JPH04317761A - Painting apparatus - Google Patents

Abstract

PURPOSE:To prevent color mixture and to facilitate two-tone painting by mounting two painting tools having the parting discs provided to the output shaft of an air motor, painting guns and tool replacing units, a tool stand, a robot and a control apparatus. CONSTITUTION:In the painting due to a painting tool A, a painting robot 10 is moved along the painting locus preliminarily taught so as to be matched with the shape of a body while a parting disc 32 is rotated at a low speed by controlling the motor driving flow rate control valve of the tool A and masking is applied by the parting disc 32 and the lower part from a parting line is painted. At this time, a color changing valve is controlled and a paint atomizing valve is turned ON and a painting operation gun is controlled to atomize paint only when painting must be performed. After the completion of the painting due to the tool A, a valve group 12 is turned OFF and the tool A is placed on a tool stand 11 by she painting robot 10. The color changing valve is controlled so as to supply a thinner to the painting gun 32 of a painting tool B during the painting with the tool A and the thinner is sprayed to the parting disc 32 rotated at a high speed of the tool B to wash the same.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating apparatus, and is an apparatus that automatically performs coating and cleaning by combining two coating tools each having a masking function and a coating robot.

0002

[Prior Art] When painting the body of an automobile, the side sills, bumpers, etc. need to be painted separately from other parts, or the side body is painted in two colors (two-tone).
When applying a top coat, it is necessary to mask the area to prevent paint dust from adhering to the outside of the painting area.

Two conventional examples of this type of body painting (first
A conventional example and a second conventional example) will be explained with reference to FIGS. 8 and 9.

[First Conventional Example] As shown in FIG. 8, in the first conventional example, paper 2 is pasted with tape 3 to mask the area 1A of the side body 1 that is to be painted, and then a painting gun 3 is used to mask the area 1A to be painted. Then, spray painting 4 is performed by a robot, an automatic painting machine, or manually, and the paper 2 and tape 3 are peeled off after painting. In the figure, 5 indicates a side sill, and 6 indicates an underbody.

[0005] Therefore, the first conventional example has the disadvantage that the number of steps required for masking is large. In addition, because masking is done manually, unmanned operation is impossible.

[Second Conventional Example] In the second conventional example shown in FIG. Masking is performed along the outside of the painting area 1A of the body 1, and air 7B is further jetted from the air hole 7A of the partition plate 7 to prevent paint from being spewed out.

However, the second conventional example has a drawback in that a dedicated partition plate 7 that matches the shape of the side body 1 etc. is required for each vehicle type.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a coating apparatus that eliminates the drawbacks of the prior art described above.

[0009]

[Means for Solving the Problems] A painting apparatus according to the present invention includes two painting tools, a tool stand, a robot, and a control device, and the painting tool includes an air motor supported by a support member; The robot has a parting disc attached to an output shaft of an air motor, a painting gun supported on a support member in a position such that a part of the paint ejection range is applied to the parting disc, and a tool changing unit attached to the supporting member. has a coupling part coupled to a tool changing unit of a painting tool, and the control device controls the robot and the tool changing unit.
a tool exchange control means for causing a robot to alternately hold two painting tools on a tool stand; a regeneration control means for reproducing pre-taught movements to the robot holding the painting tool; and a regeneration control means for causing the air motor of the painting tool held by the robot to operate at a relatively low speed a cleaning control means for rotating an air motor of a painting tool placed on a tool stand at a relatively high speed and for injecting only a solvent into the painting gun. It is characterized by:

0010

[Operation] The robot holds two painting tools alternately, and while painting with one tool, the other is cleaned. In the tool during painting, the parting disc is rotated by an air motor, and the rotation of the parting disc prevents paint dust sprayed from the painting gun from adhering outside the painting area. At this time, by rotating the parting disc at a low speed during painting, the paint is prevented from concentrating on a part of the parting disc and dripping. For the tool not used for painting, by rotating the parting disc at high speed,
Only the solvent is sprayed from the paint gun to dissolve the paint adhering to the parting disc, and the paint is blown away using centrifugal force to clean it.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 7.

FIG. 1 shows how a painting robot 10 paints a car body 8 using two painting tools 30 alternately. In FIG. 1, there are two tool stands 11 at positions A and B on both sides of the painting robot 10. Each painting tool 30 also has a valve group 12 located above.
Hose group 13 for paint and air (compressed air)
is connected. 20 is a control device.

As shown in FIGS. 2 and 3, the painting tool 30 includes an air motor 31, a parting disk 32 curved into a bowl shape, and a painting gun 33. Furthermore,
A tool exchange unit 34 is provided in consideration of ease of attachment to the painting robot 10, and support rods 35 for hooking onto the left and right notches 14 of the tool stand 11 are provided.

The air motor 31 of the painting tool 30 is mounted downward on the upper surface of the tip of the support 36, with the motor output shaft 31A protruding from the lower surface of the support 36, and with the parting disc 32 facing downward on the motor output shaft 31A. It is installed as follows. In order to guide the rotation of the parting disc 32, a plurality of guide rollers 37 that roll on the parting disc 32 are attached to the support 36 via an arm 38.

The coating gun 33 is attached to a support 39 fixed downwardly from the center of the support 36 toward the proximal end, via a crosspiece 40 that intersects with the support 39. The connection portion 41 between the support column 39 and the crosspiece 40 connects the crosspiece 40 in the height direction 42,
The structure is such that it can be fixed by moving in the extending direction 43 and the direction 44 around the support column 39, and the connection part 45 between the painting gun 33 and the crosspiece 40 is structured so that the painting gun 33 can be rotated in the vertical direction 46 and fixed. be. Thereby, the positional relationship between the parting disc 32 and the painting gun 33 can be adjusted so that a part of the parting disc 32 appropriately covers the paint ejection range.

The tool changing unit 34 is fixed upwardly on the upper surface of the proximal end of the support 36.

Furthermore, the support rod 35 that hangs on the tool stand 11 is
It is fixed to extend from the center of gravity of the support 36 on both sides.

The tool changing unit 34 may be of a known structure, but here, as shown in FIG. 4, it is of a pull stud type that can be operated by air. In FIG. 4, in the illustrated state, the inside of the cylinder 47 is opened to the atmosphere, the piston 49 is lowered by the spring 48, and each of the plurality of balls 50
In order to ride on the tapered surface 51 of the cylinder inner wall,
A pull stud 16 attached to a painting robot arm 15 is blocked by a ball 50 and cannot enter the tool exchange unit 34. On the other hand, when air is introduced into the cylinder 47 from the air inlet/outlet 52, the piston 49 is pushed and the ball 50
is movable in the cylinder radial direction, and the pull stud 16
can be pushed in by the robot arm 15. Then,
When the air is released, the ball 50 enters the constriction 17 of the pull stud 16 and cannot be pulled out, and the tapered surface 18 of the pull stud 16 is tightly fixed to the tapered surface 53 of the cylinder 47 by the force of the spring 48.

Masking and details of the hose group 13 will be explained with reference to FIG.

As shown in FIG. 5, even when the paint gun 33 is directed toward the body 8 to be painted, the body-side portion of the parting disc 32 forms a shadow and prevents the spray paint 4 from scattering. Mask the top part. As a result, paint adheres to the parting disc 32, but by rotating the parting disc 32 at an extremely low speed, the adhering area gradually changes and the paint that has adhered first dries, causing the adhering paint to drip and damage the body. It doesn't even rank at 8. Incidentally, the adhered and dried paint can be cleaned by applying a solvent such as thinner to the parting disc 32 at a location away from the body 8, dissolving it, and rotating the parting disc 32 at high speed to blow it away using centrifugal force. .

Next, the hose group 13 will be explained. In FIG. 5, 13A is a paint hose connected to the paint gun 33. 13B is a hose for operation air that turns on/off the paint gun 33, and 13C is a hose for air that atomizes the paint, both of which are connected to the paint gun 33. 13D is an air hose that drives the air motor 31, and is connected to the air motor 31. 13E is an air hose for operating the tool exchange unit 34, and is connected to the tool exchange unit 34.

The valve group 12 connected to the above-mentioned hoses 13A to 13E includes a color change valve connected to the paint hose 13A, an on/off valve 12B connected to the air hose 13B for operating the paint gun, and an air hose 13C for paint atomization.
Flow rate adjustment valve 12C connected to air motor drive air hose 13D, flow rate adjustment valve 12D connected to air motor drive air hose 13D, and on/off valve connected to tool change unit operation air hose 13E.
There is an off valve 12E, and any of the valves 12A to 12
E is also controlled by the control device 20.

The control device 20 is mainly composed of a CPU (Central Processing Unit), and the painting robot 10 automatically performs painting work by using two painting tools 30 alternately, and also when the painting robot 10 is not used for painting. The control function of the painting robot 10 and the control function of the valve group 12 are programmed in advance to clean the two painting tools, and the robot and the tool changing unit are controlled so that the two painting tools are alternately cleaned on the tool stand. a tool exchange control means held by the robot; a regeneration control means for reproducing pre-taught movements to the robot holding the painting tool; The cleaning control means rotates the air motor of the painting tool placed on the tool stand at a relatively high speed and injects only the solvent into the painting gun.

The control operation of the control device 20 will be explained with reference to FIG. 1 and FIGS. 6 and 7. However, it is assumed that bodies 8, which are objects to be painted, are sent one after another to the front of the painting robot 10 by the painting line. Furthermore, among the two painting tools 30, the one currently held by the painting robot 10 in FIG. Tool B
This will be explained as follows. Therefore, the tool A is placed on the tool rest 11 at the right position A.

Now, as shown in FIG. 1, assuming that the painting robot 10 has the tool A (step S1), the control device 20 starts painting the first body 8 with the tool A (step S2-1). ), and in parallel with this, cleaning of the parting disk 32 of tool B is started (step S3-
1).

When painting with tool A, tool A
The painting robot 10 is rotated in advance by controlling the motor drive flow rate adjustment valve 12D to open slightly and rotating the parting disc 32 at an extremely low speed, for example, 1 to 10 revolutions in the painting time for one body. It is moved along the painting locus taught according to the shape, and the part below the parting line 9 (see FIG. 5) is painted by masking with the parting disk 32 (step S2-2). At this time, regarding the other valves of tool A, the color change valve 12A is controlled so that the paint is of the specified color, and the paint gun operation valve 12B is controlled with the paint atomization valve 12C turned on. Atomizes paint only when it is to be painted by controlling on/off. The tool exchange unit operation valve 12E is left off.

[0027] When the painting of the first unit using tool A is completed (step S2-3), all the valves 12A~
12E is turned off, the arm 15 of the painting robot 10 is directed toward the tool stand 11 at position A on the right, and the support rod 3 of tool A is turned off.
The tool A is placed on the tool stand 11 so that the tool A is fitted into the notch 14 of the tool stand 11 (step S2-4).

On the other hand, during painting with tool A, with respect to tool B, the color change valve 12A is controlled so as to supply only thinner to the paint gun 33, and the paint atomization valve 12C and the paint gun operation valve 12B are controlled. The control is turned on and thinner is sprayed onto the parting disk 32 of tool B (step S3-2). At this time, the tool exchange unit operating valve 12E may remain off. Then, the motor drive flow rate adjustment valve 12D is controlled to be fully open, and the parting disk 32 is moved at high speed, for example, 10,000 yen.
Rotate at 0 rpm (step S3-3). By spraying the thinner and rotating at high speed, the paint adhering to the parting disc 32 is melted and blown off by centrifugal force.
Parting disc 32 is thoroughly cleaned. Therefore, the tool stand 11 is a container with an open top so as to surround almost the entire coating tool 30.

Cleaning of tool B should be completed before replacing it with tool A. For example, each valve 12A to 1 of tool B should be cleaned when painting with tool A is completed or when it is placed on tool stand 11.
2E is turned off to stop cleaning (step S3-4).

After tool A is placed on the tool stand, tool A is removed from painting robot 10 and tool B is held in its place (step S4). That is, first, the tool change unit valve 12E of tool A is temporarily turned on, and during that time, the painting robot 10 is controlled and the robot arm 15 is turned on.
Remove the pull stud 16. Next, the painting robot 10
is moved toward tool B, the tool exchange unit valve 12E of tool B is temporarily turned on, and the pull stud 16 of the robot arm 15 is inserted into the tool exchange unit 34 during that time. All tool change unit valves are turned on temporarily and then turned off.

When the painting robot 10 is given the tool B, the control device 20 starts painting the second object (body) with the tool B (step S5-1).
In parallel with this, cleaning of the parting disk 32 of tool A is started (step S6-1).

[0032] When painting with tool B, tool B
The painting robot 10 is rotated in advance by controlling the motor drive flow rate adjustment valve 12D to open slightly and rotating the parting disc 32 at an extremely low speed, for example, 1 to 10 revolutions in the painting time for one body. It is moved along the painting locus that has been taught according to the shape, and the part below the parting line 9 is painted by masking with the parting disc 32 (step S5-2). At this time, regarding the other valves of tool B, the color change valve 12A is controlled so that the paint is of the specified color, and the paint gun operation valve 1 is controlled with the paint atomization valve 12C turned on.
The paint is atomized only when painting is to be done by controlling the on/off of 2B. The tool exchange unit operation valve 12E is left off.

[0033] When the painting of the second unit using tool B is completed (step S5-3), all the valves 12A~
12E is turned off, the arm 15 of the painting robot 10 is directed toward the tool stand 11 at position B on the left, and the support rod 3 of tool B is turned off.
The tool B is placed on the tool stand 11 so that the tool B fits into the notch 14 of the tool stand 11 (step S5-4).

On the other hand, during painting with tool B, the color change valve 12A is controlled to supply only thinner to the paint gun 33 for tool A, and the paint atomization valve 12C and the paint gun operation valve 12B are controlled. is turned on, and thinner is sprayed onto the parting disk 32 of tool A (step S6-2). At this time, the tool exchange unit operating valve 12E may remain off. and,
The motor drive flow rate adjustment valve 12D is controlled to be fully open, and the parting disk 32 is moved at high speed, for example, 10,
Rotate at 000 rpm (step S6-3). By spraying the thinner and rotating at high speed, the paint adhering to the parting disc 32 of the tool A is melted and blown off by centrifugal force, thereby completely cleaning the parting disc 32.

It is sufficient to complete cleaning of tool A before exchanging it with tool B. For example, each valve 12A to 1 of tool A should be cleaned when painting with tool B is completed or when it is placed on tool stand 11.
2E is turned off to stop cleaning (step S6-4).

After placing tool B on the tool stand, tool B is removed from painting robot 10 and tool A is held in its place (step S7). That is, first, the tool change unit valve 12E of tool B is temporarily turned on, and during that time, the painting robot 10 is controlled and the robot arm 15 is turned on.
Remove the pull stud 16. Next, the painting robot 10
is moved toward the tool A, the tool changing unit valve 12E of the tool A is temporarily turned on, and the pull stud 16 of the robot arm 15 is inserted into the tool changing unit 34 during that time. All tool change unit valves are turned on temporarily and then turned off.

After changing the tool from B to A in this manner, the process returns to steps S2-1 and S3-1 and the same operations are repeated.

By alternately using the two painting tools 30 for painting and cleaning in this way, sufficient cleaning time can be taken and problems such as color mixing do not occur. Therefore, it is extremely effective in two-tone painting or in cases where successive objects have different paint colors.

In the above-described embodiment, the parting disk 32 has a downward bowl-shaped shape, but it may be simply a flat disk, or even an upward bowl-shaped shape.

[0040] Also, as a method of using the painting tool 30, there are two ways to use it.
In addition to using the painting tools on the stand alternately, if the time required for cleaning is longer than the time required for painting, etc.
Three or more painting tools may be used in sequence.

Furthermore, when the painting robot 10 is equipped with the painting tool 30 to perform painting automatically, the tool changing unit 34 can be omitted if the painting robot 10 has a tool gripping mechanism.

[0042]

[Effects of the Invention] According to the coating device of the present invention, since the parting disk of the coating tool performs masking, the number of man-hours is greatly reduced compared to masking using paper or tape. This eliminates the need for partition plates. Also,
During painting, the parting disc is rotated at low speed by an air motor, so the paint does not concentrate on one part of the parting disc and dripping.Furthermore, after painting, the parting disc is rotated at high speed by the air motor. Only the solvent is ejected from the paint gun to dissolve the paint adhering to the parting disc, which is then blown away using centrifugal force for complete cleaning. Furthermore, the robot can hold two painting tools alternately to perform painting and cleaning, and the painting tool that is not used for painting can be cleaned in advance with enough time to prevent color mixing, etc. Clean painting tools can be used for each new object without any problems. Furthermore,
Since a robot is used, two-tone painting can be easily performed according to the various shapes of the object to be painted by teaching the robot.

[Brief explanation of drawings]

FIG. 1 is a diagram illustrating a coating apparatus in which a coating robot performs coating and cleaning by alternately using two coating tools according to an embodiment of the present invention.

FIG. 2 is a side sectional view showing one embodiment of a painting tool.

FIG. 3 is a plan view of FIG. 2;

FIG. 4 is a side sectional view showing an example of a tool exchange unit.

FIG. 5 is a diagram showing masking by a painting tool and a hose group.

FIG. 6 is a flowchart showing control operations for painting and cleaning in FIG. 1;

FIG. 7 is a time chart showing the operation of the painting robot in FIG. 1 and the rotational operation of each parting disk in the two painting tools.

FIG. 8 is a diagram showing a first conventional example.

FIG. 9 is a diagram showing a second conventional example.

[Explanation of symbols]

8 Body (object to be painted) 9 Parting line 10 Painting robot 11 Tool stand 12 Valve group 12A Color change valve 12B Paint gun operation valve 12C Paint atomization valve 12D Air motor drive valve 12E Tool exchange unit operation valve 13 Hose group 13A Paint hose 13B Paint gun operating air hose 13C Paint atomizing air hose 13D Air motor drive air hose 13E Tool change unit operating air hose 14 Tool stand notch 15 Robot arm 16 Pull stud 17 Constriction 18 Tapered surface 20 Control device 30 Painting tool 31 Air motor 31A Motor output shaft 32 Parting disc 33 Painting gun 34 Tool exchange unit 35 Support rod 36 Support tool 37 Guide roller 38 Arm 39 Post 40 Crosspiece 41 Connection portion 42 Height direction 43 Extension direction 44 Around the support Direction 45 Connection part 46 Vertical rotation direction 47 Cylinder 48 Spring 49 Piston 50 Ball 51 Tapered surface 52 Air inlet/outlet 53 Tapered surface A Position on the right side of the painting robot B Position on the left side of the painting robot

Claims (1)

[Claims] 1. The painting tool comprises two painting tools, a tool stand, a robot, and a control device, the painting tool having an air motor supported by a support member, a parting disk attached to the output shaft of the air motor, a paint gun supported by a support member in a position where part of the paint ejection range is applied to the parting disc;
a tool changing unit attached to a support member, the robot has a coupling part that connects to the tool changing unit of a painting tool, and the control device controls the robot and the tool changing unit to change two painting tools. A tool exchange control means that causes the robot to hold the painting tool alternately on a tool stand; a reproduction control means that causes the robot holding the painting tool to reproduce a pre-taught action; and a regeneration control means that rotates the air motor of the painting tool held by the robot at a relatively low speed. The present invention is characterized by having a painting control means for causing a painting gun to perform a painting operation, and a cleaning control means for rotating an air motor of a painting tool placed on a tool stand at a relatively high speed and injecting only a solvent into the painting gun. Painting equipment.