JPH06285401A - Work coating apparatus - Google Patents

Abstract

PURPOSE:To carry out coating while making a coating robot precisely move synchronously with a work which is being transported by a conveyer. CONSTITUTION:An ascending and descending stage 13 for receiving a work W from a conveyer C and lift it up is installed in a synchronously transporting base which is moved reciprocally by a driving power source 9 for moving along a main guide rail 4 parallel to the conveyer C which transports the work W. A pair of right and left robot bases 24 supporting coating robots R1, R2 are unitedly connected with the synchronously transporting base by a connecting part 26 and move along an auxiliary guide rail 23. Since the synchronously transporting base supporting a work W on the ascending and descending stage 13 and a robot base 24 supporting the coating robots R1, R2 are connected each other by the connecting part 26 and precisely move in synchronism with each other, coating is precisely carried out at the prescribed part of the work W by the coating robots R1, R2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work coating apparatus for coating a work being conveyed by a conveyor by a coating robot running in parallel with the conveyor.

[0002]

2. Description of the Related Art A rust preventive agent is applied to the inside of a wheel house or the bottom surface of a floor panel by a painting robot in order to apply rust preventive treatment to an assembled vehicle. Application of rust preventive agent is performed. The coating operation of the rust preventive agent is performed while the vehicle body is conveyed by a conveyor in order to improve work efficiency. That is, the coating robot is caused to travel in synchronization with the conveyor that conveys the vehicle body, and the rust preventive agent is applied to the vehicle body by the coating robot during the synchronized traveling.

Conventionally, in such an apparatus for applying a rust preventive agent, a robot base for supporting a coating robot is provided on a side portion of a conveyor so that the robot base can run in parallel, and the robot base is mounted on the basis of a pulse signal indicating a traveling position of the conveyor. The coating work was performed while running synchronously with the conveyor.

[0004]

However, in the above-mentioned conventional apparatus, the accuracy of synchronization between the conveyor and the robot base is low, and a position error of several tens of millimeters may occur between them. For this reason, it is difficult to correctly position the spray gun of the coating robot in the narrow wheel house or in the hole of the frame, which causes a problem in the work of applying the rust preventive agent.

The present invention has been made in view of the above circumstances, and an object of the present invention is to precisely move the coating robot in synchronization with the work being conveyed by the conveyor.

[0006]

In order to achieve the above object, the present invention provides a work coating apparatus for coating a work being conveyed by a conveyor by a coating robot that runs in parallel with the conveyor, on a convey path of the conveyer. Provided on the main traveling guide means, a synchronous conveyance base supported by the main traveling guide means and capable of running in parallel with the conveyor, a traveling drive source for driving the synchronous conveyance base, and a synchronous conveyance base capable of moving up and down. An elevating stand that lifts up the workpiece from the conveyor, a sub-travel guide means provided on the side of the conveyor conveyance path, and a robot base supported by the sub-travel guide means,
A coating robot supported by the robot base and a connecting means for integrally connecting the synchronous transfer base and the robot base are provided.

[0007]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 3 show an embodiment of the present invention. FIG. 1 is an overall plan view of a coating apparatus, FIG. 2 is a two-direction arrow view of FIG. 1, and FIG. It is a 3 line arrow line view.

A conveyor C that conveys a vehicle body W of an automobile, which is a work to which a rust preventive is applied, in the direction of an arrow a is a slat that circulates endlessly in a vertical plane by a drive source (not shown) to support the right tire. 1 and a fixed support surface 2 which is provided at the same height as the transport surface of the slat 1 and rotatably supports the left tire.

A pair of left and right main guide rails 4, which are laid in parallel with the conveyor C, on a pedestal 3 provided at the bottom of the conveyor C.
A synchronous conveyance base 6 is movably supported on the carriage 4 via a plurality of guide rollers 5. A pinion 7 rotatably supported on the gantry 3 is connected to a traveling drive source 9 via a drive shaft 8, and a rack 10 meshing with the pinion 7 is fixed to the lower surface of the synchronous transfer base 6 in the longitudinal direction. It Therefore, by driving the traveling drive source 9, the synchronous conveyance base 6 is guided by the pair of left and right main guide rails 4 and 4 to reciprocate in parallel with the conveyor C.

The cylinder 1 is mounted on the upper surface of the synchronous transfer base 6.
An elevating platform 13 is provided so as to be vertically movable via an X-link mechanism 12 driven by 1 and 11. A pair of front support members 14 and 15 are provided on the upper surface of the lifting platform 13 so as to be openable and closable in the left and right directions by cylinders 16 and 17, respectively, and a pair of rear support members 18 and 19 are respectively provided in the cylinders 20 and 21 to the left and right. It can be opened and closed freely in any direction. The positions of the rear support members 18 and 19 can be adjusted in the front-rear direction by a cylinder 22.

The elevating stand 13 is elevated and lowered through a gap formed between the slat 1 of the conveyor C and the fixed support surface 2,
When in the illustrated raised position, the front support members 14, 15
The vehicle body W is received from the conveyor C and lifted up by the rear support members 18 and 19. At this time, the front support members 14 and 15 and the rear support members 18 and 19 are not
The position is adjusted by the cylinders 16, 17, 20, 21, 21 so as to support the jack-up point of the.

A pair of auxiliary guide rails 23, 23; 2 laid so as to sandwich the conveyor C on both left and right sides of the gantry 3.
A pair of left and right robot bases 24, 24 are movably supported by the guide rollers 3, 23 via guide rollers 25. The two robot bases 24, 24 and the synchronous transfer base 6 have two left and right connecting members 26, which are L-shaped in a front view.
Are connected together by. Therefore, the synchronous transfer base 6
When the vehicle is guided by the main guide rails 4 and 4, the robot bases 24 and 24 on the left and right move to the sub guide rails 23 and
3; 23, 23 and travel integrally with the synchronous transfer base 6.

The left and right robot bases 24, 24 are provided with a pair of left and right coating robots R ₁ , R ₂ for applying a rust preventive agent to the vehicle body W with a spray gun, and also at the rear end of the synchronous transfer base 6. A painting robot R ₃ for applying a rust preventive agent to the vehicle body W is provided.

Next, the operation of the embodiment of the present invention having the above construction will be described.

Above the synchronous transfer base 6 standing by at the position shown in FIG. 1, the slat 1 and the fixed support surface 2 of the conveyor C are provided.
When the vehicle body W with the tires supported thereon is loaded in the direction of the arrow a, the synchronous drive base 6 starts traveling at the same speed as the conveyor C along the main guide rails 4 and 4 by the traveling drive source 9. At the same time, the elevating platform 13 is raised via the X-link mechanism 12 connected to the cylinders 11, 11, and the vehicle body W is received from the conveyor C on the front support members 14, 15 and the rear support members 18, 19 thereof. Lift up. At this time, the traveling speed of the synchronous transfer base 6 does not need to be exactly the same as the transfer speed of the conveyor C, and may be substantially the same speed.

When the synchronous transfer base 6 supports the vehicle body W and starts traveling as described above, the synchronous transfer base 6 is moved.
A pair of left and right robot bases 24, 24 connected to the sub-guide rails 23, 23;
Guided by 3, 23, the vehicle starts traveling at the same speed as the synchronous transfer base 6. While the synchronous transfer base 6 and the pair of robot bases 24, 24 are running synchronously, both robot bases 2
The rust preventive agent is applied to the vehicle body W by the coating robots R ₁ and R ₂ provided in Nos. 4 and 24 and the coating robot R ₃ provided in the synchronous transfer base 6.

When the coating robots R _{1 to} R ₃ have finished coating the rust preventive agent, the elevator platform 13 is moved through the X-link mechanism 12.
And the vehicle body W is transferred to the conveyor C again. Then, the synchronous transport base 6 travels in the opposite direction to return to the original position so as to receive the succeeding vehicle body W.

In addition to the coating robot R ₃ directly provided on the synchronous transfer base 6, the left and right robot bases 2 connected to the synchronous transfer base 6 via the connecting members 26.
Since the coating robots R ₁ and R ₂ provided on the coating robots 4 and 24 also move in a state of being strictly synchronized with the vehicle body W which is supported and moved by the synchronous transfer base 6, the spray guns of the coating robots R _{1 to} R ₃ are provided. Can be correctly positioned in the narrow wheel house or in the hole of the frame, and the rust preventive agent can be applied accurately.

Although the embodiment of the present invention has been described in detail above, the present invention is not limited to the above embodiment, and various design changes can be made.

For example, the present invention can be applied to any work other than the body of an automobile. The present invention can also be applied to ordinary painting work other than the work of applying a rust preventive agent.

[0022]

As described above, according to the present invention, the synchronous conveyance base supported by the main traveling guide means provided on the conveyor passage and the auxiliary traveling guide means provided on the conveyor passage side portion are supported. The robot robot and the robot base are connected together by connecting means, and the work received on the elevator of the synchronous transfer base from the conveyor is painted by the painting robot provided on the robot base. It is possible to perform painting work while moving in a state synchronized with. As a result, it is possible to reliably prevent the occurrence of coating defects due to the positional deviation between the work and the coating robot.

[Brief description of drawings]

[Figure 1] Overall plan view of the coating device

FIG. 2 is a two-direction arrow view of FIG.

FIG. 3 is a view taken along the line 3-3 of FIG.

[Explanation of symbols]

4 Main guide rail (main travel guide means) 6 Synchronous transport base 9 Driving drive source 13 Lifting platform 23 Sub guide rail (sub travel guide means) 24 Robot base 26 Connecting member (connecting means) C Conveyor R ₁ Painting robot R ₂ Painting robot W body (work)

Claims (1)

[Claims] 1. A work coating apparatus for coating a work (W) being transported by the conveyor (C) by a coating robot (R ₁ , R ₂ ) running in parallel with the conveyor (C). A main traveling guide means (4) provided on the conveying route, a synchronous conveying base (6) supported by the main traveling guide means (4) and capable of running in parallel with the conveyor (C), and a synchronous conveying base (6). The work drive source (9) for driving the work and the work (W) provided so as to be vertically movable on the synchronous transfer base (6).
Lifting platform (1 to lift up the conveyor from the conveyor (C)
3), a sub-travel guide means (23) provided on the side of the conveyor path of the conveyor (C), a robot base (24) supported by the sub-travel guide means (23), and a robot base (24). A supported painting robot (R ₁ , R ₂ ),
A work coating device, comprising: a connecting means (26) for integrally connecting the synchronous transfer base (6) and the robot base (24).