JPH0429427B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coating apparatus, and more specifically, for example, when painting an outer panel part of an automobile body, a nozzle part constituting a paint injection means is directed against the outer panel part. By performing painting work while driving the vehicle oriented at a nearly right angle, it is possible to perform painting work on bent or curved exterior panels accurately and automatically with as few steps as possible. Regarding equipment.

In recent years, in the automobile industry, automobiles have been mass-produced efficiently using highly automated line production processes. Therefore, in order to meet the demands of mass production, assembly equipment that assembles each part or conveyance equipment that sequentially transports parts to a predetermined work position is used, and painting equipment that paints automobile bodies is also automated. It goes without saying that there are.

In this case, various methods are employed to automatically paint the vehicle body. One method is to paint the vehicle body by keeping the vehicle body stationary at a painting position and displacing a coating device equipped with a plurality of paint guns with respect to the vehicle body. in this case,
In order to carry out the above-mentioned painting method, a so-called gate-type painting apparatus, in which a painting gun is arranged so as to surround both sides and the top and bottom of a stationary vehicle body, is generally widespread. That is, two side painting mechanisms each having a plurality of painting guns facing each other are provided on both sides of the gate-type painting device, and the upper painting mechanism is provided with a plurality of painting guns facing vertically downward. The upper coating mechanism is equipped with a coating gun.

In such a configuration, the upper coating mechanism and the side coating mechanism are integrally displaced with respect to the vehicle body via a conveyance mechanism, and the coating work is performed over the entire surface of the vehicle body using each painting gun.

By the way, in the painting apparatus according to the above-mentioned prior art, for example, in order to form a uniform painted surface when painting the upper surface of an automobile body, the painting gun that constitutes the upper painting mechanism is displaced with respect to the painted surface. Some vehicles are designed to perform painting while maintaining a constant distance between the vehicle body and the painting gun. in this case,
It is possible to apply a desired coating to a coating surface arranged substantially parallel to the traveling direction of the coating gun, such as the roof of a vehicle body. However, it is impossible to uniformly paint surfaces that are inclined with respect to the traveling direction, such as bonnets, trunk covers, etc., solely by displacing the paint gun. Therefore, by controlling the traveling speed of the coating gun, the amount of paint ejected, etc., it is possible to uniformly coat such a coating surface.

However, such control is extremely complicated, and it is practically impossible to uniformly paint parts of the car body that are located approximately at right angles to the paint gun, such as the front end and rear end. be. Therefore, when painting such parts, a method is adopted in which the front end, rear end, etc. are painted by another painting device or manually after the painting work by the painting device is completed. .

In this case, if another painting device is used to paint the object, for example, after painting the bonnet with the painting device, the painting operation is temporarily interrupted, and then the other painting device is used to paint the object. Then, the front end must be painted, and there is a risk of uneven painting, especially at the boundary between the bonnet and the front end. Further, since a plurality of coating devices are required, a considerable amount of installation space and economic burden will be caused in terms of the equipment.

On the other hand, when painting by hand, uneven coating occurs in the same way, and in this case, not only does it bother the worker's hands, but the worker also inhales the paint, causing physical damage. It has been pointed out that there are problems in which failures occur.

As a result, it has been pointed out that the painting work becomes complicated and that it is difficult to achieve an efficient automobile line production process.

The present invention has been made in order to overcome the above-mentioned disadvantages, and the present invention rotates the paint injection means and runs the paint injection means in a state where the paint injection means is oriented substantially perpendicularly to the painting surface of the object to be painted. By performing painting work on objects with bent or curved painting surfaces, it is possible to automatically perform painting work on objects to be painted, and in addition, high-precision painting results can be obtained with as few steps as possible. The purpose is to provide equipment.

In order to achieve the above object, the present invention provides a first
a first movable body that is self-propelled by a drive source; a second moving body that rotates by a rotating means about a rotation axis perpendicular to the moving direction of the second moving body; and a paint ejecting means in which a nozzle portion for ejecting paint at a substantially right angle is disposed close to an extension line of the rotation axis.

Next, preferred embodiments of the coating apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates an automobile painting line, and this painting line 10 is divided into a first stage 10a and a second stage 1 according to the work process.
0b, a third stage 10c and a fourth stage 10d. In this case, the coating device 12 according to the invention is placed on the third stage 10c.

In the first stage 10a, the engine compartment and trunk compartment of the vehicle body 14 are painted. Rail portions 16a are provided on both sides of the first stage 10a,
16b is arranged, and these rail parts 16a, 1
Painting robots 18a to 18d are movably arranged at 6b. Further, a bonnet opening/closing mechanism 20 and a trunk opening/closing mechanism 22 are provided in the first stage 10a. Note that a vehicle body transport mechanism 24 is provided in the center of the painting line 10 from the first stage 10a to the fourth stage 10d.

In the second stage 10b, the inner surface of the door of the vehicle body 14 and the like are painted. In this case, rail sections 26a and 26b are arranged on both sides of the second stage 10b, and painting robots 28a and 28b are movably arranged on these rail sections 26a and 26b. In addition, the vehicle body transport mechanism 24 and the rail portion 26a,
Rails 30a, 30b are further arranged between the door opening and closing mechanism 26b, and door opening/closing mechanisms 32a, 32b are movably arranged on these rails 30a, 30b.

Next, at the third stage 10c where the coating device 12 according to the present invention is installed, the bonnet of the vehicle body 14,
The exterior parts including the trunk cover, roof and doors will be painted. And the fourth stage 10d
Then, the car body 14 that has been painted is dried. Note that the first to third stages 10a to 10
In c, it is assumed that static electricity is applied to the paint and electrostatic painting is performed on the vehicle body 14, which is the object to be painted.

Therefore, in FIGS. 2 and 3, the coating device 12 according to the present invention includes rail sections 34a and 34b disposed in parallel on both sides of the vehicle body transport mechanism 24,
Upper coating mechanism 3 running along the rail portion 34a
6, the left side painting mechanism 38, and the rail portion 34b
It basically consists of a right side painting mechanism 40 that travels along the right side.

The traveling means for causing the upper painting mechanism 36, the left side painting mechanism 38, and the right side painting mechanism 40 to travel along the rail portions 34a, 34b are basically configured the same. That is, in FIG. 4, the rail bracket 4 constituting each rail portion 34a, 34b
2 extends from one end to the other end of the rail portions 34a, 34b. Spacers 44a and 44b are fixed to the upper surface of the rail bracket 42.
Rails 48a and 48b are fixed to the upper surfaces of the spacers 44a and 44b by bolts 46, respectively. Further, a rack member 52 is disposed on the vertical outer side of the rail bracket 42 via a support member 50 in parallel with the rail 48a. Supports 54a and 54b are erected on the upper surface of the rail bracket 42, and a protective cover 56 having a U-shaped cross section and extending along the rails 48a and 48b is fixed to the upper ends of the supports 54a and 54b.

On the other hand, the upper coating mechanism 36 and the left side coating mechanism 38
A plate body 60 is fixed to the lower end of the casings 58a to 58c constituting the outer frame of the right side painting mechanism 40, and side plates 60 are attached to both sides of the lower surface of the plate body 60.
2a and 62b are fixed. A support member 64 is fixed to the lower end of the side plate 62a, and this support member 64
A traveling motor 66 is fixed to the lower end of the . A pinion 70 is pivotally attached to the tip of the rotating shaft 68 of the traveling motor 66, and this pinion 70 meshes with the rack member 52 fixed to the rail bracket 42.

A wheel portion 72a is attached to the upper end of the support member 64. The wheel portion 72a includes a wheel 74 that abuts the upper surface of the rail 48a, a pair of wheels 78a and 78b that are supported by a plate 76 fixed to the wheel portion 72a and abut against both side surfaces of the rail 48a, and a pair of wheels 78a and 78b that abut the upper surface of the rail 48a. Wheels 80 that come into contact with the lower surface portion are each rotatably pivoted. Furthermore, a wheel portion 72b is attached to the side plate 62b via a support member 82. A rail 48 is connected to this wheel portion 72b via a support shaft 84.
wheel 86 that comes into contact with the upper surface of b, and rail 48b
Wheels 88 that come into contact with the lower surface of each are rotatably attached to the shafts.

Next, the configuration of the upper coating mechanism 36 will be explained. In FIGS. 3 and 5, the casing 5
A ball screw 90 extending vertically is rotatably supported within the casing 8a, and the upper end of the ball screw 90 is connected to a drive shaft of a lifting motor 92 mounted on the upper surface of the casing 58a. ball screw 9
There are four guide rods 94a to 94 around 0.
d are erected in parallel. Here, a support plate 96 is screwed onto the ball screw 90, and the support plate 96 is configured to move up and down by rotating the ball screw 90 under the driving action of the lifting motor 92. Note that the guide rods 94a to 94d are inserted through the support plate 96.

As shown in FIG. 5, a swing motor 100 is fixed to the upper surface of the support plate 96 via a holder 98. A gear 104 is attached to a rotating shaft 102 of the turning motor 100 . The holder 98 holds a bearing member 106, and a pivot shaft 108 is pivotally supported on the bearing member 106. A gear 110 that meshes with the gear 104 is attached to one end of the pivot shaft 108 . The other end side of the pivot shaft 108 is a casing 58a.
It protrudes further outward, and the other end has a rotating arm 1.
One end of 12 is fixed.

On the other hand, a shift cylinder 114 serving as a shift means is disposed on the other end side of the swing arm 112. A cylinder rod 116 of this shift cylinder 114 extends horizontally orthogonally to the rail portions 34a and 34b, and a fixed shaft 118 whose one end is fixed to the swing arm 112 is attached to the outer periphery of the cylinder rod 116.
is loosely fitted. Further, a cylindrical slide sleeve 122 is slidably fitted to the outer circumference of the fixed shaft 118 via slide metals 120a and 120b. Here, a spline 116a is formed at the distal end of the cylinder rod 116, and a guide member 124 fixed to the other end of the fixed shaft 118 is slidably fitted into the spline 116a, and one end of the spline 116a is engaged and fixed to the slide sleeve 122. Note that a telescopic bellows-shaped cover member 126 is installed between the other end of the slide sleeve 122 and the pivot arm 112 in order to prevent paint from adhering to the fixed shaft 118.

A horizontal gun arm 13 is attached to the outer periphery of the slide sleeve 122 via support members 128 and 130.
2 are held connected. Clamp members 134a to 134d are engaged with the horizontal gun arm 132 at predetermined intervals.
Gun support bars 136a to 134d are connected to gun support bars 136a to 134d.
4d is held perpendicular to the horizontal gun arm 132. And gun support bar 136
Paint guns 140a to 140d, which serve as paint injection means, are attached to the lower end portions of a to 136d via connecting members 138a to 138d while being spaced a predetermined distance from each other. Note that coating cables 142a to 142d for feeding paint materials are connected to the paint guns 140a to 140d.

Left side painting mechanism 38 and right side painting mechanism 40
is used to paint the left side and right side of the vehicle body 14, and basically has the same configuration. That is, in FIGS. 3 and 6, columns 144a and 144b extending in the vertical direction are provided in casings 58b and 58c that constitute the outer frames of the left side painting mechanism 38 and the right side painting mechanism 40. . A rail portion 3 is provided between these supports 144a and 144b.
Two guide bars 146a, 146b extending horizontally and perpendicular to 4a, 34b are bridged, and a holding member 148 is slidably engaged and held by these guide bars 146a, 146b. Note that telescopic cover members 150a, 150b are attached to the outer peripheries of the guide bars 146a, 146b between the holding member 148 and the columns 144a, 144b. The holding member 148 has a horizontal movement cylinder 1.
52 is fixed, and this horizontal movement cylinder 152
The tip of a cylinder rod (not shown) is connected to the support column 144b via a connecting member 154.

Further, the holding member 148 includes a slide metal 15.
Shift guide bar 15 via 6a, 156b
8 is inserted so as to be slidable in the vertical direction. Holding member 1 of this shift guide bar 158
Expandable cover members 160a and 160b are attached to the outer periphery of both upper and lower ends protruding from 48, and a connecting member 162 is engaged with the lower end of the shift guide bar 158. On the other hand, holding member 1
A shift cylinder 164 as a shift means is fixed to the outer side of 48 via a support member 166, and a cylinder rod 16 protrudes from the lower end thereof.
8 is a guide member 17 fixed to a holding member 148
0 to the connecting member 162. A telescopic cover member 172 is attached to the outer periphery of the cylinder rod 168 between the guide member 170 and the connecting member 162.

On the other hand, holding members 174 are further connected to both upper and lower ends of the shift guide bar 158.
This holding body 174 has supporting members 176a and 176.
A gun arm 178 is connected via b. The gun arm 178 has connecting members 180a to 180d.
A paint gun 182a as a paint injection means through
182d to 182d are attached at a predetermined distance apart. Note that the painting guns 182a to 182d are arranged so as to correspond to the side shape of the vehicle body 14.

Next, the drive control system of the coating apparatus configured as above will be explained.

Therefore, in FIG. 7, the control section 184 drives and controls the upper coating mechanism 36 by outputting a control signal set in advance by teaching or the like. In this case, the drive system includes a hydraulic unit 186 consisting of a fluid pressure pump, etc., and a servo valve 188a.
to 188c, and servo valves 188a to 188a by control signals output from the control section 184.
Serve amplifiers 190a to 19 that drive 88c
0c and a hydraulic servo system consisting of a hydraulic motor. Here, the hydraulic motor includes a traveling motor 66 that causes the upper painting mechanism 36 to travel along the rail portion 34a, and a painting gun 140a.
It consists of a lifting motor 92 that vertically moves the swinging arm 112 holding the arms 140d to 140d, and a swinging motor 100 that swings the swinging arm 112 around the swinging shaft 108. Note that the rotational speed of the traveling motor 66 is detected by a potentiometer 194a via a speed reduction mechanism 192a, and is fed back to the servo amplifier 190a as a position signal of the upper coating mechanism 36 with respect to the rail portion 34a. Further, the rotational speed of the lifting motor 92 is detected by a potentiometer 194b via a deceleration mechanism 192b, and is fed back to a servo amplifier 190b as a position signal with respect to the vertical direction of the swing arm 112. Further, the rotation speed of the swing motor 100 is detected by a potentiometer 194c via a reduction mechanism 192c,
Feedback is sent to the servo amplifier 190c as a tilt signal when tilting about the rotation axis 108 of the servo amplifier 190c.

Similarly, in FIG. 8, the left side painting mechanism 38
The drive system of the right side painting mechanism 40 is composed of a hydraulic servo system consisting of a hydraulic unit 196, servo valves 198a, 198b, servo amplifiers 200a, 200b, a hydraulic motor, and a hydraulic cylinder. It is controlled by a control section 184 that is common to the drive control system. Note that the rotation speed of the traveling motor 66 as a hydraulic motor is detected by a potentiometer 204a via a deceleration mechanism 202, and the rotation speed of the traveling motor 66 as a hydraulic motor is detected by a potentiometer 204a.
8 and the right side painting mechanism 40 as a position signal, which is fed back to the servo amplifier 200a. In addition, the horizontal movement cylinder 1 as a hydraulic cylinder
52 is detected by the potentiometer 204b and sent to the servo amplifier 200 as a position signal for the vehicle body 14 of the painting guns 182a to 182d.
Feedback is provided to b.

The coating device 12 according to the present invention is basically constructed as described above, and its operation and effects will be explained next.

First, the vehicle body 14 is transported to the first stage 10a by the vehicle body transport mechanism 24, and the hood is opened by the bonnet opening/closing mechanism 20, and the trunk cover is opened by the trunk opening/closing mechanism 22.
The engine room and trunk room are painted by painting robots 18a to 18d that travel along the rail sections 16a and 16b. Next, the vehicle body 14 with the bonnet and trunk cover closed by the bonnet opening/closing mechanism 20 and the trunk opening/closing mechanism 22 is conveyed to the second stage 10b by the vehicle body conveying mechanism 24.

In the second stage 10b, the door of the vehicle body 14 is opened by the door opening/closing mechanism 32a, 32b, and the inner surface of the door is painted by the painting robots 28a, 28b running along the rail portions 26a, 26b. Next, the vehicle body 14 whose door is closed by the door opening/closing mechanisms 32a and 32b is transferred to the vehicle body transport mechanism 2.
4 to the third stage 10c.

At the third stage 10c, an upper painting mechanism 36, a left side painting mechanism 38, and a right side painting mechanism 40 are waiting on the front side of the vehicle body 14. in this case,
The upper coating mechanism 36 is moved from the position shown in FIG. 3 by the rotation of the ball screw 90 under the driving action of the lifting motor 92, so that its swing arm 112 is lowered in the direction of arrow A. As the rotating arm 112 rotates in the direction of arrow B about the rotating shaft 108, the painting guns 140a to 140d mounted on the end of the rotating arm 112 via the slide sleeve 122 move toward the front of the vehicle body 14. It is placed facing the head. The state at this time is shown in FIG.

Therefore, first, based on Fig. 9, the upper coating mechanism 3
The painting work according to No. 6 will be explained. Control unit 184
When a control signal is output from the servo amplifier 19
0a is a servo valve 188 based on the control signal.
Operate a. In this case, the hydraulic unit 186
The pressure fluid supplied from the servo valve 18
The traveling motor 66 is driven via the motor 8a. As a result, the pinion 70 that is pivoted on the rotating shaft 68 of the travel motor 66 rotates, and the upper coating mechanism 36 is applied to the rails 48a, 48 via the wheel portions 72a, 72b.
The vehicle starts traveling in the direction of arrow C along line b.

Here, the rotation speed of the traveling motor 66, that is, the amount of movement of the upper coating mechanism 36 is determined by the speed reduction mechanism 192.
a, and when the distance between the front end of the vehicle body 14 and the painting guns 140a to 140d of the upper painting mechanism 36 reaches a predetermined distance, the potentiometer 194a turns on the servo. A predetermined position signal is output to the amplifier 190a, and the servo amplifier 190a outputs the driving motor 66 via the servo valve 188a.
control. As a result, the distance between the front end of the vehicle body 14 and the painting guns 140a to 140d is maintained constant.

Next, the servo amplifier 190b operates the servo valve 188b based on the control signal from the control section 184, and the pressure fluid from the hydraulic unit 186 drives the lifting motor 92 via the servo valve 188b. As a result, the lifting motor 9
The ball screw 90 connected to the ball screw 90 rotates, and the swing arm 112 starts to rise in the direction of arrow D via the support plate 96 that is screwed onto the ball screw 90. In this case, paint is injected from the paint guns 140a to 140d toward the front end of the vehicle body 14, and the front end is painted along the painting line a.

The paint guns 140a to 140d are spaced apart from each other by a predetermined distance so that the injected paints do not interfere with each other. As a result, the painted surface of the front end is coated with paint in stripes (see Figure 2).

Painting of the front end is completed and paint gun 1 is applied.
40a to 140d reach the boundary between the front end and the bonnet, the servo amplifier 190c operates the servo valve 188c based on the control signal from the control section 184, and the pressure fluid from the hydraulic unit 186 flows through the servo valve 188c. to drive the turning motor 100. As a result, the swing arm 112 rotates in the direction of arrow B about the swing shaft 108 via the gear 110 that meshes with the gear 104 pivotally supported by the rotation shaft 102 of the swing motor 100. As a result, the paint guns 140a to 140d connected to the swing arm 112 via the slide sleeve 122 are oriented perpendicularly to the hood of the vehicle body 14.

Here, since the nozzle portions of the painting guns 140a to 140d are arranged close to the axis of the pivot shaft 108 of the pivot arm 112, the nozzle portions do not move significantly during pivoting. Therefore, for example,
Painting guns 140a to 1 while continuing painting work
Even if 40d is rotated, there is no risk of adversely affecting the coating condition. The rotation angle of the rotation arm 112 is controlled by the potentiometer 19 via the deceleration mechanism 192c.
4c, and the paint gun 14
0a to 140d are oriented perpendicularly to the bonnet, the potentiometer 194c outputs a predetermined slope signal to the servo amplifier 190c,
The servo amplifier 190c is the servo valve 188
The turning motor 100 is controlled via the As a result, the painting guns 140a to 140d are applied to the vehicle body 14.
is held perpendicular to the bonnet.

Next, the upper coating mechanism 36 travels along the rail portion 34a under the driving action of the travel motor 66,
The bonnet is painted along painting line b. In this case, the vertical position of the swing arm 112 is detected by a potentiometer 194b that detects the rotation speed of the lifting motor 92, and the potentiometer 194b outputs a predetermined position signal to the servo amplifier 190b. The servo amplifier 190b controls the lifting motor 92 via the servo valve 188b. As a result, the swing arm 112 moves upward in the direction of the arrow D in response to the movement of the upper coating mechanism 36 in the direction of the arrow C, and maintains a constant distance between the bonnet and the coating guns 140a to 140d to achieve a uniform thickness. Perform the painting.

Similarly, the painted surface of the car body 14 and the paint gun 14
0a to 140d are maintained constant, and the coating guns 140a to 140d are held perpendicular to the coating surface, in a striped manner along coating lines c, d, e, and f. Painting is done. Finally, by driving the turning motor 100, the painting guns 140a to 140d are maintained perpendicularly to the rear end. As a result, the rear end is painted along the painting line g under the driving action of the lifting motor 92.

Next, the painting operation of both sides of the vehicle body 14 by the left side painting mechanism 38 and the right side painting mechanism 40 will be explained.

When a control signal is output from the control section 184, the servo amplifier 200a operates the servo valve 198a, and the hydraulic unit 196 drives the travel motor 66 with pressure fluid via the servo valve 198a. As a result, the left side painting mechanism 38 and the right side painting mechanism 40 travel in the direction of arrow C along the rails 34a and 34b, and paint both sides of the vehicle body 14 with the paint injected by the paint guns 182a to 182d. conduct. In this case, the paint gun 182
As in the case of the upper coating mechanism 36, the units a to 182d are spaced apart from each other by a predetermined distance. Therefore, the side portions of the vehicle body 14 are painted in a striped pattern without mutual interference between the paints.

Note that the amount of movement of the left side painting mechanism 38 and the right side painting mechanism 40 in the direction of arrow C is the same as that of the speed reduction mechanism 2.
02 and is sensed by potentiometer 204a. On the other hand, the side of the vehicle body 14 and the painting gun 18
2a to 182d are controlled by the horizontal movement cylinder 152. That is, the control unit 1
When a control signal is output from 84, the servo amplifier 200b operates the servo valve 198b, and the hydraulic unit 196 operates the servo valve 1 with pressure fluid.
The horizontal movement cylinder 152 is driven via the cylinder 98b. Therefore, the painting guns 182a to 182 connected to the holder 174 via the gun arm 178
d moves in the direction of arrow E or F (see Figure 6). In this case, the painting guns 182a to 182d
The amount of movement in the directions of arrows E and F is detected by the potentiometer 204b, and the potentiometer 204b sends a predetermined position signal to the servo amplifier 20.
By outputting to 0b, the servo amplifier 200b
controls the horizontal movement cylinder 152 via the servo valve 198b. As a result, painting gun 18
2a to 182d are displaced in the directions of arrows E and F in accordance with the movement of the left side painting mechanism 38 and the right side painting mechanism 40 in the direction of arrow C, and keep the distance between the side of the vehicle body 14 and the painting guns 182a to 182d constant. Apply a uniform thickness of paint while holding it in place.

Here, it is assumed that the left side painting mechanism 38 and the right side painting mechanism 40 are run while being separated from the upper painting mechanism 36 by a predetermined distance. That is, in FIG. 3, the coating gun 14 of the upper coating mechanism 36
0a and the painting gun 182a of the left side painting mechanism 38 are always kept apart by a predetermined distance, and the painting gun 140d of the upper painting mechanism 36 and the right side painting mechanism 4
0 painting gun 182a are always kept apart by a predetermined distance. By running each of the painting mechanisms 36, 38, and 40 in this manner, it is possible to avoid interference between the paint ejected from the paint gun closest to it, and it is possible to paint the vehicle body 14 in an extremely appropriate manner. It becomes possible. That is, it is possible to prevent unnecessary occurrences of paint unevenness, paint dripping, etc. caused by interference on the painted surface of the vehicle body 14.

As described above, the vehicle body 14 is painted in a striped pattern as shown by the hatched area in FIG. At this point, each coating mechanism 36, 38, and 40 moves to the position indicated by the two-dot chain line in FIG.

Next, the shift cylinder 164 is driven in relation to the left side painting mechanism 38 and the right side painting mechanism 40. In this case, the cylinder rod 168 of the shift cylinder 164 is lowered in the direction of arrow A, and the guide bar 158 is lowered in the direction of arrow A via the connecting member 162. As a result, the guide bar 15
Painting gun 1 via holder 174 supported by 8
82a to 182d are shifted to the positions indicated by the two-dot chain lines in FIG.

Next, the servo valve 19 is activated via the servo amplifier 200a based on the control signal from the control unit 184.
8a to drive the travel motor 66 with the pressure fluid from the hydraulic unit 196. As a result, the left side painting mechanism 38 and the right side painting mechanism 40 travel along both sides of the vehicle body 14 in the direction of the arrow G, as in the case described above, and cover the unpainted portions with the paint injected from the painting guns 182a to 182d. After painting, it returns to the position shown by the solid line in FIG. 2 and stops running.

On the other hand, in the upper coating mechanism 36, the rotating arm 11
The shift cylinder 114 installed in the shift cylinder 2 is driven, and its cylinder rod 116 is displaced in the direction of arrow E. In this case, a slide sleeve 122 is connected to the end of the cylinder rod 116, and the slide sleeve 122 is displaced along a fixed shaft 118 that fits over the cylinder rod 116. As a result, the painting guns 140a to 140d connected to the slide sleeve 122 via the horizontal gun arm 132 are shifted to the position indicated by the two-dot chain line in FIG.

Next, as in the case described above, the traveling motor 6
6. Lifting motor 92 and turning motor 100
Under the driving action of the upper coating mechanism 36, the rail portion 34
a in the direction of arrow G, and after painting the unpainted parts of the vehicle body 14 according to the painting lines a to g shown in FIG. 9, it returns to the position shown by the solid line in FIG. 2 and stops running. do. In this case, as well, the left side painting mechanism 38, the right side painting mechanism 40, and the upper painting mechanism 36 are moved at a predetermined distance apart to prevent interference of paint during painting. shall be.

Vehicle body 14 whose painting work has been completed as described above
is transferred to the fourth stage 10d by the vehicle body transport mechanism 24.
After being conveyed to the point, a drying process is performed.

Here, in this coating device 12, one end of the rotating arm 112 constituting the upper coating mechanism 36 is attached to a casing 58a that is erected on one side of the vehicle body 14.
The other end is a free end. There is nothing on the other side of the vehicle body 14 that corresponds to the casing 58a. Therefore, the operator can easily check the painted state of the vehicle body 14 from outside the painting booth.

In addition, in the embodiment described above, each of the painting guns 140a to 140 is used to prevent interference of paint.
The vehicle body 1 is painted in a striped pattern with the intervals d and the intervals between the painting guns 182a to 182d separated by a predetermined distance.
4, and then the painting gun 140a
The unpainted portions of the vehicle body 14 are painted after the shift cylinders 114, 164 shift the cylinders 140d to 140d and 182a to 182d. Therefore, for example, paint gun 1
40a to 140d and 182a to 182d
are divided into two sets of nozzle groups, one row each, at the position shown by the solid line and the position shown by the two-dot chain line shown in FIGS. 36, 38, and 40 are arranged at a predetermined distance apart in the traveling direction, it becomes possible to complete the painting of the vehicle body 14 in one painting operation.

As described above, according to the present invention, the paint injection means is moved along the object to be painted by the first moving body, and the moving body by the second moving operation is moved between the paint injection means and the painted surface of the object to be painted. The painting operation is performed by keeping the distance constant and further directing the paint injection means substantially perpendicularly to the painting surface by the rotation operation of the rotation means. Therefore,
To automatically perform painting work on an object to be painted having a bendable painting surface with high precision. In addition, for example, when painting the exterior of an automobile body, there is no need to manually paint the front end and rear end or use other painting mechanisms as in the past, so painting can be done in as few steps as possible. Therefore, the effect of shortening the time required for painting can be obtained.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments, and various improvements and changes in design can be made without departing from the gist of the present invention. Of course.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of a coating line in which a coating device according to the present invention is installed, FIG. 2 is a plan configuration diagram of the coating device according to the present invention, and FIG. 3 is a plan configuration diagram of the coating device according to the present invention. FIG. 4 is a longitudinal sectional view showing the traveling means of the coating device according to the present invention, FIG. 5 is a partially omitted structural explanatory diagram of the upper coating mechanism in the coating device according to the present invention, and FIG. 6 is the painting device according to the present invention. FIG. 7 is a block diagram showing the drive control system of the upper coating mechanism in the coating device according to the present invention, and FIG. 8 is a diagram showing the side coating mechanism in the coating device according to the present invention. FIG. 9 is a block diagram showing the drive control system of the painting mechanism, and is an explanatory diagram showing the painting operation of the upper surface of the vehicle body by the upper painting mechanism in the painting apparatus according to the present invention. 10...Painting line, 10a-10d...Stage, 12...Painting device, 14...Car body, 24...
...Vehicle body transport mechanism, 34a, 34b...Rail part,
36... Upper painting mechanism, 38... Left side painting mechanism, 40... Right side painting mechanism, 66... Traveling motor, 92... Lifting motor, 100... Swivel motor, 112... Swivel arm, 114...Cylinder for shift, 140a-140d...Painting gun, 152...Cylinder for horizontal movement, 164...
Shift cylinders, 182a to 182d...painting guns.

Claims (1)

[Scope of Claims] 1. A first movable body that is self-propelled by a first drive source along a guide rail disposed on the side of the object to be coated, and a second movable body that runs along the first movable body. A second movable body that is moved by a drive source in a direction perpendicular to the self-propelled direction of the first movable body and rotated by a rotation means about a rotation axis that is perpendicular to the moving direction of the first and second movable bodies. a moving body, and a paint injection means provided on the second moving body, in which a nozzle portion for injecting paint substantially perpendicularly to the painting surface of the object to be painted is arranged close to an extension line of the rotation axis. A coating device comprising: . 2. In the device according to claim 1,
The first movable body is provided along a guide rail arranged on one side of the object to be coated, and the second movable body has one end rotatably supported by the first movable body, and the second movable body. 1. A coating device comprising a support arm having a free end, and a paint injection means being supported by the support arm. 3. The coating device according to claim 1 or 2, wherein the paint injection means is configured to be displaceable in the axial direction of the rotating shaft of the second moving body.