JPH02184363A - Coating device - Google Patents

Abstract

PURPOSE:To spray a coating material on only the region of a material to be coated by providing a first input device to be inputted with the information on the travel locus of a coating gun and a second input means to be inputted with the information on the on-off position on the travel locus of the coating gun. CONSTITUTION:The materials 12 and 14 to be coated are conveyed in direction of the arrow 5 by a conveyor 4. In this case, the shapes of the materials are respectively detected by a shape detector 15. The materials are then coated by the coating device 7. A coating gun 10 is moved in the Y and Z directions, and the paint is injected only when the regions of the materials 12 and 14 to be coated pass by the gun. When the spaces of the materials pass, the injection of coating material from the gun 10 is stopped. As a result, the region of the material to be coated is sprayed with coating material, and coating is efficiently and economically performed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a coating material that is disposed opposite to the side of a conveyor and that is reciprocated within an area approximately perpendicular to one general feeding direction of the conveyor. The present invention relates to a coating device that sprays paint from a gun to paint an object to be coated that is conveyed by a conveyor.

(Prior art) Conventionally, as this type of coating equipment, for example, the
The one disclosed in Japanese Patent No. 4545 is known.

In the coating apparatus disclosed in the above-mentioned publication, the coating gun is moved back and forth in a direction substantially perpendicular to the direction of conveyance of the object to be coated while spraying paint onto the object to be coated, which is being conveyed in one direction. It is configured so that it can be stopped for an arbitrary period of time at the turning point of the moving process. Then, by changing the conveyance speed of the object to be coated or the reciprocating speed of the coating gun,
When the movement trajectory of the painting gun relative to the object to be painted changes, by manually or automatically stopping the painting gun at the turning point above for an arbitrary period of time, the relative movement of the painting gun to the object to be painted can be changed. By keeping the movement pinch of the locus almost constant, uniform spraying can achieve uniform coating across the width.

[Problems to be Solved by the Invention] However, in the conventional coating device with the above configuration,
Since it does not have the function of specifying parts of the object to be painted that are not to be painted, it is possible to spray paint onto parts that do not require painting, such as punched parts of plate-shaped objects. (t
There was a problem that iJ was used and paint was wasted.

Therefore, the purpose of the present invention is to spray paint onto the parts of the object to be painted that require painting, and stop spraying paint onto parts that do not require painting, so that the paint is not wasted. It is an object of the present invention to provide a coating device having a function that enables efficient, ie, economical coating work without having to do much.

[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is that the main means is arranged opposite to the side of the conveyor, and is arranged opposite to the side of the conveyor, and In a coating device that sprays paint from a coating gun that is reciprocated in an area substantially perpendicular to the surface of the painting device to paint an object to be coated that is conveyed by the conveyor, the coating gun is moved in the longitudinal direction of the coating device body. a first input means for inputting information on the movement locus of the painting gun during reciprocating movement; and a second input means for inputting information on the on/off position on the movement locus of the painting gun described in 1. When moving the painting gun along the trajectory -1- inputted by the first input means, the on/off control a[
This is a coating apparatus comprising: a control means for controlling the coating apparatus;

[Function] In the coating apparatus according to the present invention, information on the movement locus of the coating gun when reciprocating the coating gun in the longitudinal direction of the coating apparatus main body is inputted by the first input means, Information on the on/off position on the movement locus 2 is inputted by the second input means.

When the painting gun is moved on the trajectory input by the first input means, the on/off switch is turned on/off based on the positional information input by the second input means.
? Wholesale.

That is, the paint is sprayed only to the parts of the object to be painted that require painting.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

Here, FIG. 1 shows a main part of a coating line for coating objects to be coated using a coating apparatus according to an embodiment of the present invention, and FIG. 1(a) is a perspective view, and FIG. ) is the same figure (a)
A front view of the section viewed from arrow A in FIG. a) is a front view and (b) is a front view.
is a side view, (C) is a plan view, and Figures 3 (a) and (b) are
) are explanatory diagrams showing the teaching mode in the coating apparatus described in 1. FIG.

In the coating device 7 according to this embodiment, as shown in FIG.
(As shown in C1, a support body 9 is movably disposed in, for example, the downward direction (longitudinal direction, Z direction LJ in the same figure) of the coating device main body 8. 9
For example, there is an arm 11 equipped with a four-speed painting gun 10.
is arranged so as to be movable in the direction of arrow Y.

Then, the coating device 7, the conveyor 4 (Fig. 1(a)
), and is controlled by a control device (not shown) consisting of a CPU memory, various interfaces, and the like.

Immediately, the painting gun 10 is moved in the Y and/or Z direction to the object 12. By folding, the above-mentioned object to be coated 12.1
4 painting is performed. In this case, the coating device 7 according to this embodiment, as described later, sprays paint only on the parts of the object to be painted that require painting, and sprays paint on parts that do not require painting (IJ). It is controlled to stop 1 digit.

Note that FIGS. 3(a) and 3(b) respectively show teaching modes that can be implemented by the coating device 7 shown in -1.
Figure (a) shows the so-called Rohono I~ teaching when teaching all movements like a multi-axis robot, and Figure (b) shows the up and down movement by teaching one pass down -L. It is equipped with so-called reciprocating teaching that can be reproduced repeatedly.

In this case, the points indicated by the O mark in the figure indicate the actual teaching points I, the point numbers indicated by the marks, and the automatically created points, respectively.

Therefore, the teaching work can be carried out by using reciprocating teaching for objects to be painted with a simple shape, and robot teaching for objects having a complicated shape.

Furthermore, the coating according to this example:! ! As will be described later, the robot teaching as described in F in the 8 device 7 can be performed on the conveyor 4 when the conveyor 4 is moved in the transport direction.
Information on the locus of movement relative to the painting gun 10 is input into the painting device 7, and the moving mechanism of the conveyor 4 is used as a means of moving the painting gun 10 in the X-axis direction (see FIG. 3(a)). This is because it is configured so that it can be controlled.

Furthermore, in the coating apparatus 7 according to the present embodiment, as shown in FIG. ]2.
Shape detection means 15 for automatically detecting each shape of... is provided.

The shape detection means 15 includes a photoelectric unit 1-17, 18, which is formed by disposing a plurality of light-emitting elements and light-receiving elements facing each other and arranged in parallel on a concave frame 16 installed so as to straddle the conveyor 4. It is installed in the condition that it is installed. The photoelectric unit 1-17 detects the shape of the object to be painted in the Y direction, and the photoelectric unit 18 detects the shape of the object to be painted in the X direction.

Next, based on FIGS. 1(a), (b), (C), and FIG. 4, an example of the procedure for coating using the coating device 7 configured as described above will be described in detail.

In addition, in FIG. 4, Sl, S2. ...indicates each operation step.

First, at Sl, the general direction of the conveyor 1 (arrow 5 Pinch P of movement in the direction), (point h on the movement trajectory a for the object 12)
1b) and P are specified.

The values of the movement pinches P, P3 are given as the relative movement amount of the conveyor 4 in the arrow 5 direction (X direction) with respect to the coating gun 10, and this movement amount is determined by the conveyor pulse installed on the conveyor 4. It is detected by pulse information from a unit (encoder, not shown). Then, the movement pitch P,,P.

The value is entered, for example, using a key from a teaching box (not shown). At the same time, the teaching box sets the -1- lower limit point of the movement trajectory of the coating gun 10,
Setting work such as the moving speed of the coating gun 10, the distance of the coating gun 10 to the object to be coated, and fine adjustment of the on/off timing of the coating gun 10 is also performed.

Subsequently, in S2, information regarding the locus of movement of the conveyor 4 relative to the coating gun 10 when the conveyor 4 is moved in the conveying direction is input. That is, conveyor 4
Position information of the painting gun 10 relative to the location is input. As a result, the moving mechanism of the conveyor 4 is controlled as a means of moving the painting gun 10 in the X-axis direction (arrow 5 direction).
I get it.

Then, in S3, until the shape detection means 15 detects passage of the downstream end of the object to be coated in the transport direction,
Information regarding the on/off position of the painting gun 10 relative to the movement trajectory of the conveyor 4 is input. In this case, since the shape detection means 15 detects the state of il passing through the space between the objects to be coated, an off signal for the coating gun 10 is input to the coating device 7.

On the other hand, when the passing state of the object to be coated is detected by the shape detecting means 15, an ON signal for the coating gun 10 is inputted to the coating device 7.

When the passage of the downstream end of the object to be coated in the transport direction with respect to the shape detection means 15 is detected as described above, the shape of the object to be coated is automatically detected by the shape detection means]5 (S4 ).

In this case, in S5, if it is determined that the shape of the object to be painted is not irregular, that is, for example, the object to be painted 12 (first
(see Figure (C)), in S6, L is determined based on the shape of the object to be coated 12 (in this embodiment, the appearance is rectangular and has a similarly rectangular punched part 12a approximately in the center). The teaching points lla and Ic corresponding to the unit movement locus a of the first pass of the painting gun 10 taught by the input signal from the shape detecting means] 5 are input.

Then, in S7, information on the on/off position of the painting gun 10 on the movement trajectory (described later) that is set based on the movement trajectory a, for example, s, c is input.

That is, regarding the moving direction of the painting gun 10, 1-positions Y1 and Y for controlling the on/off of the painting gun 10 at the upper end and lower end of the muddy wave coated object 12 are input, and then -I-recording is input. The position Y and Y at which the J-marked painting can 10 is controlled to be turned on/off in correspondence with the cutout 12 are input.

In this case, the teaching points of the on/off position of the painting gun IO are described in 1. Since the storage area for a is provided separately from the storage area for storing the moving trajectory of the painting gun 10, the ON/OFF position of the painting gun In is determined according to the reproduction of the painting device 7. Modifications and changes can be easily made without any danger even during operation.

On the other hand, if it is determined in S5 that the shape of the object to be painted is irregular, for example, the object to be painted 14 (see FIG. 1(b)), in step 38, the object to be painted is Each first pass unit movement locus i1. teaching point l-] on m
+,,2b,3L and],OL,,Ilb,
], 2b, +3b, 14h, ]5 are input.

And other moves +l! It trace j is automatically taught as a repetition of the movement trajectory i, and the movement trajectory n
is automatically taught as a repetition of the movement trajectory m.

Subsequently, at S, the unit movement trajectory 1 of the painting gun 10 is determined. In accordance with the moving distance on n, the set position of P3 or the moving direction of the painting gun 10 is corrected.

That is, for the movement trajectory I, l=, the position is corrected so that the movement pitch P3 can be set at an intermediate position between the teaching points l-10+, 2b, and for the movement trajectory n, the automatic teaching point 1i6b ・1.8L
The position is corrected so that the movement pitch I)3 can be set at an intermediate position between the two.

Subsequently, in Slo, the on/off positions of the painting gun 10 on the movement locus j, k, i, mn-hi are input as in the case of S7. That is, teaching points at positions corresponding to one end and the lower end of the object to be painted 14 on each of the movement trajectories are input.

In this case, by S and S8, -1-
A first input means is configured for inputting information on the movement locus of the coating gun 10 when the coating can 10 is reciprocated in the longitudinal direction of the coating apparatus main body 8.

Moreover, the above-mentioned S7 and SIO constitute a second input means for inputting information on the on/off position on the moving trajectory of the painting gun 10 described in -1-, respectively.

When the control information for the object to be painted of the painting gun 10 is automatically set based on the information from the shape detection means 15 as described above, subsequently, in S, the painting gun 1
The moving speed of the painting gun 10 and the standby time at the end of the reciprocating movement of the painting gun IQ are calculated and regenerated according to the amount of movement of the conveyor 4 so that the movement pitch of 0 is a constant value. . At this time, when the coating gun 10 passes through a position opposite to a portion of the object to be coated that does not require coating, no paint is ejected from the coating gun 10.

That is, for the object 12 to be coated, the moving speed of the coating gun 0 and the corresponding The waiting time at the end of the reciprocating movement of the coating gun 10 is calculated and the regeneration is controlled.

In this case, the locus of movement of the painting gun 10 with respect to the painting surface of the object 12 to be painted is represented by a, bc, and d, as described above. Further, the moving locus of the paint gun 10 moving toward the muddy wave coated object 12 during the waiting time at the end of the reciprocating movement is represented by (·, f, g, h).

Then, each of the above movement trajectories a, b, c, dj
- When the movement of the painting can 10 is controlled, the painting can IO is controlled on/off when passing through positions corresponding to the teaching points l-Y+, Y2, Y3, Y4,
"Blowing paint onto the punched part 12a that does not require coating W"
Work is stopped.

On the other hand, for the object to be painted 14, the painting gun 10
The amount of movement of the coating gun 10 and the waiting time at the end of the reciprocating movement are calculated and regenerated in accordance with the movement speed of the conveyor 4 so that the movement pinch P3 becomes a constant value. At this time, the locus of movement of the painting can 10 relative to the painted surface of the object 14 is as described above.
, j, km, +1. It is represented by O. In addition, the reciprocating moving end of the above-mentioned painting can] 0 relative movement locus with respect to the upper mud wave painted object 14 within this waiting time is P
It is represented by q, r, s, t.

At this time, as in the case of the object to be painted 12, the coating gun 10 sprays paint when passing a position opposite to the part to be painted (140), so that no painting is required. When passing a position facing the part, the paint is controlled so as not to be sprayed.

Furthermore, when passing through the space between the objects 12 and 14 to be coated, the spraying of paint from the coating gun 10 is stopped, and the coating gun 1 ( ) stands by at the second or lower limit position on the movement trajectory. state.

In this case, in S11, when moving the L painting gun 10 along the trajectory -1- inputted by the first input means, it is turned on/off based on the positional information inputted by the second input means. A control means for controlling is configured.

Therefore, in a coating device that is controlled as described in 1., even if the conveyor speed or the shape of the part to be coated changes, the operator does not need to determine the shape of the object each time. , depending on the shape of the object to be painted and the area to be painted, when the painting gun 10 passes through a position opposite to the area of the object to be painted, the paint is ejected and the paint is required. It is controlled so that the paint does not spray out when passing a position opposite to a part that is not to be sprayed.

At the same time, the moving pitch of the painting gun 10 described in -1- is also controlled to always be a constant value.

As a result, painting can be performed efficiently without wasting paint, and a stable coating film is always formed without changing the coating trajectory of the painted surface of the object to be painted and changing the paint finish. be able to.

Furthermore, in the coating apparatus according to the present embodiment, as described above, the conveyor 4 can be controlled on the main body side of the coating apparatus based on the information of the movement trajectory of the conveyor 4 in the X-axis direction. can be handled as if it were a three-axis robot.

As a result, an inexpensive coating device with a two-axis configuration can be provided as a high-quality coating robot with a three-axis configuration within a small installation space.

In this embodiment, the shape of the object to be painted is automatically detected by the shape detection means 15, and the movement trajectory of the painting gun 10 and the ON/OFF state are determined.
The explanation has been given by taking as an example a case in which information regarding the off position can be taught and inputted, but the shape detecting means 15
may be omitted and the operator may directly teach each of the above information.

Furthermore, an ultrasonic reflective sensor, for example, is installed in parallel with the coating gun 10, and the coating gun 10 is continuously moved up and down to detect the distance to the object to be coated conveyed by the conveyor 4 at appropriate intervals. However, the moving trajectory of the painting gun 10 may be automatically taught, and the on/off position of the painting gun 10 may also be taught automatically at the same time.

〔Effect of the invention〕

As described above, the present invention includes spraying paint from a paint gun that is disposed opposite to the side of a conveyor and is moved back and forth within an area substantially perpendicular to the conveying direction of the conveyor.
In the coating apparatus for coating objects to be coated transported by the conveyor, information on the movement locus of the coating can when the coating gun is reciprocated in the longitudinal direction of the coating apparatus main body is inputted. means, a second input means for inputting information on on/off positions of the painting gun on the movement trajectory, and a second input means for inputting information on the on/off position of the painting gun on the trajectory input by the first input means; , and a control means for performing on/off control based on the positional information inputted by the second input means, so that the parts of the object to be coated that require painting. It is possible to spray paint only on areas that do not require painting, and stop spraying paint on areas that do not require painting. As a result, the painting work can be carried out efficiently, that is, economically, without wasting paint.

[Brief explanation of the drawing]

FIG. 1 shows the main parts of a coating line for coating objects to be coated using a coating apparatus according to an embodiment of the present invention, in which FIG. 1(a) is a perspective view and FIG. 1(b) is a perspective view. A in (a)
FIG. 2 is a front view of the section viewed from arrow B in FIG. 2 (1)) is a side view, FIG.
The figure is a flow chart 1 showing an example of the procedure for coating with the above-mentioned coating device. [Explanation of symbols] 4...21n△, A7...Painting device 10...Painting gun 12.14...Object to be coated.

Claims (1)

[Claims] 1. Paint is ejected from a paint gun that is disposed opposite to the side of the conveyor and moves back and forth within an area substantially perpendicular to the conveyance direction of the conveyor, and is conveyed by the conveyor. a first input means for inputting information on a movement locus of the coating gun when the coating gun is reciprocated in the longitudinal direction of the coating apparatus body; a movement of the coating gun; a second input means for inputting on/off position information on the trajectory; 1. A coating device comprising: control means for controlling on/off based on positional information.