a material and thickness that can be curved, and for example, an iron plate, hard plastic, or the like can be used. The vertically curved rail 181 of the present embodiment is fixed to the right side surface 151a of the base body 151 by four curved rail holding portions 183.

The curved rail holding portion 183 has a screw portion 183a as a vertical track adjusting portion, a fixing jig 183b as a vertical track holding portion, and a connecting portion 183c, respectively. Each fixing jig 183b is fixed on the right side surface 151a at predetermined intervals in the z direction, and a portion provided with a screw hole is erected perpendicular to the right side surface 151a, and a screw portion 183a is erected in the screw hole. It is screwed in the direction. The connecting portion 183c is a support member fixed to the left end of the vertically curved rail 181, is connected to the tip of the screw portion 183a, and moves back and forth in the y direction according to the screwing position of the screw portion 183a with respect to the fixing jig 183b. Will be done. As a result, the screw portion 183a is screwed into the fixing jig 183b and fixed to the right side surface 151a, and the length from the screwed portion to each fixing jig 183b to the connecting portion 183c at the tip is changed. The vertically curved rail 181 is installed on the right side surface 151a so as to be curved in the y direction in the drawing.

The advancing / retreating arm 182 is a member connected to the horizontal gantry 123, is arranged so as to be orthogonal to the elevating rack 131, and is engaged with the horizontal gantry 123 so as to be slidable in the z direction. The advancing / retreating arm 182 follows the guidance of the gripping rollers 182a and 182a on the rear end side and follows the guidance in the y direction. The gripping rollers 182a and 182a project in pairs from the front and rear toward the right side surface 151a at the rear end of the side surface of the advancing / retreating arm 182, and grip the front and back surfaces of the vertically curved rail 181.

With such a configuration, in the vertical R advance / retreat mechanism 18, the vertical drive unit 132 slides linearly in the vertical direction (z direction) along the elevating rack 131, and the advance / retreat arm 182 also follows this. It is moved in the vertical direction, and as the advancing / retreating arm 182 moves in the vertical direction (z direction), the gripping rollers 182a and 182a are moved back and forth in the y direction in the figure following the curvature of the vertically curved rail 181. The advancing / retreating arm 182 is moved back and forth in the y direction in the drawing, and the injection position of the spray gun 10 is moved back and forth.

(5) Gun angle adjustment mechanism 14
As shown in FIG. 10, the gun angle adjusting mechanism 14 is a curved rail 141 for rotation control as the horizontal gantry 123 moves vertically in the vertical direction, that is, in the vertical direction (z direction in the drawing) of the object to be coated Ob1. It is a control mechanism that detects the curved state by the gun angle sensor 145 and rotates the gun angle actuator 144 according to the detected curved state. Specifically, the gun angle adjusting mechanism 14 is a curved rail 141 for rotation control, which is a vertical track portion that guides the spray gun mounting portion 11 in the vertical direction (z direction in the drawing), and a curved rail 141 for rotation control. It is composed of a curved rail holding portion 143 that holds the state and adjusts the curved state of the rotation control curved rail 141, and an advancing / retreating arm 142.

The rotation control curved rail 141 is a vertical track portion that guides the horizontal pedestal 123 in the vertical direction on the left side surface 151b of the base body 151, and is along the vertical direction (y direction in the drawing) of the object to be coated Ob1. It is extended so that it can be curved. The rotation control curved rail 141 is formed of a material and thickness that can be curved, and for example, an iron plate, hard plastic, or the like can be used. The rotation control curved rail 141 of the present embodiment is fixed to the left side surface 151b of the base main body 151 by four curved rail holding portions 143. In the present embodiment, the rotation control curved rail 141 and the above-mentioned vertical curved rail 181 are provided on the left and right side surfaces of the base main body 151, respectively, and are located at line-symmetrical positions sandwiching the base main body 151. They are arranged so that they are parallel to each other.

The curved rail holding portion 143 has a screw portion 143a as a vertical track adjusting portion, a fixing jig 143b as a vertical track holding portion, and a connecting portion 143c, respectively. Each fixing jig 143b is fixed on the left side surface 151b at predetermined intervals in the z direction, and a portion provided with a screw hole is erected perpendicular to the right side surface 151a, and a screw portion 143a is erected in the screw hole. It is screwed in the direction. The connecting portion 143c is a support member fixed to the left end of the rotation control curved rail 141, is connected to the tip of the screw portion 143a, and is connected in the y direction according to the screwing position of the screw portion 143a with respect to the jig 143b. Moved back and forth. As a result, the screw portion 143a is screwed into the fixing jig 143b and fixed to the left side surface 151b, and the length from the screwed portion to each fixing jig 143b to the connecting portion 143c at the tip is changed. The rotation control curved rail 141 is installed on the left side surface 151b so as to be curved in the y direction in the drawing.

The advancing / retreating arm 142 is a member arranged so as to face the gun angle sensor 145, is arranged so as to be orthogonal to the elevating rack 131, and is engaged with the horizontal mount 123 so as to be slidable in the z direction. Has been done. The advancing / retreating arm 142 follows the guidance of the gripping rollers 142a and 142a on the rear end side and follows the guidance in the y direction. The gripping rollers 142a and 142a project in pairs from the front and rear toward the right side surface 151a at the rear end of the side surface of the advancing / retreating arm 142, and grip the front and back surfaces of the rotation control curved rail 141.

The gun angle sensor 145 is a detector that detects the curved state of the curved rail 141 for rotation control in response to the vertical movement of the spray gun mounting portion 11, and is a detector of a vertical R advancing / retreating mechanism 18 such as a horizontal mount 123. It is separated from each unit and fixed to the vertical drive unit 132, and does not move back and forth (y direction), but moves only in the vertical direction (z direction) together with the vertical drive unit 132. The gun angle sensor 145 has a built-in encoder that measures the moving distance of the advancing / retreating arm 142, and the tip of the advancing / retreating arm 142 is inserted into the gun angle sensor 145 in the horizontal direction (y direction) with respect to the gun angle sensor 145. The relative movement of the advancing / retreating arm 142 is detected and converted into a bending angle (angle in the tangential direction with respect to the vertical direction, an angle in the normal direction, etc.) of the rotation control bending rail 141.

To elaborate on the method of converting the curvature of the rotation control curved rail 141 into a gun angle, two settings are possible in the present embodiment. As shown in FIG. 11A, when the horizontal is 0 ° and the depression / elevation angle of the gun is rotated up and down in the range of elevation angle 45 ° to depression angle 45 ° (−45 °), the angle is used for rotation control. It is set according to the degree of curvature of the curved rail 141. For example, as in the curve line CL1 shown in FIG. 6B, a reference line is set when the depression / elevation angle is 0 °, and the depression / elevation angle is set in proportion to the distance away from the reference line. In this case, the elevation angle of the gun can be visually grasped by the distance from the reference line, and the setting becomes difficult. At this time, as shown in FIG. 6C, the gun angle may be set to the reversal line ReL of the curve line, and the positive / negative of the elevation angle may be reversed with the reversal line ReL as a boundary. In this case, by matching the curvature of the rotation control bending rail 141 with the curvature of the surface of the object to be coated Ob1, the elevation of the gun angle can be adjusted, and the visual setting can be facilitated. Further, as shown in FIG. 6D, the curve line CL1 may be converted so that the normal direction (orthogonal direction) is the gun angle. Also in this case, the elevation of the gun angle can be adjusted by matching the curvature of the rotation control curved rail 141 with the curvature of the surface of the object to be coated Ob1.

With such a configuration, in the gun angle adjusting mechanism 14, the vertical drive unit 132 slides linearly in the vertical direction (z direction) along the elevating rack 131, and the advancing / retreating arm 142 follows this. It is moved in the vertical direction, and as the advancing / retreating arm 142 moves in the vertical direction (z direction), the gripping rollers 142a and 142a are moved back and forth in the y direction in the drawing following the curvature of the rotation control bending rail 141. As a result, the advancing / retreating arm 142 is moved back and forth in the y direction in the drawing, and the relative movement of the advancing / retreating arm 142 in the horizontal direction (y direction) with respect to the gun angle sensor 145 is detected. Is rotated to raise or lower the injection angle of the spray gun 10. Here, the injection direction of the spray gun 10 is controlled to face in a direction orthogonal to the rotation control curved rail 141, that is, a direction orthogonal to the tangential direction of the curve.

(Operation of automatic painting device)
By operating the automatic painting apparatus 1 described above, the painting method of the present invention can be carried out. FIG. 5 is an explanatory diagram showing the basic operation of the automatic painting apparatus 1.

First, a spray gun mounting step is performed in which the spray gun 10 is mounted and supported on the spray gun mounting portion 11 and the trigger engaging portion 161 of the trigger drive mechanism 16 is engaged with the trigger 10c of the spray gun 10. At this time, as the spray gun 10 to be attached, a commercially available general product can be used, and it is appropriately selected according to various situations such as the part of the repaired portion, the repair method, the condition, the vehicle type, and the characteristics of the paint. To.

Next, the control panel 20 sets the operation and the painting start position. Specifically, the horizontal movement setting unit 21 sets the speed and movement distance (movement range) of the spray gun 10 in the left-right direction (x direction in the figure), and the vertical movement setting units 22a to 22c set the vertical drive unit 132. Set the amount of movement per step. At the same time, the drive range and drive amount of the trigger drive mechanism 16 are set by the trigger setting knobs 24a and 24b. Specifically, the maximum displacement of the trigger engaging portion 161 to the rear by the knob 24a is determined according to the characteristics of the selected spray gun 10, the part to be repaired, the repair method, the state, the vehicle type, the characteristics of the paint, and the like. Is set, and the maximum displacement forward (minimum displacement backward) is set with the knob 24b.

Then, while the spray gun mounting portion 11 is moved in the horizontal direction or the vertical direction by the horizontal drive mechanism 12 and the elevating mechanism 13, a driving force is applied to the trigger 10c by the trigger drive mechanism 16, and the object to be coated is applied from the paint nozzle 10a. A drive control step of injecting paint onto Ob1 is executed.

As shown in FIG. 5A, the spray gun 10 is moved up, down, left and right by the direction buttons 23a to 23d on the control panel 20 to set the painting start position. After that, a series of operations is started by pressing the start button 28a of the control panel 20.

When the operation is started, as shown in FIG. 5B, the spray gun mounting portion 11 is horizontally moved by the horizontal drive mechanism 12 along the lateral direction (x direction in the drawing) of the object to be coated. At this time, as shown in FIG. 6, the lateral R advancing / retreating mechanism 17 causes the spray gun 10 to move in the horizontal direction along with the horizontal movement of the horizontal slider 122 along the lateral direction (x direction in the drawing) of the object to be coated Ob1. The movement trajectory of is changed.

Next, as shown in FIG. 5 (b), when the spray gun 10 reaches the movement distance set by the horizontal movement setting unit 21, the horizontal slider 122 stops and moves vertically as shown in FIG. 5 (c). The vertical drive unit 132 is lowered by one step according to the setting by the setting unit 22 (left / right elevating switches 22a, 22c, dial 22b). Upon this descent, as shown in FIG. 7, the vertical R advancing / retreating mechanism 18 accompanies the vertical movement of the horizontal pedestal 123 in the vertical direction (z direction in the figure) of the object to be coated Ob1, in the vertical direction of the spray gun 10. The movement locus is changed in the y direction. In addition to this, as shown in FIG. 10, the gun angle adjusting mechanism 14 is used for rotation control as the horizontal gantry 123 moves vertically in the vertical direction (z direction in the drawing) of the object to be coated Ob1. The curved state of the curved rail 141 is detected by the gun angle sensor 145, and the gun angle actuator 144 is rotated according to the detected curved state.

After that, the horizontal drive mechanism 12 restarts the horizontal movement of the spray gun mounting portion 11 in the opposite direction along the lateral direction (x direction in the drawing) of the object to be coated Ob1, and subsequently repeats the horizontal movement and the downward movement. The coating is automatically repeated over the entire surface of the object to be coated Ob1.

(Change example 1)
The above description of the embodiment is an example of the present invention. Therefore, the present invention is not limited to the above-described embodiment, and various modifications can be made according to the design and the like as long as the technical idea of the present invention is not deviated. In the following modification examples, the same components as those in the above-described embodiment are designated by the same reference numerals, and their functions and the like are the same unless otherwise specified, and the description thereof will be omitted.

For example, in the above-described embodiment, the base body 151 is arranged in the center of the device and the automatic painting device 1 is supported only by the base body 151, but the base body 151 is arranged at one end of the horizontal frame 123. A support 191 standing vertically on the other end side may be arranged to form a gate shape as a whole, and the device may be supported by the base body 151 and the support 191. 18 to 20 are a perspective view, a front view, and a side view of the automatic painting apparatus according to the modified example.

As shown in FIGS. 18 to 20, in the automatic coating apparatus 1'according to the modified example, the base main body 151 is in an upright state by the leg portion 192a extending in the y direction in the figure at the lower part of the base main body 151. It is held and assisted by a support 191 located on the opposite side of the horizontal gantry 123. The support 191 is held in an upright state by a leg portion 192b extending in the y direction in the drawing at its lower portion, and the leg portions 192a and 192b are connected to each other by a connecting member 193. An auxiliary slider 195 that can slide up and down is fitted to the support body 191 to support the other end side of the horizontal gantry 123 via a support member 194 that protrudes horizontally from the auxiliary slider 195. There is. The auxiliary slider 195 is provided with an auxiliary rack 133 as a mechanism for raising and lowering up and down following the vertical drive unit 132. The auxiliary rack 133 is laid along the height direction of the support 191. A gear that rotates and drives in synchronization with the vertical drive unit 132 is built in the auxiliary slider 195, and the gear rotates. As a result, the auxiliary slider 195 moves up and down together with the vertical drive unit 132 to maintain the horizontal state of the horizontal gantry 123.

According to the automatic painting apparatus 1'according to the modified example, the work space S1 is formed between the base body 151 and the support 191 and the spray gun 10 is moved up, down, left and right in the work space S1. The Rukoto. Then, a worker can enter the work space S1, and in the work space S1, the worker grasps the grip 10d of the spray gun 10 and puts his finger on the trigger engaging portion 161 to be horizontal. The body movement is made to follow the operation of the spray gun 10 by the drive mechanism 12, the elevating mechanism 13, the trigger drive mechanism 16, and other mechanisms. This allows the worker to train the body movement during painting.

(Change example 2)
As another example of modification, an automatic coating apparatus for adjustment for performing trial blowing and fine color adjustment is used before starting the coating operation by the automatic coating apparatus 1 or 1'described in the above-described embodiment and modification. You may do so. FIG. 21 is a perspective view of the color matching automatic coating device 4 according to this modified example. The color matching automatic coating device 4 is a small tabletop test spray coating device, and the spray gun 10 to be used in the automatic coating device 1 or 1'described in the above-described embodiment and modification is used as an automatic coating device. It can be removed from 1 or 1'and attached to a small automatic coating device 4 for toning to easily perform trial blowing.

As shown in the figure, in the toning automatic coating device 4 according to this modified example, the spray gun 10 is fixed to the base main body 41 so as to be finely adjustable, and the object to be coated Ob2 side for trial blowing is moved up, down, left and right. The paint is sprayed from the spray gun 10 by moving them relative to each other. The object to be coated Ob2 for test blowing is, for example, a plate of 20 cm × 10 cm, and is formed and installed so as to have the same conditions as the actual coating state.

Specifically, in the automatic toning apparatus 4, the spray gun mounting portion 11, the trigger drive mechanism 16, and the gun angle actuator 144 having the configurations and functions described in the above-described embodiments and modifications are provided with a forward / backward movement slider for fine adjustment. It has a configuration in which it is connected to the base body 41 via a 47 and a forward / backward movement rail 48 for fine adjustment.

The base body 41 according to this modified example is a frame body installed horizontally, and the rear end portions of a pair of horizontal members 41a, 41a arranged in parallel along the y direction in the drawing are in the x direction in the drawing. It is connected by a connecting member 41b extending to the above to form a U-shape. The lower ends of a pair of vertical members 42, 42 erected vertically along the z direction in the drawing are fixed to the front end portions of the horizontal members 41a, 41a, and the horizontal members 41a, 41a and the vertical members 42, respectively. , 42 are L-shaped in side view. A horizontal rail 43 is hung from the upper ends of the vertical members 42, 42 along the x direction in the drawing so as to be parallel to the connecting member 41b, and the upper ends of the pair of vertical members 42, 42 are mutually connected via the horizontal rail 43. Is connected to.

A horizontal movement slider 44 is attached to the horizontal rail 43 so as to move horizontally to the left and right (x direction in the figure). A vertical movement rail 45 is suspended downward from the horizontal movement slider 44 in the vertical direction (z direction in the figure), and the vertical movement slider 46 is vertically (z direction in the drawing) on the vertical movement rail 45. ) Is attached so as to move vertically. The object to be coated Ob2 for test blowing is attached to the vertical movement slider 46 so as to face the spray gun 10. The horizontal movement slider 44 and the vertical movement slider 46 have a built-in driving means for sliding movement, and the operation is controlled by the control unit 40.

The fine adjustment forward / backward movement rail 48 is a guide member extending from the connecting member 41b along the y direction in the drawing so as to face the installation location of the object to be coated Ob2. The adjustment forward / backward movement slider 47 is fitted so as to be slidable along the front-back direction (y direction in the drawing). A holder portion 111 is rotatably connected to the forward / backward movement slider 47 for fine adjustment via a gun angle actuator 144, and a grip 10d of the spray gun 10 is attached to and detached from the holder portion 111 by a mechanism such as a magnet or a clip. It is designed to be fixed as possible. Further, a trigger engaging portion 161 driven by the servo motor portion 162 is attached to the holder portion 111, and the trigger engaging portion 161 also rotates up and down following the vertical rotation by the gun angle actuator 144. It is designed to do.

With these mechanisms, by attaching the grip 10d of the spray gun 10 to the fine adjustment forward / backward movement slider 47, the position of the spray gun 10 can be moved back and forth along the fine adjustment front / rear movement rail 48, and the gun angle actuator can be used. With 144, the injection direction can be rotated up and down (swing). The back-and-forth movement, the swing of the spray gun 10, the injection operation, and the up / down / left / right drive of the object to be coated Ob2 can be remotely controlled by the control unit 40. This remote control function may be omitted as appropriate depending on the target drive mechanism, and may be manually operated as necessary.

In this modified example, such an automatic coating device 4 for toning is installed in the work space 3a in the exhaust device 3 to perform trial blowing, fine toning, and the like. The exhaust device 3 is a local exhaust device that sucks the excess paint sprayed from the spray gun 10 toward the object to be coated Ob2 behind the object to be coated Ob2 and exhausts it to the outside, and is a work space 3a. The air is exhausted to the outside by the exhaust unit 31 at the upper part of the air body in the work space 3a via the filter unit 32 installed behind the air. The base body 41 may be provided with engaging means for fixing the exhaust device 3 in the work space 3a.

According to the toning automatic coating device 4 according to the modified example, the spray gun 10 that actually paints in the automatic coating device 1 or 1'described in the embodiment and the modified example is removed and a simple trial is performed. You can blow. Therefore, the spray gun 10 can be installed in the automatic painting device 1 or 1'as it is after performing fine color adjustment under the same conditions as the actual painting environment, and it is easy to confirm that there is no color difference. be able to.

(Action / effect)
According to the embodiment described above, the spray gun 10 is automatically moved in the horizontal direction and the vertical direction by the driving force of the motor or the like, and the trigger portion is driven by the trigger driving portion to automatically control the injection of the paint. Therefore, it is possible to avoid variations in quality such as finish and film thickness, and physical variations due to joint coating, and to accurately reproduce the coated skin. As a result, the coating quality can be stabilized.

Further, since the spray gun 10 can be detachably attached to the spray gun mounting portion 11, the spray gun can be removed and replaced with another spray gun, and various commercially available general spray guns can be used. Can be done. As a result, according to the present embodiment, it is possible to select various types of spray guns corresponding to various situations such as the part of the repaired portion, the repair method, the state, the vehicle type, and the characteristics of the paint.

Further, in the present embodiment, the trigger engaging portion 161 is made to move to imitate the movement of the fingertip of the person who holds the trigger, and the drive range thereof can be freely set by the control panel 20, so that a commercially available spray gun can be used. Can be easily adapted to this device, and the characteristics of each company's spray gun can be easily matched with various painting conditions.

Further, in the present embodiment, the distance, moving speed, and gun of the spray gun suitable for the curve of the surface of the object to be coated Ob1 are curved by bending each rail so as to match the curves in the vertical and horizontal directions of the surface of the object to be coated Ob1. Painting can be performed at an angle, and it is possible to easily visually check and adjust the movement trajectory in the field work without requiring complicated operations and knowledge. Further, in the present embodiment, the curved shape of the object to be coated Ob1 is formed by separately providing the curved rail for setting the distance of the spray gun to the object to be coated Ob1 and the curved rail for setting the gun angle of the spray gun. Since the operation to set the spray distance to match and the gun angle adjustment to match the attitude control of the spray gun that prioritizes the spraying direction of the paint can be set visually independently, workability that matches the actual situation at the site can be achieved. It can be realized.

Further, in the above embodiment, the base body 151 is configured to stand upright on the floor surface by the legs 153. For example, the base body 151 is arranged so that the side on which the spray gun is arranged faces downward. By suspending 151, fixing it to the ceiling of the building, and further increasing the size of the gate-shaped base body 151 and support 191 so as to straddle an object to be painted such as a car. , The paint may be sprayed from the upper surface of the object to be coated such as the roof of an automobile from the upper side to the lower surface.

S1 ... Work space Ob1 ... Object to be coated Ob2 ... Object to be coated for trial blowing 1 ... Automatic coating device 3 ... Exhaust device 3a ... Work space 4 ... Automatic coating device for toning 10 ... Spray gun 10a ... Paint nozzle 10b ... Needle valve 10c ... Trigger 10d ... Grip 11 ... Spray gun mounting part 12 ... Horizontal drive mechanism 13 ... Elevating mechanism 14 ... Gun angle adjustment mechanism 15 ... Base 16 ... Trigger drive mechanism 17 ... Horizontal R advance / retreat mechanism 18 ... Vertical R advance / retreat mechanism 20 ... Control panel 21 ... Horizontal movement setting unit 22a to 22c ... Vertical movement setting unit 23a to 23d ... Direction buttons 24a, 24b ... Trigger setting knob 25 ... Hold switch 26a, 26b ... Brake button 27 ... Main power switch 28a to 28d ... Main Control button 31 ... Exhaust part 32 ... Filter part 40 ... Control unit 41 ... Base body 41a, 41a ... Horizontal member 41b ... Connecting member 42, 42 ... Vertical member 43 ... Horizontal rail 44 ... Horizontal movement slider 45 ... Vertical movement rail 46 … Vertical movement slider 47… Forward / backward movement slider for fine adjustment 48… Forward / backward movement rail for fine adjustment 101… Gun body 102… Tank 111… Holder part 121… Straight rail 122… Horizontal slider 122a, 122b… Support roller 123… Horizontal mount 131 … Elevating rack 132… Vertical drive unit 133… Auxiliary rack 141… Curved rail for rotation control 142… Advance / retreat arm 142a, 142a… Gripping roller 143… Curved rail holding part 143a… Screw part 143b… Fixing jig 143b… Jig 143c ... Connecting part 144 ... Gun angle actuator 145 ... Gun angle sensor 151 ... Base body 151a ... Right side side 151b ... Left side side 152 ... Bottom 153a ... Leg part 153b ... Leg part 161 ... Trigger engaging part 162 ... Servo motor part 171 ... Horizontal curved rail 172 ... Advance / retreat arm 172a, 172a ... Gripping roller 173 ... Curved rail holding part 173a ... Screw part 173b ... Fixing jig 173c ... Connecting part 181 ... Vertical curved rail 182 ... Advance / retreat arm 182a, 182a ... Curved rail holding part 183a ... Screw part 183b ... Fixing jig 183c ... Connecting part 191 ... Support 192a, 192b ... Leg 193 ... Connecting member 194 ... Support member 195 ... Auxiliary slider

Claims (7)

An automatic coating device that injects paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A horizontal drive mechanism that reciprocates the spray gun mounting portion in the horizontal direction,
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit is provided.
The vertical drive mechanism is arranged along a vertically erected base.
The base portion is arranged at one end of the horizontal drive mechanism.
A vertically erected support is arranged on the other end side of the horizontal drive mechanism.
A work space is formed between the base portion and the support.
The spray gun is an automatic painting device characterized in that it can be moved up, down, left and right in the work space. An automatic coating device that injects paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A horizontal drive mechanism that reciprocates the spray gun mounting portion in the horizontal direction,
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit.
A horizontal track portion that guides the spray gun mounting portion in the horizontal direction, and a horizontal track portion.
A fixing jig fixed to the horizontal pedestal at predetermined intervals,
The screw part screwed into the screw hole of each of the fixing jigs,
With the connecting portion connected to the screw portion and fixed to the horizontal track portion,
With
An automatic painting apparatus characterized in that the curved state of the horizontal track portion is adjusted and held by changing the length from the screwed portion to the connecting portion with respect to the fixing jig. An automatic coating device that injects paint onto an object to be coated to paint the object to be coated.
A spray gun having a paint nozzle for injecting paint and having a trigger portion for opening and closing an on-off valve for opening and closing the flow path of the paint in the paint nozzle.
A spray gun mounting part that detachably supports the spray gun and
A horizontal drive mechanism that reciprocates the spray gun mounting portion in the horizontal direction,
A vertical drive mechanism that moves the spray gun mounting part in the vertical direction,
A trigger drive unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit.
A drive control unit that controls the operation of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit.
A vertical track portion that guides the spray gun mounting portion in the vertical direction, and a vertical track portion.
A fixing jig fixed to the base body at predetermined intervals,
The screw part screwed into the screw hole of each of the fixing jigs,
With the connecting portion connected to the screw portion and fixed to the vertical track portion,
With
An automatic painting apparatus characterized in that the curved state of the vertical track portion is adjusted and held by changing the length from the screwed portion to the connecting portion with respect to the fixing jig. The trigger drive unit moves forward and backward while being in contact with the trigger unit, and presses or releases the trigger unit, and a trigger engaging portion.
The automatic coating apparatus according to any one of claims 1 to 3, further comprising a trigger drive range setting mechanism for setting a drive range in which the trigger engaging portion advances and retreats while contacting the trigger portion. .. A rotating part that rotates the spray direction of the spray gun up and down,
A rotation control track portion that maintains a curved state corresponding to the vertical curvature of the surface of the object to be coated, and
A rotation control track holding portion that holds the curved state of the rotation control track portion, and a rotation control track holding portion.
A rotation control track adjustment unit that adjusts the bending state of the rotation control track unit, and a rotation control track adjustment unit.
It further includes a rotation control unit that detects the curved state of the rotation control track portion according to the vertical movement of the spray gun mounting portion and rotates the rotating portion according to the detected curved state. The automatic coating apparatus according to any one of claims 1 to 3. A coating method using the automatic coating apparatus according to any one of claims 1 to 3.
A spray gun mounting step of supporting the spray gun on the spray gun mounting portion and engaging the trigger driving portion with the trigger portion of the spray gun.
While the spray gun mounting portion is moved in the horizontal or vertical direction by the horizontal drive mechanism and the vertical drive mechanism, a driving force is applied to the trigger portion by the trigger drive portion, and the paint nozzle is used to paint the object. A painting method including a drive control step of injecting paint onto an object. A coating method using the automatic coating apparatus according to claim 1.
In the work space, the worker grasps the spray gun and puts a finger on the trigger portion to make the worker's body movement follow the movements of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive portion. A painting method characterized by.

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