JPH0258056B2 - - Google Patents
Info
- Publication number
- JPH0258056B2 JPH0258056B2 JP16494681A JP16494681A JPH0258056B2 JP H0258056 B2 JPH0258056 B2 JP H0258056B2 JP 16494681 A JP16494681 A JP 16494681A JP 16494681 A JP16494681 A JP 16494681A JP H0258056 B2 JPH0258056 B2 JP H0258056B2
- Authority
- JP
- Japan
- Prior art keywords
- water
- robot
- painted surface
- defective
- automatic water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 109
- 230000007547 defect Effects 0.000 claims description 25
- 230000002950 deficient Effects 0.000 claims description 21
- 239000003082 abrasive agent Substances 0.000 claims description 20
- 238000005498 polishing Methods 0.000 claims description 20
- 238000000576 coating method Methods 0.000 claims description 11
- 239000011248 coating agent Substances 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 5
- 229920001778 nylon Polymers 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 claims description 5
- 244000144992 flock Species 0.000 claims description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 19
- 239000003973 paint Substances 0.000 description 8
- 238000007689 inspection Methods 0.000 description 7
- 238000011160 research Methods 0.000 description 6
- 239000002352 surface water Substances 0.000 description 5
- 238000009875 water degumming Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000007517 polishing process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Coating Apparatus (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、下塗り工程又は中塗り工程を終了し
た自動車ボデイ等の塗装面を自動的に水研する自
動水研装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic sanding device that automatically sands a painted surface of an automobile body or the like that has undergone an undercoating process or an intermediate coating process.
従来、自動車ボデイの水研作業は、第１図に示
すような工程を経て行われている。すなわち、自
動車ボデイ１の搬送ライン２に沿つて、検査工程
Ａ、修正水研工程Ｂ、全面水研工程Ｃが配設さ
れ、全面水研工程Ｃ中には自動水研機ゾーンＣ―
１と作業者による手動水研ゾーンＣ―２とが設け
られている。そして、検査工程Ａにおいては、検
査員３が塗装面の異物の付着や傷、あるいはクレ
ータ等を発見してマークを施し、このマークを施
された部分を次の修正水研工程Ｂにおいて作業者
４が水研する。また、自動水研機ゾーンＣ―１に
おいては、回転ホイール型の研摩材押付式のトツ
プ用水研機５とサイド用水研機６，７，８とによ
つて、塗装面の一部分の水研が自動的に行われ
る。ここで、水研機５，６，７，８はそれぞれ、
研摩材が回転中心に対して放射状にフラツプ研摩
材又はブラシ研摩材を配設したホイール型研摩材
を取り付け、これを塗装面に押し当てて塗装面を
研削するものである。
Conventionally, water polishing work on automobile bodies has been carried out through the steps shown in FIG. That is, along the conveyance line 2 of the automobile body 1, an inspection process A, a modified water polishing process B, and a full surface water sanding process C are arranged, and during the full surface water sanding process C, an automatic water sanding machine zone C-
1 and a manual water testing zone C-2 by an operator are provided. In the inspection process A, the inspector 3 finds foreign matter, scratches, craters, etc. on the painted surface and marks them. 4 does water research. In the automatic water sanding machine zone C-1, a part of the painted surface is water sanded by a rotating wheel-type abrasive pressing type top water sanding machine 5 and side water sanding machines 6, 7, and 8. done automatically. Here, the water polishing machines 5, 6, 7, and 8 are each
A wheel-type abrasive with flap abrasives or brush abrasives arranged radially around the center of rotation is attached, and the abrasive is pressed against the painted surface to grind the painted surface.
しかしながら、上述した従来の修正工程中、修
正水研工程Ｂおいては、水研すべき部位が一定で
なく、あくまで作業者４，４が検査工程Ａで施さ
れたマークを目視、判断して水研作業を行う必要
があるため、多大な労力を要すると共に生産性が
極めて低いという問題がある。
However, in the above-mentioned conventional repair process, in the modified water polishing process B, the parts to be water polished are not fixed, and the workers 4, 4 visually check and judge the marks made in the inspection process A. Since it is necessary to carry out water grinding work, there are problems in that a great deal of labor is required and productivity is extremely low.
また、自動車ボデイの外板形状は複雑な３次曲
面を有しているため、自動水研機ゾーンＣ―１で
の研ぎ残しや研ぎ不足が発生する。それ故、手動
水研ゾーンＣ―２において、作業者９，１０，１
１が手動により補正水研を行う必要があつて、特
に、ボデイ外板のレリーフ線やルーフ、フード、
ラツゲージ等のコーナーに見られる形状変化の激
しい複雑な部分では、上述の自動水研機ゾーンＣ
―１では充分な水研ができない。したがつて、従
来の全面水研工程Ｃでも、手動水研ゾーンＣ―２
において、多大な労力を要し、生産性が極めて低
いという問題がある。 Furthermore, since the shape of the outer panel of an automobile body has a complicated cubic curved surface, unsharpening or insufficient sanding occurs in the automatic water sanding machine zone C-1. Therefore, in manual water testing zone C-2, workers 9, 10, 1
1 requires manual correction water grinding, especially for relief lines on the body outer panel, roof, hood, etc.
For complex parts where the shape changes drastically, such as in the corners of rat gauges, use the automatic water grinder zone C described above.
-1 cannot do sufficient water research. Therefore, even in the conventional full surface water grinding process C, manual water grinding zone C-2
However, there are problems in that it requires a lot of effort and productivity is extremely low.
本発明の目的は、修正水研工程Ｂと手動水研ゾ
ーンＣ―２とを自動化することにより、極めて生
産性の高い自動水研装置を提供することにある。 An object of the present invention is to provide an automatic water grinding device with extremely high productivity by automating the modified water grinding process B and the manual water grinding zone C-2.
本発明の自動水研装置では、被塗装物の搬送ラ
インに沿つて、塗装不良位置及び塗装不良状態を
検知する塗装面不良指示装置が配されると共に、
この塗装面不良指示装置よりも下流側に産業用ロ
ボツト等を利用した自動水研ロボツトが配設さ
れ、この自動水研ロボツトは塗装面不良指示装置
で得た情報に基づいて制御され、修正水研作業が
自動化される。すなわち、第１図の検査工程Ａに
相当する位置に配設された塗装面不良指示装置
は、検査員によつて操作され、塗装不良部位と塗
装不良状態とは指示装置用制御盤に記憶される。
この指示装置用制御盤は自動水研ロボツト用制御
盤に接続されており、このロボツト用制御盤には
指示装置用制御盤から塗装不良部位と塗装不良状
態とを表わす情報が電気信号として入力される。
そして、これらの情報を得た自動水研ロボツト用
制御盤は、第１図の修正水研工程Ｂに相当する位
置に配設された自動水研ロボツトを動作させ、こ
れによつて、塗装面の塗装不良発生部位の修正、
水研を自動的に行う。
In the automatic water polishing apparatus of the present invention, a painted surface defect indicating device for detecting a coating defect position and a coating defect state is arranged along the conveyance line of the object to be coated, and
An automatic water-refining robot using an industrial robot or the like is installed downstream of this painted surface defect indicator, and this automatic water-refining robot is controlled based on the information obtained from the painted surface defect indicator, and corrects water. Sharpening work is automated. That is, the painted surface defect indicating device placed at the position corresponding to the inspection process A in FIG. Ru.
This control panel for the indicating device is connected to the control panel for the automatic suiken robot, and information representing defective areas and coating conditions is input from the control panel for the indicating device as electrical signals to the control panel for the robot. Ru.
The automatic water polishing robot control panel that has obtained this information operates the automatic water polishing robot located at the position corresponding to the modified water polishing process B in Figure 1, thereby cleaning the painted surface. Correcting areas where paint defects occurred,
Perform water research automatically.
本発明の自動水研装置では、さらに、曲率半径
の小さな曲率部の水研を行なう曲率部用水研ロボ
ツトが設けられている。そして、曲率部用水研ロ
ボツトは、回転軸に対して直角方向に延びかつ研
摩材を混入されたナイロン植毛を有するデイスク
型研摩材を有しているため、湾曲部の水研が可能
であり、また、小径の研摩材であるために複雑部
位の水研が可能である。 The automatic water grinding apparatus of the present invention is further provided with a water grinding robot for a curved portion that performs water grinding on a curved portion having a small radius of curvature. The water grinding robot for curved parts has a disc-type abrasive that extends perpendicularly to the rotation axis and has nylon flocks mixed with an abrasive, so it is possible to water grind curved parts. Additionally, since it is a small-diameter abrasive, it is possible to wet-abrasive complex areas.
以下に、本発明の望ましい実施例を第２図ない
し第８図を参照して説明する。
Hereinafter, preferred embodiments of the present invention will be described with reference to FIGS. 2 to 8.
第２図は本実施例の概略構成を表わし、被塗装
物たる自動車ボデイ１の搬送ライン２に沿つて、
その上流側には検査工程A′が、また、その下流
側には修正自動水研工程B′がそれぞれ配設され
ている。検査工程A′には塗装面不良指示装置１
３Ｒ，１３Ｌが配され、これらの塗装面不良指示
装置１３Ｒ，１３Ｌは、それぞれ、信号配線１４
Ｒ，１４Ｌによつて指示装置用制御盤１５に接続
されている。１２は塗装面不良指示装置１３Ｒ，
１３Ｌを操作するために配された検査員を示して
いる。一方、修正自動水研工程B′には、産業用
ロボツトから成る水研装置１６Ｒ，１６Ｌが配設
され、これらの水研装置１６Ｒ，１６Ｌは信号配
線１７Ｒ，１７Ｌを介して、それぞれ、自動水研
ロボツト用制御盤１８に接続されている。そし
て、指示装置用制御盤１５と自動水研ロボツト用
制御盤１８とは、信号配線１９によつて互いに接
続されている。 FIG. 2 shows a schematic configuration of this embodiment, in which an automobile body 1, which is an object to be painted, is conveyed along a conveyance line 2.
An inspection process A' is provided on the upstream side, and a modified automatic water grinding process B' is provided on the downstream side. In the inspection process A', there is a paint surface defect indicator 1.
3R and 13L are arranged, and these painted surface defect indicating devices 13R and 13L are connected to the signal wiring 14, respectively.
It is connected to the indicating device control panel 15 by R and 14L. 12 is a painted surface defect indicating device 13R;
This shows an inspector assigned to operate 13L. On the other hand, in the modified automatic water grinding process B', water grinding devices 16R and 16L consisting of industrial robots are installed, and these water grinding devices 16R and 16L are connected to automatic water grinding via signal wiring 17R and 17L, respectively. It is connected to the control panel 18 for the research robot. The control panel 15 for the indicating device and the control panel 18 for the automatic water-sharpening robot are connected to each other by a signal wiring 19.
塗装不良指示装置１３Ｒ，１３Ｌの詳細図を第
３図に示す。装置１３Ｒ，１３Ｌは指示針２０を
有し、指示針２０は１次アーム２１の先端部に旋
回自在に取り付けられている。１次アーム２１は
２次アーム２２に回転自在に取り付けられ、２次
アーム２２は３次アーム２３に回転自在に取り付
けられている。そして、３次アーム２３の基端部
は旋回ベース２４に回転自在に取り付けられ、旋
回ベース２４はベース２５に回転自在に支持され
ている。一方、指示針２０と１次アーム２１との
回転連結部、１次アーム２１と２アーム２２との
回転連結部、２次アーム２２と３次アーム２３と
の回転連結部、３次アーム２３と旋回ベース２４
との回転連結部、そして、旋回ベース２４とベー
ス２５との回転連結部には、それぞれ、ポテンシ
ヨメータP1，P2，P3，P4，P5が装着されている。
これらのポテンシヨメータP1，P2，P3，P4，P5
は指示針２０の先端の位置と向きとを検知するた
めに設けられ、この検知信号は信号配線１１Ｒ，
１１Ｌを介して指示装置用制御盤１５に伝達され
る。また、２次アーム２２には不良状態指示部２
６が取り付けられ、この指示部２６には、異物の
付着、塗料流れ、クレータ状凹部の生成時の塗装
面の不良内容を指示するためのスイツチ２６ａ
と、不良の大きさや程度を指示するためのスイツ
チ２６ｂと、ポテンシヨメータP1，P2，P3，P4，
P5で検出された指示針２０の先端位置とスイツ
チ２６ａ，２６ｂのセツト状態とを制御盤１５に
送信してセツトするセツトスイツチ２６ｃとが設
けられている。すなわち、セツトスイツチ２６ｃ
を押すと、制御盤１５に塗装面の不良位置と不良
内容とが記憶される。なお、２７は指示部２６と
制御盤１５とを結ぶ信号配線である。 A detailed diagram of the paint failure indicating devices 13R and 13L is shown in FIG. The devices 13R, 13L have an indicator 20, which is rotatably attached to the tip of a primary arm 21. The primary arm 21 is rotatably attached to a secondary arm 22, and the secondary arm 22 is rotatably attached to a tertiary arm 23. The base end of the tertiary arm 23 is rotatably attached to a swing base 24, and the swing base 24 is rotatably supported by a base 25. On the other hand, the rotational connection between the indicator needle 20 and the primary arm 21, the rotational connection between the primary arm 21 and the second arm 22, the rotational connection between the secondary arm 22 and the tertiary arm 23, and the rotational connection between the tertiary arm 23 and Swivel base 24
Potentiometers P 1 , P 2 , P 3 , P 4 , and P 5 are attached to the rotational connection portions between the rotating base 24 and the base 25, and the rotational connection portions between the swing base 24 and the base 25, respectively.
These potentiometers P 1 , P 2 , P 3 , P 4 , P 5
is provided to detect the position and direction of the tip of the indicator needle 20, and this detection signal is sent to the signal wiring 11R,
The information is transmitted to the instruction device control panel 15 via 11L. The secondary arm 22 also includes a defective state indicator 2.
6 is attached, and this indicator 26 is equipped with a switch 26a for indicating defects on the painted surface such as adhesion of foreign matter, paint flow, and formation of crater-shaped recesses.
, a switch 26b for indicating the size and degree of the defect, and potentiometers P 1 , P 2 , P 3 , P 4 ,
A set switch 26c is provided which sends the tip position of the pointer 20 detected at P5 and the set states of the switches 26a and 26b to the control panel 15 to set them. That is, the set switch 26c
When is pressed, the location and details of the defect on the painted surface are stored in the control panel 15. Note that 27 is a signal wiring connecting the instruction section 26 and the control panel 15.
第４図は、水研装置１６Ｒ，１６Ｌの詳細図を
示している。水研装置１６Ｒ，１６Ｌは修正水研
用ロボツトから成り、そのアーム部２８の先端に
取り付けられ手首部２９には、モータ３０によつ
て回転駆動されるデイスク型研摩材３１が装着さ
れている。一方、自動水研ロボツト自体は設行装
置３２上に装着されて移動可能である。走行装置
３２の存在により、上記ロボツトは被塗装物の搬
送方向に追従可能であると同時に、被塗装物の前
記方向に任意の相対位置をとり得る。また、アー
ム部２８の存在によつて、デイスク型研摩材３１
は搬送ライン２の進行方向に対して直角の面内で
自在な位置をとり得る。ここで、デイスク型研摩
材３１はその回転軸に対して直角方向に延び、か
つ研摩材が混入された、矩形断面をしたナイロン
毛が植毛されている。そして、制御盤１８は、制
御盤１５から信号配線１９を介して自動車ボデイ
１の搬送と同調して送信されてくる塗装面不良信
号に従つて、水研装置１６Ｒ，１６Ｌに最適な水
研動作を指令するようにプログラムされている。 FIG. 4 shows a detailed diagram of the water-sharpening devices 16R and 16L. The water polishing devices 16R, 16L are comprised of modified water polishing robots, and a disk type abrasive material 31, which is attached to the tip of an arm portion 28 and rotated by a motor 30, is attached to the wrist portion 29. On the other hand, the automatic water grinding robot itself is mounted on the installation device 32 and is movable. Due to the presence of the traveling device 32, the robot can follow the conveying direction of the object to be coated, and at the same time can assume any relative position in the direction of the object to be coated. Furthermore, due to the presence of the arm portion 28, the disk-shaped abrasive material 31
can take any position within a plane perpendicular to the direction of movement of the conveyance line 2. Here, the disc-shaped abrasive material 31 extends in a direction perpendicular to its rotation axis, and is implanted with nylon bristles mixed with abrasive material and having a rectangular cross section. Then, the control panel 18 determines the optimal water polishing operation for the water polishing devices 16R and 16L in accordance with the paint surface defect signal transmitted from the control panel 15 via the signal wiring 19 in synchronization with the conveyance of the automobile body 1. programmed to command.
一方、自動水研機３３は、トツプ用水研機３４
と、サイド用水研機３５，３５′，３６，３６′，
３７，３７′と、制御盤３８とから成り、トツプ
用水研機３４とサイド用水研機３５，３５′，…
…，３７′はそれぞれ回転ホイル型研摩材押付式
の自動水研機である。 On the other hand, the automatic water grinder 33 is a top water grinder 34.
and side water grinder 35, 35', 36, 36',
37, 37', and a control panel 38, a top water grinding machine 34, a side water sanding machine 35, 35',...
..., 37' are rotating wheel type abrasive pressing type automatic water sanding machines.
一方、曲率部用水研ロボツト３９は、産業用ロ
ボツト４０，４０′，４１，４１′と、これらの産
業用ロボツトの手首に取り付けられたモータ、お
よびモータの軸に取付けたデイスク型研摩材４２
とから成る。そして、曲率部用水研ロボツト３９
は、曲率部用水研ロボツト３９を水研させる制御
信号を発する曲率部用水研ロボツト用制御盤４３
に接続されている。なお、第２図中、Ｌはそれぞ
れ駆動用配線を示している。 On the other hand, the curvature section water polishing robot 39 includes industrial robots 40, 40', 41, and 41', motors attached to the wrists of these industrial robots, and a disc-shaped abrasive material 42 attached to the shaft of the motor.
It consists of And Suiken robot 39 for the curvature part
, a control panel 43 for the curvature section water grinding robot which issues a control signal for water grinding the curvature section water grinding robot 39;
It is connected to the. In addition, in FIG. 2, L indicates each driving wiring.
第５図はトツプ用水研機３４の概略側面図を示
し、ホイール型研摩材４４はモータ４５により、
プーリ４６、ベルト４７、プーリ４８を介して回
転駆動される。そして、ホイール型研摩材４４、
モータ４５、プーリ４６、ベルト４７、プーリ４
８はアーム４９に取り付けられており、アーム４
９は枠体５０に回転軸５１を介して支持されてい
る。アーム４９は、シリンダ装置５２によつてホ
イール研摩材４４を自動車ボデイ１の形状に合致
させるべく回転させられるのである。 FIG. 5 shows a schematic side view of the top water sanding machine 34, in which the wheel type abrasive material 44 is driven by a motor 45.
It is rotationally driven via a pulley 46, a belt 47, and a pulley 48. and a wheel-type abrasive material 44,
Motor 45, pulley 46, belt 47, pulley 4
8 is attached to arm 49, and arm 4
9 is supported by a frame body 50 via a rotating shaft 51. The arm 49 is rotated by a cylinder device 52 in order to make the wheel abrasive 44 conform to the shape of the vehicle body 1.
第６図、第７図は、サイド用水研機３５，３
５′，……３７′の平面図と正面破断図とをそれぞ
れ示し、モータ５３によつて、プーリ５４、ベル
ト５５、プーリ５６を介して回転駆動されるホイ
ール型研摩材５７は、アーム５８に取り付けられ
ている。アーム５８は回転軸５９を介してボール
６０に取り付けられ、図示しない自動車ボデイを
水研する場合には、アーム５８にワイヤ６１を介
して垂下させられているウエイト６２の作用によ
り、一定のトルクでホイール型研摩材５７を自動
車ボデイに押し付けるのである。そして、水研作
業が終了すると、シリンダ装置６３が作動してア
ーム５８を押し、アーム５８を回転させてホイー
ル型研摩材５７を自動車ボデイから離すことにな
る。 Figures 6 and 7 show side water grinders 35 and 3.
5', . installed. The arm 58 is attached to a ball 60 via a rotating shaft 59, and when a car body (not shown) is to be wet sanded, a weight 62 suspended from the arm 58 via a wire 61 is used to apply a constant torque. The wheel-shaped abrasive material 57 is pressed against the automobile body. When the water polishing work is completed, the cylinder device 63 is actuated to push the arm 58, causing the arm 58 to rotate and separating the wheel-shaped abrasive material 57 from the automobile body.
第８図は曲率部用水研ロボツト３９の斜視図を
表わし、産業用ロボツト４０，４０′，４１，４
１′は走行装置６４上に配されて、自動車ボデイ
の搬送方向に追従可能であると共に、自動車ボデ
イの前後方向に対して任意の相対位置に移動可能
である。そして、アーム部６５によつて、搬送ラ
インの進行方向に直角な平面内で自在な位置をと
り得る手首部６６の先端には、モータ６７で回転
駆動されるデイスク型研摩材４２が取り付けられ
ている。このデイスク型研摩材４２は、回転軸に
対して直角方向に延びかつ研摩材が混入され矩形
断面をしたナイロン毛が植毛されている。また、
ロボツト用制御盤４３は曲率部用水研ロボツト３
９が自動車ボデイに対し所定の水研動作を行うよ
うに、予めプログラムされている。 FIG. 8 shows a perspective view of the curvature section water testing robot 39, and the industrial robots 40, 40', 41, 4
1' is disposed on the traveling device 64 and can follow the conveyance direction of the automobile body, and can also be moved to an arbitrary relative position with respect to the longitudinal direction of the automobile body. A disk-shaped abrasive material 42, which is rotationally driven by a motor 67, is attached to the tip of a wrist part 66 which can be freely positioned in a plane perpendicular to the direction of movement of the conveyance line by the arm part 65. There is. This disk-shaped abrasive material 42 is made of nylon bristles that extend perpendicularly to the rotation axis, are mixed with abrasive material, and have a rectangular cross section. Also,
The robot control panel 43 is for the curvature part of the Suiken robot 3.
9 is programmed in advance to perform a predetermined water grinding operation on the automobile body.
以下、作用を説明する。 The action will be explained below.
下塗り工程又は中塗り工程を完了した自動車ボ
デイ１は、検査工程A′において、検査員１２，
１２によつて塗装面の検査を行われ、塗装面不良
指示装置１３Ｒ，１３Ｌによつて塗装面の不良を
制御盤１５に記憶させられる。すなわち、指示針
２０の先端を塗装不良部位の中心に直角に接触さ
せ、更に、塗装不良の内容をスイツチ２６ａ，２
６ｂでセツトした後、スイツチ２６ｃを押すと、
自動車ボデイ１に発生した塗装不良位置と不良内
容とが制御盤１５に記憶されることとなる。 The automobile body 1 that has completed the undercoating process or intermediate coating process is inspected by an inspector 12,
The painted surface is inspected by the control panel 12, and the defective painted surface is stored in the control panel 15 by the painted surface defect indicating devices 13R and 13L. That is, the tip of the indicator needle 20 is brought into contact with the center of the defective coating area at right angles, and the content of the defective coating is further indicated by the switches 26a, 2.
After setting with 6b, press switch 26c,
The location and details of the paint defect occurring on the automobile body 1 are stored in the control panel 15.
そして、自動車ボデイ１が修正自動水研工程
B′に達すると、制御盤１５に記憶された塗装不
良位置と不良内容とは、自動車ボデイ１の移動と
同調して電気信号として制御盤１８に伝達され、
この信号に従つて選定されたプログラムにより、
水研装置１６Ｒ，１６Ｌが水研動作を行う。すな
わち、塗装不良位置信号に対応して走行装置３２
とアーム部２８と手首部２９とを動作させ、モー
タ３０によつて回転するデイスク型研摩材３１を
塗装不良位置に移動させる。更に、塗装不良内容
信号によつて、デイスク型研摩材３１を不良発生
部位に押し付ける量と、回転量を制御しながら、
塗装面に発生した不良部位を削る動作を行うので
ある。塗装面に発生する不良ケ所は複数でも同様
である。 Then, the car body 1 is modified through an automatic water polishing process.
When reaching B', the paint defect position and defect details stored in the control panel 15 are transmitted to the control panel 18 as an electric signal in synchronization with the movement of the automobile body 1.
By the program selected according to this signal,
The water grinding devices 16R and 16L perform water grinding operations. That is, the traveling device 32 responds to the paint defect position signal.
The arm portion 28 and the wrist portion 29 are operated to move the disk-shaped abrasive material 31 rotated by the motor 30 to the defective coating position. Furthermore, while controlling the amount by which the disk-shaped abrasive material 31 is pressed against the defective area and the amount by which it rotates, based on the coating defect content signal,
It performs an operation to remove defective areas that occur on the painted surface. The same applies even if there are multiple defective spots on the painted surface.
次に、全面水研工程C′の自動水研機ゾーンＣ―
１′に至つた自動車ボデイ１は、トップ用水研機
３５によつて、フードやラゲージの大部分が自動
水研され、更に、サイド用水研機３５，３５′，
３６，３６′，３７，３７′によつて、サイド面の
一部分が自動水研される。次に、自動車ボデイ１
はロボツト水研ゾーンＣ―２′の曲率部用水研ロ
ボツト３９に至り、ここでは、産業用ロボツト４
０，４０′がロボツト用制御盤４３に予め指示さ
れた水研動作に従つて動作し、前記のサイド用水
研機３５，３５′，３６，３６′，３７，３７′で
は水研されていない残余の形状変化の激しい複雑
な部分の水研と、研ぎ不足部位の補正水研とを自
動的に行う。そして、次の産業用ロボツト４１，
４１′では、トツプ用水研機３４によつては水研
されていない残余部分の水研が行われる。 Next, the automatic water sanding machine zone C- of the entire surface water sanding process C'
1', most of the hood and luggage of the automobile body 1 are automatically water-sanded by the top water-sanding machine 35, and then the side water-sanding machines 35, 35',
A portion of the side surface is automatically water polished by 36, 36', 37, and 37'. Next, car body 1
reaches the curvature section water research robot 39 in the robot water research zone C-2', and here, the industrial robot 4
0 and 40' operate according to the water grinding operation instructed in advance by the robot control panel 43, and the side water grinders 35, 35', 36, 36', 37, and 37' do not perform water grinding. To automatically perform water grinding of complex parts with large residual shape changes and corrective water grinding of insufficiently polished parts. And the next industrial robot 41,
At step 41', the top water sanding machine 34 performs water sanding on the remaining portion that has not been water sanded.
こうして、自動車ボデイ１は曲率部用水研ロボ
ツト３９を通過することにより、自動的に全面の
水研が施されることとなる。 In this way, the entire surface of the automobile body 1 is automatically subjected to water grinding by passing through the water grinding robot 39 for curved parts.
なお、産業用ロボツト４０，４０′，４１，４
１′に取り付けられたデイスク型研摩材４２は、
1500rpm〜3000rpmの高速回転が与えられてお
り、また、このデイスク型研摩材のデイスクの直
型は50mm〜100mmという小径となつている。 In addition, industrial robots 40, 40', 41, 4
The disk type abrasive material 42 attached to 1' is
A high speed rotation of 1500 rpm to 3000 rpm is provided, and the straight disc of this disc type abrasive has a small diameter of 50 mm to 100 mm.
以上、説明したように、本発明の自動水研装置
によれば、産業用ロボツトを使用することによ
り、B′およびＣ−２′の工程の水研作業を自動化
し得る。
As described above, according to the automatic water grinding apparatus of the present invention, the water sanding work in steps B' and C-2' can be automated by using an industrial robot.
また、デイスク型研摩材は回転軸に対して直角
方向に延びかつ研摩材を混入されたナイロン植毛
を有しているため、植毛が湾曲部になじみ、湾曲
部の水研が可能となり、更に、小径のデイスク型
研摩材であるため、複雑な部位の水研が可能にな
る。 In addition, since the disc-type abrasive has nylon flocks that extend perpendicularly to the rotation axis and are mixed with an abrasive, the flocks fit into the curved parts, making it possible to wet-sharpen the curved parts. Because it is a small-diameter disc-shaped abrasive, it is possible to wet-sand complex areas.
第１図は従来の水研工程を表わす装置概略図、
第２図は本発明の自動水研装置の概略構成図、第
３図は塗装面不良指示装置の斜視図、第４図は水
研装置の斜視図、第５図はトツプ用水研機の一部
切欠き側面図、第６図はサイド用水研機の平面
図、第７図はサイド用水研機の側面図、第８図は
曲率部用水研ロボツトの斜視図、である。
A′……検査工程、B′……修正自動水研工程、
C′……全面水研工程、Ｃ−１……自動水研機ゾー
ン、Ｃ―２′……ロボツト水研ゾーン、１……自
動車ボデイ、２……搬送ライン、１２……検査
員、１３Ｒ，１３Ｌ……塗装面不良指示装置、１
５……指示装置用制御盤、１６Ｒ，１６Ｌ……水
研装置、１８……自動水研ロボツト用制御盤、３
４……トツプ用水研機、３５，３５′，３６，３
６′，３７，３７′……サイド用水研機、３８……
制御盤、３９……曲率部用水研ロボツト、４０，
４０′，４１，４１′……産業用ロボツト、３１，
４２……デイスク型研摩材、４３……曲率部用水
研ロボツト用制御盤。
Figure 1 is a schematic diagram of the equipment showing the conventional water-refining process;
Fig. 2 is a schematic diagram of the automatic water grinding device of the present invention, Fig. 3 is a perspective view of a painted surface defect indicator, Fig. 4 is a perspective view of the water sanding device, and Fig. 5 is a top water sanding machine. FIG. 6 is a plan view of the side water grinding machine, FIG. 7 is a side view of the side water grinding machine, and FIG. 8 is a perspective view of the curved part water grinding robot. A'...Inspection process, B'...Modified automatic water grinding process,
C'...Full surface water grinding process, C-1...Automatic water grinding machine zone, C-2'...Robot water grinding zone, 1...Automobile body, 2...Transfer line, 12...Inspector, 13R , 13L...Painted surface defect indicating device, 1
5... Control panel for indicating device, 16R, 16L... Water-refining device, 18... Control panel for automatic water-refining robot, 3
4... Water grinder for top, 35, 35', 36, 3
6', 37, 37'...Side water grinder, 38...
Control panel, 39...Suiken robot for curvature section, 40,
40', 41, 41'...Industrial robot, 31,
42... Disk type abrasive material, 43... Control panel for water polishing robot for curved parts.
Claims (1)
物の塗装面の不良位置及び不良状態を検知する塗
装面不良指示装置を配設し、該塗装面不良指示装
置によつて検知された前記塗装面の前記不良位置
及び前記不良状態を記憶する指示装置用制御盤に
前記塗装面不良指示装置を接続し、前記搬送ライ
ンの前記塗装面不良指示装置よりも下流位置に前
記塗装面の塗装不良部位を修正する自動水研ロボ
ツトを配設し、前記指示装置用制御盤から前記不
良位置及び前記不良状態を電気信号として入力さ
れかつ前記自動水研ロボツトに前記塗装不良部位
を修正させる制御信号を発する自動水研ロボツト
用制御盤を前記自動水研ロボツトに接続し、前記
搬送ラインの前記自動水研ロボツトよりも下流側
に前記塗装面の一部を水研する自動水研機を配設
し、前記搬送ラインの前記自動水研ロボツトより
も下流側で、かつ、前記自動水研機よりも下流側
又は上流側に、前記自動水研機では水研できない
前記塗装面の曲率半径の小さな曲率部を水研する
曲率部用水研ロボツトを配設し、前記曲率部用水
研ロボツトに前記曲率半径の小さな曲率部を予め
定められたプログラムに従つて水研させる制御信
号を発する曲率部用水研ロボツト用制御盤を前記
曲率部用水研ロボツトに接続し、前記曲率部用水
研ロボツトを、回転軸に対して直角方向に延びる
ナイロン植毛を有する小径のデイスク型研摩材
と、該デイスク型研摩材を回転させるモータと、
該モータを取付ける手首部を有する産業用ロボツ
トとから構成したことを特徴とする自動水研装
置。1. A painted surface defect indicating device for detecting the defective position and condition of the painted surface of the painted surface is disposed along the conveyance line of the article to be coated, and the defective coating surface detected by the painted surface defect indicating device is The painted surface defect indicating device is connected to a control panel for an indicating device that stores the defective position and the defective state of the painted surface, and the defective painted surface indicating device is connected to a control panel for an indicating device that stores the defective position and the defective state of the painted surface, and the defective painted surface is detected at a position downstream of the defective painted surface indicating device on the conveyance line. An automatic water polishing robot for correcting the part is installed, and the defective position and the defective state are inputted as electrical signals from the control panel for the indicating device, and a control signal is sent to the automatic water polishing robot to correct the defective coating part. A control panel for an automatic water polishing robot that generates water is connected to the automatic water polishing robot, and an automatic water polishing machine for water sanding a part of the painted surface is disposed downstream of the automatic water polishing robot on the conveying line. , a small curvature radius of the painted surface that cannot be water polished by the automatic water sanding machine, on the downstream side of the automatic water sanding robot in the conveyance line, and on the downstream or upstream side of the automatic water sanding machine. A water grinding robot for a curvature part is provided, and a water grinding robot for a curvature part is provided with a water grinding robot for a curvature part, and a control signal is issued to the water grinding robot for a curvature part to water grind a curvature part having a small radius of curvature according to a predetermined program. A control panel for the curvature section is connected to the water polishing robot for the curvature section, and the water polishing robot for the curvature section is connected to a small diameter disk-shaped abrasive material having nylon flocks extending perpendicularly to the rotation axis, and the disk-type abrasive material is rotated. A motor that makes
An automatic water grinding device comprising an industrial robot having a wrist portion to which the motor is attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16494681A JPS5867377A (en) | 1981-10-17 | 1981-10-17 | Automatic water honing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16494681A JPS5867377A (en) | 1981-10-17 | 1981-10-17 | Automatic water honing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5867377A JPS5867377A (en) | 1983-04-21 |
| JPH0258056B2 true JPH0258056B2 (en) | 1990-12-06 |
Family
ID=15802850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16494681A Granted JPS5867377A (en) | 1981-10-17 | 1981-10-17 | Automatic water honing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5867377A (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3259845B2 (en) * | 1991-09-09 | 2002-02-25 | マツダ株式会社 | Polishing control method and apparatus |
| US6365221B1 (en) * | 1999-11-23 | 2002-04-02 | Visions East, Inc. | Computer controlled method and apparatus for fairing and painting of marine vessel surfaces |
| CN108637860A (en) * | 2018-04-18 | 2018-10-12 | 武汉理工大学 | High ferro white body automation wire-drawing frame and method based on Robot Hand-eye control |
| JP7354879B2 (en) | 2020-03-05 | 2023-10-03 | トヨタ自動車株式会社 | automatic water grinding device |
| JP7338517B2 (en) | 2020-03-05 | 2023-09-05 | トヨタ自動車株式会社 | automatic water laboratory |
| JP7338516B2 (en) | 2020-03-05 | 2023-09-05 | トヨタ自動車株式会社 | automatic water laboratory |
| JP7338515B2 (en) * | 2020-03-05 | 2023-09-05 | トヨタ自動車株式会社 | automatic water laboratory |
| JP7327217B2 (en) * | 2020-03-05 | 2023-08-16 | トヨタ自動車株式会社 | automatic water laboratory |
-
1981
- 1981-10-17 JP JP16494681A patent/JPS5867377A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5867377A (en) | 1983-04-21 |
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