JPH0420671B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a paint gun that is disposed opposite to the side of a conveyor and that is reciprocated within an area substantially perpendicular to the conveying direction of the conveyor. The present invention relates to a coating device that sprays paint to coat objects to be coated that are conveyed by the conveyor.

[Prior art]

An example of a conventional coating device of this type is shown in FIG.

In the conventional coating device 1 described above, as shown in the figure,
An arm 3 a equipped with a coating gun ₃ is movably disposed, for example, in the vertical direction (longitudinal direction, Z direction in the figure) of the coating device main body 2 .
Further, the arm _3a is movable in the Y direction with respect to the coating apparatus main body 2.

The coating device 1 has a conveyor 4 (eighth
The coating gun 3 is moved in the Y and/or Z direction to the object 6 to be coated, which is disposed opposite to the side of the conveyor 4 and is conveyed in the direction of the arrow 5 (X direction in FIG. 7). The object 6 to be coated is coated by ejecting paint from the coating gun 3 at the same time.

The pattern of the locus of movement of the painting gun 3 relative to the painting surface of the object 6 to be painted in this case is shown by a broken line in FIG.

[Problem to be solved by the invention]

However, in the conventional coating apparatus 1 having the above configuration, since the spray width of the paint from the coating gun 3 to the object 6 is the same, the conveyor 4
When the conveyance speed of the object to be coated 6 changes, unless the gun speed follows this conveyor speed, the pitch of the forward and backward processes of the painting gun 3 will change.
There was a problem in that stable quality could not be obtained because the coating locus on the painted surface of the object 6 to be painted changed and the coating finish changed.

Therefore, an object of the present invention is to provide a coating device that is capable of always forming a stable coating film and improving coating quality even when the conveyance speed of the object to be coated by a conveyor changes. That's true.

[Means to solve the problem]

In order to achieve the above object, the first means adopted by the present invention is arranged opposite to the side of the conveyor, and within an area substantially perpendicular to the conveyance direction of the conveyor. In a coating device that sprays paint from a reciprocating coating gun to paint an object to be coated that is conveyed by the conveyor, an intermediate point of the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating device main body. a pitch specifying means for specifying a movement pitch in the conveying direction of the conveyor with respect to the painting surface of the object to be painted, and a first input for inputting a unit movement locus of the coating gun taught based on the shape of the object to be painted; and a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor so that the moving pitch of the coating gun becomes a constant value. This is a coating device comprising:

The gist of the second means is to eject paint from a paint gun that is disposed opposite to the side of the conveyor and is moved back and forth within an area approximately perpendicular to the conveyance direction of the conveyor. In a coating apparatus that paints an object to be coated that is conveyed by the conveyor, the conveyor is applied to the painted surface of the object at the midpoint of the forward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating apparatus main body. a pitch specifying means for specifying a movement pitch in the conveying direction; and a second means for inputting a unit movement locus of the painting gun taught according to a portion of change in the shape of the object to be painted, based on the shape of the object to be painted. an input means, and a set position of the moving pitch of the painting gun specified by the pitch specifying means in accordance with the moving distance of the painting gun on the unit movement locus inputted by the second input means in the moving direction of the painting gun. and a pitch position correction means for correcting the movement pitch of the painting gun, and calculation processing of the moving speed of the painting gun and the waiting time at the end of the reciprocating movement of the painting gun according to the amount of movement of the conveyor so that the moving pitch of the painting gun becomes a constant value. The painting apparatus is equipped with a control means for controlling the painting apparatus.

Furthermore, the gist of the third means is to eject paint from a paint gun that is disposed opposite to the side of the conveyor and is reciprocated within an area substantially perpendicular to the conveying direction of the conveyor. A coating apparatus for coating an object to be coated conveyed by the conveyor includes a shape detection means disposed on the upstream side of the conveyor in the conveying direction to detect the shape of the object to be coated, and a shape detection means for detecting the shape of the object to be coated, and a shape detection means for detecting the shape of the object to be coated; a pitch specifying means for specifying a pitch of movement of the conveyor in the conveying direction with respect to the painted surface of the object to be painted at an intermediate point of the outward movement distance or the return movement distance in the longitudinal direction; and the object to be painted detected by the shape detection means. a third input means for inputting a unit movement locus of the painting gun taught according to the presence or absence of a changing part in the shape of the object to be painted based on the shape of the object; Pitch position correction means for correcting the set position of the moving pitch of the painting gun specified by the pitch specifying means with respect to the moving direction of the painting gun in accordance with the moving distance when the moving distance of the gun on the unit movement trajectory changes; and a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor so that the moving pitch of the coating gun is a constant value. This is a coating device comprising:

[Effect]

In the coating apparatus according to the first means, first, the pitch of movement of the conveyor in the conveyance direction with respect to the painting surface of the object to be coated is determined at the intermediate point of the forward movement distance or the return movement distance of the painting gun in the longitudinal direction of the coating apparatus main body. is specified by the pitch specifying means, and the unit movement locus (first pass movement locus) of the coating gun taught based on the shape of the object to be coated is inputted by the first input means.

Then, the moving speed of the coating gun and the standby time at the end of the reciprocating movement of the coating gun are calculated and regenerated according to the amount of movement of the conveyor so that the pitch of movement of the coating gun becomes a constant value.

Moreover, in the coating apparatus according to the second means, first, the coating gun is moved in the direction of conveyance of the conveyor to the painted surface of the object at the intermediate point of the forward movement distance or the return movement distance in the longitudinal direction of the coating apparatus main body. A movement pitch is specified by the pitch specifying means, and based on the shape of the object to be painted, a unit movement locus of the painting gun taught according to a changing part of the shape of the object to be painted is inputted by the second input means. . In this case, the unit movement locus corresponds to each first pass movement locus that is taught for each part of the object to be painted whose shape changes.

Then, in accordance with the moving distance of the painting gun on the unit movement trajectory inputted by the second input means, the set position of the moving pitch of the painting gun specified by the pitch specifying means is determined with respect to the moving direction of the painting gun. The pitch position is corrected by the pitch position correction means.
Thereafter, the moving speed of the coating gun and the standby time at the end of the reciprocating movement of the coating gun are calculated and regenerated according to the amount of movement of the conveyor so that the moving pitch of the coating gun becomes a constant value.

Further, in the coating apparatus according to the third means, a shape detection means for detecting the shape of the object to be coated is provided on the upstream side of the conveyor in the conveyance direction.

Then, the pitch of movement of the conveyor in the conveyance direction with respect to the painting surface of the object to be coated at the intermediate point of the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating apparatus main body is specified by the pitch specifying means, and Based on the shape of the object to be painted detected by the detection means, the unit movement locus of the painting gun taught according to the presence or absence of a portion of change in the shape of the object to be painted is inputted by the third input means.

When the moving distance of the painting gun on the unit movement trajectory input by the third input means changes, the set position of the moving pitch of the painting gun specified by the pitch specifying means according to this moving distance. is corrected by the pitch position correction means with respect to the moving direction of the coating gun. Thereafter, the moving speed of the coating gun and the standby time at the end of the reciprocating movement of the coating gun are calculated and regenerated according to the amount of movement of the conveyor so that the moving pitch of the coating gun becomes a constant value.

〔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.

FIG. 1 shows the external appearance of a coating apparatus according to an embodiment of the present invention, in which FIG. 1A is a front view, FIG. 1B is a side view, FIG.
Figures a and b are explanatory diagrams showing the teaching mode of the above-mentioned coating apparatus, respectively, and Figures 3a and b are respectively illustrations of a coating gun applied to the painted surface of an object to be coated when painting with the coating apparatus according to an embodiment of the present invention. A pattern diagram showing a relative movement locus. FIG. 4 shows a pattern of a relative movement locus of a painting gun with respect to a painting surface of an object to be painted when painting with a coating apparatus according to another embodiment of the present invention. FIG. 5 is a front view, FIG. 5 is a side view, and FIG. 5 is a perspective view of a main part of a painting line showing a situation in which a workpiece is coated by a coating apparatus according to still another embodiment of the present invention. Figure, 6th
Figures a, b, and c are flowcharts showing an example of the procedure for coating with each of the above-mentioned coating apparatuses.

In the coating device 7 according to this embodiment, as shown in FIG. Possibly deployed.
Further, the support 9 is provided with, for example, four painting guns 1.
An arm 11 equipped with an arrow 0 is disposed so as to be movable in the direction of the arrow Y.

The coating device 7 is connected to the conveyor 4 (second
(see figure), and is controlled by a control device (not shown) consisting of a CPU, memory, various interfaces, etc.

That is, the coating gun 10
The objects 12 and 13 to be coated are coated by moving the paint gun 10 in the Y and/or Z direction and at the same time spouting paint from the paint gun 10.

In addition, FIGS. 2a and 2b respectively show the above-mentioned coating device 7.
It shows a teaching mode that can be implemented by
Figure a shows so-called robot teaching in which all movements are taught, such as in a multi-axis robot, and figure b shows so-called reciprocating teaching in which vertical movements can be repeatedly reproduced by teaching only one vertical pass. It shows. In this case, the points indicated by open circles in the figure indicate actual teaching points, and the points indicated by black circles indicate automatically generated points.

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.

Next, based on Fig. 3 a, b and Fig. 6 a,
An example of the procedure for coating using the coating device 7 will be described in detail.

In FIG. 6a, S1, S2, . . . indicate each operation step.

First, in S1, the painting gun 10 (Fig. 2 a)
The conveyor transports the object 12 to be coated onto the painted surface at the midpoint (corresponding to the position of point 1 _b on the movement trajectory a) of the return movement distance (or the outbound movement distance) in the longitudinal direction of the coating apparatus main body 8 (see). A movement pitch _P1 in the direction (arrow 5 direction) is specified. The value of the moving pitch P ₁ above is the painting gun 10
It is given as the relative movement amount of the conveyor 4 in the direction of arrow 5 (X direction) with respect to
It is detected by pulse information from a conveyor pulse unit (encoder, not shown) provided on the conveyor 4. And the value of movement pitch P ₁ is
For example, key input is performed from a teaching box (not shown).

Subsequently, in S2, teaching points 1 _a and 1 _c corresponding to the unit movement trajectory a of the first pass of the painting gun 10 taught based on the shape of the object to be painted 12 (rectangular shape in this embodiment) are input. be done.

The above teaching point 1 on the Y/Z coordinates at this time
_a and 1 _c are taught PTP by remote guidance, for example.

In this case, according to S1, the object to be coated 1 at the intermediate point of the forward movement distance or the return movement distance of the coating gun 10 in the longitudinal direction of the coating apparatus main body 8.
Pitch designating means is configured to designate the movement pitch of the conveyor 4 in the conveying direction with respect to the painted surface of the painting surface No. 2.

Further, the above S2 constitutes a first input means for inputting the unit movement locus of the coating gun 10 taught based on the shape of the object 12 to be coated.

The object 1 to be painted by the painting gun 10 as described above.
When the control information for S2 is input, S
3, the moving pitch P ₁ of the painting gun 10 is
The moving speed of the coating gun 10 and the standby time at the end of the reciprocating movement of the coating gun 10 are calculated and regenerated in accordance with the amount of movement of the conveyor 4 so that is always a constant value. 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 shown by a, b, c, and d. Further, the locus of movement of the painting gun 10 relative to the object 12 during the standby time at the end of the reciprocating movement is indicated by e, f, g, and h.

In this case, in S3 above, the moving speed of the painting gun 10 and the waiting time at the end of the reciprocating movement are calculated and controlled according to the amount of movement of the conveyor 4 so that the moving pitch of the painting gun 10 becomes a constant value. A control means is configured.

By controlling the coating gun 10 as described above, even if the conveyance speed of the conveyor 4 changes, the relative movement locus of the coating gun 10 with respect to the painting surface of the object 12 to be coated is as shown in FIG. 3, for example. At point a, the state shown by the broken line is reached, and the value of the movement pitch _P1 of the coating gun 10 is always constant. As a result, even when the conveyor speed changes, the movement pitch of the painting gun in the reciprocating process remains unchanged and is always maintained at a constant value. There is no longer a situation in which areas that are coated once, areas that are overcoated, or areas that are not sprayed with paint change, and a constant coating film is always formed.

The above painting gun 1 when the movement pitch of the above painting gun 10 is changed to a value P ₂ smaller than P ₁
An example of the movement trajectory of 0 is shown in FIG. 3b.

Continuing on, based on FIGS. 4a and 4b and FIG. 6b, a procedure for coating with a coating apparatus according to another embodiment of the present invention will be described.

In FIG. 6b, S11, S12, . . . indicate each operation step.

First, in S11, similarly to S1 above, the coating gun 10 is moved in the longitudinal direction of the coating apparatus main body 8, for example, in the conveyor conveyance direction (arrow 5 direction) with respect to the painted surface of the object to be coated 14 at the midpoint of the forward travel distance. Pitch P ₃ is specified (pitch specification means).

Subsequently, in S12, each one of the painting guns 10 taught according to the changed portion of the object 14 to be painted is
Teaching points 1 _b , 2 on the unit movement trajectory of the pass
_b , 3 _b and 10 _b , 11 _b , 12 _b , 13 _b , 14 _b ,
15 _b is input.

Each teaching point on the Y/Z coordinates of the painting gun 10 is taught by PTP by remote guidance.

Movement trajectories j and k are automatically taught as repetitions of movement trajectory i, and movement trajectory n is automatically taught as repetitions of movement trajectory m.

In this case, in step S12, the second input means is configured to input the unit movement locus of the painting gun 10 that is taught based on the shape of the object 14 and the location where the shape of the object 14 changes. ing.

Subsequently, in S13, the set position of the moving pitch _P3 is corrected with respect to the moving direction of the painting gun 10 in accordance with the moving distance of the painting gun 10 on the unit movement trajectories l and m.

That is, regarding the movement trajectory l, the movement pitch P ₃ is located at an intermediate position between the teaching points 10 _b and 12 _b .
The position is corrected so that n can be set, and the movement trajectory n
With respect to the automatic teaching points _16b and 18b, the position is corrected so that the movement pitch _P3 can be set at an intermediate position between the automatic teaching points 16b _{and 18b} .

In this case, in step S13, the set position of the moving pitch of the painting gun 10 specified by the pitch specifying means is determined according to the moving distance of the painting gun 10 on the unit movement trajectory input by the second input means. A pitch position correction means for correcting the moving direction of the coating gun 10 is configured.

Once the control information is set as described above,
Subsequently, in S14, the moving speed of the painting gun 10 and the waiting time at the end of the reciprocating movement are calculated according to the moving amount of the conveyor 4 so that the moving pitch _P3 of the painting gun 10 becomes a constant value, Playback is controlled. The above painting gun 10 at this time
The locus of movement of the object 14 to be painted relative to the painted surface is indicated by i, j, k, l, m, n, and o.
Further, the locus of movement of the coating gun 10 relative to the object to be coated 14 during the waiting time at the end of the reciprocating movement is indicated by p, q, r, s, and t.

In this case, in S14, the moving speed of the coating gun 10 and the waiting time at the end of the reciprocating movement of the coating gun 10 are adjusted according to the moving amount of the conveyor 4 so that the moving pitch of the coating gun 10 becomes a constant value. A control means for performing calculation processing and control is configured.

By controlling the coating gun 10 as described above, even if the conveyor speed changes,
Even for the object 14 whose painted surface has an irregular shape, there will no longer be parts that have been coated once, parts that have been overcoated, and parts that cannot be sprayed with paint, resulting in a uniform coating without uneven coating. can be formed.

Continuing on, based on FIG. 5 and FIG. 6c, a procedure for coating using a coating apparatus according to another embodiment will be described.

In FIG. 6c, S21, S22, . . . indicate each operation step.

In the coating apparatus according to this embodiment, as shown in FIG. 5, objects to be coated 14, which are continuously conveyed by the conveyor 4,
Shape detection means 15 for detecting each shape of 12, . . . is provided.

The shape detection means 15 is mounted on a gate-shaped frame 16 arranged to straddle the conveyor 4.
Photoelectric units 17 and 18 each having a plurality of parallel light-emitting elements and light-receiving elements arranged facing each other are installed in a perpendicular state. The photoelectric unit 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 Z direction.

First, in S21, as in the case of S1 and S11 regarding the coating apparatus according to the other embodiments described above, the coating gun 10 is moved, for example, at the intermediate point of the forward movement distance or the return movement distance in the longitudinal direction of the coating apparatus main body 8. Painted objects 12 (see Figure 3), 14
(See FIG. 4) The movement pitch in the conveyor transport direction (arrow 5 direction) with respect to the painted surface is specified (pitch specifying means).

The above moving pitch is as in the case of the above embodiment,
P ₁ is given for the object 12 to be painted, and P ₃ is given for the object 14 to be painted.

Subsequently, in S22, the shape detection means 1
5, the shape of the object to be coated is automatically detected.
If it is determined in S23 that the object to be painted has an irregular shape, that is, in the case of the object to be painted 14, for example, in S24, the object to be painted is determined to have an irregular shape.
The same processing as in the case of is performed. That is, the unit movement trajectories il, m, etc. of the painting gun taught according to the portions of the object 14 to be painted whose shape changes are input.

Subsequently, in S25, as in the case of S13, the unit movement trajectories i, l,
The set position of the moving pitch _P3 is corrected with respect to the moving direction of the coating gun 10 in accordance with the moving distance on m.

On the other hand, if it is determined in S23 that the shape of the object to be painted is not irregular, that is, for example, in the case of the object to be painted 12, then in S26, the S
The same processing as in case 2 is performed. That is, the unit movement locus a of the first pass of the coating gun 10 taught based on the shape of the object 12 to be coated is input.

In this case, the above S22, S23, S24, S2
6, a third input for inputting a taught unit movement locus of the painting gun based on the shape of the workpiece detected by the shape detecting means 15, depending on the presence or absence of a portion where the shape of the workpiece changes. The means are configured.

Further, in the above S25, if the moving distance of the painting gun 10 on the unit movement trajectory inputted by the third input means changes, the moving distance of the painting gun 10 specified by the pitch specifying means changes according to this moving distance. Pitch position correction means for correcting the set position of the moving pitch with respect to the moving direction of the coating gun 10 is corrected.

Based on the control information automatically set based on the information from the shape detection means 15 as described above, in S27, the amount of movement of the conveyor 4 is determined so that the movement pitch of the coating gun 10 is a constant value. The moving speed of the painting gun 10 and the standby time at the end of the reciprocating movement of the painting gun 10 are calculated and regenerated in accordance with this.

That is, in the case of the object to be painted 12, the same control as in S3 is performed, and in the case of the object to be painted 14, the same control as in S14 is performed.

In this case, the above S27 constitutes a control means.

Therefore, in a coating device controlled as described above, even if the conveyor speed or the shape of the object to be coated changes, the operator does not need to judge the shape of the object each time. The movement pitch of the coating gun 10 can be automatically set to a constant value depending on the shape.

As a result, on the painted surface of the object to be coated, there is no change in areas that have been coated once, areas that have been repeatedly coated, or areas that are not sprayed with paint, and a constant coating film can always be formed.

〔Effect of the invention〕

As described above, the present invention provides for 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 conveyance direction of the conveyor, and is conveyed by the conveyor. In a coating device for painting an object to be coated, movement of the conveyor in the conveying direction with respect to the painted surface of the object to be coated at an intermediate point of the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating device main body. a pitch specifying means for specifying the pitch; a first input means for inputting a unit movement locus of the painting gun taught based on the shape of the object to be painted; The coating apparatus further comprises a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor.

In addition, paint is sprayed from a coating gun that is disposed opposite to the side of the conveyor and moves back and forth within an area approximately perpendicular to the conveyance direction of the conveyor to paint the objects to be coated that are conveyed by the conveyor. Pitch designating means for specifying a moving pitch in the conveying direction of the conveyor relative to the painting surface of the object to be coated at an intermediate point of the outward movement distance or the return movement distance of the painting gun in the longitudinal direction of the coating apparatus main body. Based on the shape of the object to be coated,
a second input means for inputting the unit movement locus of the painting gun taught according to the portion of change in the shape of the object to be painted; pitch position correction means for correcting the set position of the moving pitch of the painting gun specified by the pitch specifying means with respect to the moving direction of the painting gun according to the moving distance; This coating apparatus is characterized by comprising a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the reciprocating end of the coating gun according to the amount of movement of the conveyor.

Furthermore, it is placed opposite the side of the conveyor,
In a coating device that sprays paint from a coating gun that is reciprocated in an area substantially perpendicular to the conveyance direction of the conveyor to paint the object to be coated conveyed by the conveyor, the paint is disposed on the upstream side of the conveyor in the conveyance direction. A shape detecting means for detecting the shape of the object to be coated, and a shape detecting means for detecting the shape of the object to be coated, and a shape detecting means for detecting the shape of the object to be coated, and a shape detecting means for detecting the shape of the object to be coated; A pitch specifying means for specifying a movement pitch in the conveyance direction, and a painting gun that is taught based on the shape of the object to be coated detected by the shape detecting means, depending on the presence or absence of a portion where the shape of the object to be coated changes. a third input means for inputting a unit movement locus of;
When the moving distance of the painting gun on the unit movement trajectory input by the third input means changes,
pitch position correction means for correcting the set position of the moving pitch of the painting gun specified by the pitch specifying means with respect to the moving direction of the painting gun according to the moving distance; The coating apparatus further comprises a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor.

Therefore, in each of the above-mentioned painting devices, even if the conveyor speed changes, the movement of the painting gun will continue.
The movement pitch for the return process can always be set to a constant value.

As a result, unlike in the case of conventional apparatuses, the coating locus on the painted surface of the object to be coated does not change and the coating finish does not change, and a stable coating film can always be formed.

[Brief explanation of drawings]

FIG. 1 shows the external appearance of a coating device according to an embodiment of the present invention, in which a is a front view;
Figure b is a side view, figure c is a plan view, figure 2 a, b
3A and 3B are explanatory diagrams each showing a teaching mode in the above-mentioned coating device, and FIGS. 3a and 3b respectively show the relative movement of the coating gun with respect to the painted surface of the object to be coated when coating with the coating device according to an embodiment of the present invention. A pattern diagram showing a trajectory, FIG. 4, shows a pattern of a relative movement trajectory of a coating gun with respect to a painting surface of an object to be coated when painting with a coating apparatus according to another embodiment of the present invention, Figure a is a front view;
Figure b is a side view, Figure 5 is a perspective view of the main parts of a coating line showing a situation in which objects to be coated are coated by a coating apparatus according to still another embodiment of the present invention, Figures 6a and 6 are
b and c are flowcharts showing an example of the procedure for painting with each of the above-mentioned painting devices, respectively; FIG. 7 is a perspective view showing the schematic configuration of a conventional painting device; and FIG.
The figure is a side view showing the conveyance state of objects to be coated conveyed by a conveyor. Explanation of symbols, 4...Conveyor, 7...Painting device, 8...Painting device main body, 10...Painting gun, 1
2, 13, 14...Object to be painted, 15...Shape detection means, _1a to _1c , _1b to _20b ...Teaching points, _P1 , _P2 , _P3 ...Movement pitches, a to t ……
Movement trajectory.

Claims (1)

[Claims] 1. Paint is ejected from a paint gun that is disposed opposite to the side of the conveyor and reciprocated in an area substantially perpendicular to the conveyance direction of the conveyor, and is conveyed by the conveyor. In a coating device for painting an object to be coated, the moving pitch of the conveyor in the conveyance direction with respect to the painted surface of the object to be coated at the intermediate point of the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating device main body. a pitch specifying means for specifying; a first input means for inputting a unit movement locus of the painting gun taught based on the shape of the object to be painted; A coating apparatus comprising: control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor. 2 Paint is sprayed from a coating gun that is disposed opposite to the side of the conveyor and is moved back and forth within an area substantially perpendicular to the conveyance direction of the conveyor to paint the object being conveyed by the conveyor. In the coating apparatus, a pitch specifying means for specifying a movement pitch in the conveying direction of the conveyor with respect to the painting surface of the object to be coated at an intermediate point of the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating apparatus main body; , a second input means for inputting a unit movement locus of the coating gun taught according to the portion of change in the shape of the object to be painted based on the shape of the object to be painted; pitch position correction means for correcting the set position of the moving pitch of the painting gun specified by the pitch specifying means with respect to the moving direction of the painting gun according to the movement distance of the painting gun on the unit movement locus; and control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor so that the movement pitch is a constant value. A painting device featuring: 3 Paint is sprayed from a coating gun that is disposed opposite to the side of the conveyor and moves back and forth within an area approximately perpendicular to the conveyance direction of the conveyor to paint the object being conveyed by the conveyor. In the coating apparatus, a shape detection means is provided on the upstream side of the conveyor in the conveyance direction and detects the shape of the object to be coated, and a shape detection means is provided at an intermediate distance between the outward movement distance or the return movement distance of the coating gun in the longitudinal direction of the coating apparatus main body. a pitch specifying means for specifying a moving pitch in the conveying direction of the conveyor with respect to the painted surface of the object to be painted at a point, and a shape of the object to be painted based on the shape of the object to be painted detected by the shape detection means. a third input means for inputting a taught unit movement locus of the painting gun depending on the presence or absence of a changed part; and a movement distance on the unit movement locus of the painting gun inputted by the third input means changes. a pitch position correction means for correcting the set position of the moving pitch of the painting gun specified by the pitch specifying means in accordance with the moving distance with respect to the moving direction of the painting gun; and The coating apparatus is characterized by comprising a control means for calculating and controlling the moving speed of the coating gun and the waiting time at the end of the reciprocating movement of the coating gun according to the amount of movement of the conveyor.