JPH0755667B2 - Car coating equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automobile painting apparatus that opens an opening / closing member, such as a door, which is provided on an automobile so as to be openable / closable, and performs painting on the automobile by a painting robot. is there.

[Prior art]

In a car painting line, the door is opened and the interior of the car is painted. To open and close the door, for example, an opening / closing robot as shown in FIG. 4 is used.

In other words, on the base 2 that is vertically movable on the base 1,
The first arm 3 is arranged so as to be swingable in a horizontal plane,
A second arm 4 is also provided on the free end side of the first arm 3 so as to be swingable in a horizontal plane. On the free end side of the second arm 4, a wrist portion 8 having an engagement pin 7 which is fitted into, for example, the glass groove 6a of the door 6 of the automobile 5 is provided.
Is arranged so that it can move up and down.

Then, when the automobile 5 is transported to a predetermined position on the coating line and stopped, the engaging pin 7 of the wrist portion 8 is fitted into the glass groove 6a of the door 6. When the engagement pin 7 is fitted into the glass groove 6a, the first arm 3 and the second arm 4 are driven to swing along a predetermined locus taught in advance, so that the door 6 is opened. Be done.

When the door 6 is opened as described above, the interior thereof is painted by a painting robot (not shown). While the painting is being performed by the painting robot, the door 6 is held in the open state by the first arm 3, the second arm 4 and the engaging pin 7. Then, when the painting work on the inside of the automobile 5 by the painting robot is completed, the first
The door 6 is closed by swinging the arm 3 and the second arm 4 in the reverse order of the procedure for opening the door 6.

Then, the opening / closing robot retracts to the initial position and the automobile 5 is transported to the next step.

In addition to the structure in which the engaging pin 7 is fitted into the glass groove 6a to open and close the door 6 as described above, a jig is attached to the door 6 in advance and the jig is clamped to close the door. An opening / closing robot configured to open and close 6 is also known.

[Problems to be Solved by the Invention]

By the way, in the opening / closing robot as described above, since the wrist portion 8 is provided with, for example, a reflection type photoelectric tube or the like for detecting the glass groove 6a of the door 6, the wrist portion 8 is not covered during the painting operation. Is preferably separated from the door 6.

Therefore, conventionally, after opening the door 6 as described above,
A jig is attached to the hinge portion of the door 6 to maintain the door 6 open.

Since attaching the jig to the hinge portion as described above requires a great deal of labor for the operator, in recent years, the free end side end portion of the free end portion is attached by a lever that is arranged so as to be tiltable on the floor surface. There is also proposed a so-called open-fixing device which is brought into contact with the door 6 to maintain the open state.

However, in the above-mentioned opening and fixing device, there is a problem that the coating line is considerably narrowed in space because it is arranged at an appropriate place on the floor surface of the coating line.

Therefore, an object of the present invention is to provide an automobile painting apparatus for automobiles which has a function capable of holding the open position of the opening / closing member extremely efficiently while saving space in the painting line.

[Means for Solving the Problems]

In order to achieve the above object, the first means adopted by the present invention is, in the gist thereof, an automobile coating apparatus for applying a coating to the automobile by opening an opening / closing member provided to the automobile so as to be opened and closed. A first arm having one end pivotally mounted on the base of the automobile coating apparatus so as to be swingable about a vertical axis; a first arm swinging mechanism for horizontally swinging and driving the first arm; A second arm pivotally attached to the other end of the first arm so as to be swingable about a vertical axis, a second arm swinging mechanism for horizontally swinging the second arm, and a tip of the second arm. An opening / closing device for opening / closing the opening / closing member, which has an insertion pin that is vertically movable up and down and is inserted into a recess of the opening / closing member of the vehicle; and an insertion pin lifting mechanism that vertically moves the insertion pin up and down. Vertical axis in the above base And an arm member swinging mechanism for horizontally swinging and driving the arm member, and an arm member swinging mechanism for horizontally swinging and driving the arm member. An automobile according to a point including a manipulator having a fixing pin to be inserted and a fixing device having a fixing pin elevating mechanism for vertically elevating the fixing pin and fixing the opening / closing member in its open position. This is an automobile coating device.

Further, the second means adopted by the present invention is, in its gist, a vehicle painting apparatus for painting an automobile by means of a painting device by opening an opening / closing member which is openably and closably provided on the vehicle, and has one end of the vehicle. A first arm pivotally mounted on a base of the coating device so as to be swingable about a vertical axis, a first arm swinging mechanism for horizontally swinging and driving the first arm, and the other end of the first arm. A second arm pivotally mounted on a vertical axis so as to be swingable, a second arm swinging mechanism for horizontally swinging and driving the second arm, and a tip end of the second arm that is vertically movable. An opening / closing device for opening and closing the opening / closing member having an insertion pin inserted into the recess of the opening / closing member of the automobile and an insertion pin lifting mechanism for vertically moving the insertion pin, and a vertical shaft having one end on the base. Swingable around Arm member swinging mechanism for horizontally swinging and driving the arm member, a fixing pin attached to a tip end of the arm member so as to be able to move up and down, and inserted into a concave portion of the opening / closing member of the automobile, A manipulator having a fixing pin lifting mechanism for vertically moving the fixing pin and fixing the opening / closing member at its open position is provided, and the opening / closing member is provided according to a portion to be coated. The vehicle according to the aspect of being opened by the opening / closing device and fixed at the open position by the fixing device and retracting the opening / closing device, or by opening the other opening / closing member by the opening / closing device and fixing at the open position. It is an automobile coating device.

[Action]

In the automobile coating apparatus for automobiles according to the first invention,
Since a single manipulator is provided with an opening / closing device and a fixing device each having an oscillating arm that is oscillated separately, a coating facility with a high degree of freedom regarding work is provided and space is saved. It becomes possible.

Further, in the automobile coating apparatus for an automobile according to the second aspect of the invention, as in the case of the automobile coating apparatus for the first aspect of the invention, a single manipulator is provided with swing arms that are individually swingably driven. Since the device and the fixing device are provided, it is possible to provide a coating facility with a high degree of freedom regarding work and save space, and at the same time, use the above-mentioned opening / closing device depending on the part to be coated. A function similar to that of the fixing device can be achieved.

〔Example〕

Embodiments 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 embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention.

Here, FIG. 1 is a plan view showing a main structure of an automobile coating apparatus according to an embodiment of the present invention, and FIG. 2 shows a manipulator constituting the automobile coating apparatus. ) Is a plan view, (b) is a right side view in (a), (c) is a cross-sectional view taken along the line AA 'in (a), and (d) is the same. Sectional views taken along the line BB 'in FIG. 3A and FIGS. 3A to 3E are explanatory views when a vehicle is coated by the vehicle coating apparatus.

In the automobile coating apparatus according to this embodiment, FIGS.
As shown in FIGS. (A) to (d), a painting robot 10 for painting the inside of the automobile 9 and a front door of the automobile 9.
11 _a (opening and closing member) and the rear door 11 _b the front door 11 _a opened by the opening and closing device 13 and the opening and closing device 13 for opening and closing hold the (opening and closing member) is fixed in its open position by holding the rear door 11 _b And a manipulator 12 having a fixing device 14 for fixing.

That is, a single manipulator 12 and a frame 15 (base)
Is arranged so as to be slidable in the vertical direction, and the frame 15 includes a motor 1 through a ball nut 16 and a ball screw 17.
It is driven by 8 according to the height of each door of different kinds of cars. In this case, the motor 18 is servo-controlled.

A first arm 19 constituting the opening / closing device 13 is provided on the frame 15 so as to be swingable in a horizontal plane.
A second arm 20 is also provided on the free end side of the arm 19 so as to be swingable in a horizontal plane. The first arm 19 is
The motor 21 (first arm swinging mechanism) provided in the frame 15 swings the second arm 20, and the second arm 20 has a motor 22 (second arm swinging mechanism) provided in the first arm 19. ), The shaft 23 and the bevel gears 24 and 25 are oscillated. In this case, the motors 21 and 22 are servo-controlled respectively.

A wrist member 26 is vertically slidably provided on the free end side of the second arm 20, and the wrist member 26 is slidably driven by an air cylinder 27 (insertion pin lifting mechanism).

The distal end of the wrist member 26, inserted for holding the front door 11 _a and the rear door 11 the glass _b groove 11 _c, 11 are inserted into the _d (recess) the front doors 11 _a and the rear door 11 _b A pin 28 is attached, and a proximity switch 29 (holding detection means) is attached to the insertion pin 28, for example. The proximity switch 29, the fixing pin 30 is the front door 11 _a and the rear door 11 _b the front door 11 _a Ya by the fixing pins 30 are inserted into each glass groove 11 _c, 11 _d of constituting the fixing device 14 it is used to detect the state of the rear door 11 _b is held.

Therefore, the fixing pin 30 can have an extremely simple structure without any detection mechanism. When removing the paint adhering to the outer surface of the fixing pin 30, the simple structure can be used to perform an extremely efficient cleaning operation. Can be carried out.

In this case, instead of the proximity switch 29, a limit switch, a photoelectric switch, or the like can be used.

Inside the base side of the insertion pin 28, the glass grooves 11 _c , 1
1 _d phototube whether the position for detecting the reflective type, for example of the front door 11 _a and the rear door 11 _b 31 (position detecting means) is disposed. The front surface of the photoelectric tube 31 is covered with, for example, a glass plate (not shown).

A fixed arm 32 (arm member) that constitutes the fixing device 14 is provided on the frame 15 so as to be swingable in a horizontal plane. The fixed arm 32 is, for example, a reciprocating swing type air actuator 33 ( Arm member swing mechanism)
It is rockingly driven so that it can be stopped at each of E, F, and G positions.
In this case, with the point G as the origin, the points F and E are the positions where the door is fixed at the open position, and the two points are stopped at the points F and E according to different vehicle models. Controlled.
A support arm 34 (arm member) is provided on the free end side of the fixed arm 32 so as to be vertically slidable, and the support arm 34 is provided with an air cylinder 35 (fixed pin lifting mechanism).
Is driven by slide. Then, the support arm 34
The above-mentioned fixing pin 30 is attached to the free end side of the. Then, the fixed arm 32, when the support arm 34 is the fixing pin 30 is swung by the air actuator 33 is stopped at point E or point F, the front door 11 _a and the rear door 11 by the opening and closing device 13 _b glass groove 1
1 _c, 11 _d is the door 11 _a, 11 _b as stopped at the position of the point E and point F is swung. Therefore, the fixing device 14 can have an extremely simple structure that does not require servo control.

The automobile coating apparatus according to this embodiment is configured as described above.

Subsequently, a procedure for painting the inside of the automobile using the automobile painting apparatus will be described with reference to FIGS. 3 (a) to 3 (e).

In each figure, the figure (b) is CC 'in the figure (a).
Corresponds to the closed state rear door 11 _b in cross section taken along, FIG. (D), FIG. (E) corresponds to the D-D 'arrow sectional in FIG. (C).

First, the first arm 19 and second arm 20 is swung driven along a predetermined trajectory, which is previously taught constituting the closing device 13, a photoelectric tube 31 provided on the wrist member 26 rear door 11 _b of the glass grooves 11 _The glass groove _11d is detected by passing it over _d . When the glass groove _11d is detected, the insertion pin 28 is stopped at the upper position corresponding to the glass groove _11d , and the insertion pin 28 is driven downward by the air cylinder 27 to move to the glass groove _11d . Is inserted. After that, the first
Is swung along a predetermined trajectory arm 19 and second arm 20 are previously taught, the rear door 11 _b is opened (see FIG. 3 (a)). The door 11 _b is opened position corresponds to point E in the rear door 11 glass grooves 11 _d, for example, Figure 2 of _b (a). Then, the fixing device
The fixed arm 32 and the support arm 34 that form part 14 are driven to swing by the air actuator 33, and the fixed pin 30 is stopped at a position corresponding to point E. Then, the fixing pin 30 is driven downward by the air cylinder 35, the fixing pin 30 is fitted to the glass groove 11 _d of the rear door 11 _b.

As a result, a state in which the rear door 11 _b is fixed at its open position by the fixing device 14.

After the rear door 11 _b is fixed by the fixing device 14, the inserting pin 28 is above the glass groove 11 of the switchgear 13
The rear door 11 _{b is} pulled out from the _d and opened and closed by the opening / closing device 13.
Front door 11 _a is opened in the case the same procedure, the open state of the front door 11 _a is held by the opening and closing device 13 itself (see FIG. 3 (c)).

Thereafter, the inner surface of the inner or rear door 11 _b of the motor vehicle 9 is coated by the coating robot 10. Furthermore, the painting robot
By 10, painting is performed with respect to the rear door 11 _b side of the center pillar 9 _a of the motor vehicle 9. In this case, as described above, since the front door 11 _a is in a state of being opened by the opening and closing device 13, attached paint the side end portion of the front door 11 _a thickness of the coating film becomes uneven It is possible to avoid problems such as uneven coating and uneven coating. That is, as shown by the chain double-dashed line in FIG.
11 _{when a} is closed, when painting the rear door 11 _b side of the center pillar 9 _a at the painting robot 10, a portion of the coating material is applied to the rear side of the front door 11 _a. Then, the coating is further applied on the front door _{11a in} a dedicated coating process, so that the front door 11a is coated.
Not only the coating film for 11 _a becomes nonuniform, causing inconvenience of causing uneven paint. Therefore, as described above, when the front door 11 performs a coating operation with open _a, without adhering inadvertently or paint on the front door 11 _a, in the painting process after to the front door 11 _a Allows the front door 11a to be coated with _a very uniform coating film.

Similarly, when painting the front door 11 _a side of the center pillar 9 _a , if the painting is performed with the rear door 11 _b open, as shown in FIG. Unnecessary paint does not adhere to the front part of _b , and extremely high-quality painting can be performed.

Paint against the interior of the motor vehicle 9 in the above-described procedure is performed, when the operation is completed, the front door 11 _a and the rear door 11 _b is closed at the opposite procedure to the above.

Therefore, according to the apparatus of this embodiment, the paint does not adhere to the opening / closing device 13, and the paint slightly adheres only to the fixing pin 30 of the fixing device 14 having an extremely simple structure. However, since the structure of the fixing pin 30 has an extremely simple shape as described above, the work of removing the paint adhering to this surface can be carried out very easily, and the efficiency of the cleaning work can be improved. It is possible to plan.

Further, according to the device of this embodiment, as described above, the opening / closing device 13
Since the fixing device 14 and the fixing device 14 are held by the single manipulator 12, it is possible to save space in the coating line as compared with the case of the conventional device. In addition, according to the apparatus of the above-described embodiment, a four-door type vehicle has been described as an example, but it goes without saying that the present apparatus can be applied to a two-door type vehicle.

In this case, after opening the door with the opening / closing device 13 and fixing the door at the opening position with the fixing device 14, the opening / closing device 13 is opened.
Is controlled so as to evacuate to the area where the paint does not adhere.

Further, in the apparatus of the above-described embodiment, the case where the coating is performed while the automobile 9 is stopped has been described as an example. However, in the painting process in the line where the automobile 9 is continuously delivered, the painting robot 10 and the manipulator 12 are used. Can be arranged on the conveyor so that they can be moved in synchronization with the traveling direction of the automobile 9.

[Advantages of the Invention] Since the automobile coating apparatus according to the present invention is configured as described above, it is possible to very efficiently hold the open position of the opening / closing member and perform painting work on the automobile while saving space in the painting line. It can be carried out.

[Brief description of drawings]

FIG. 1 is a plan view showing a main part structure of an automobile coating apparatus according to an embodiment of the present invention, and FIG. 2 shows a manipulator constituting the automobile coating apparatus. FIG. The figure, the same figure (b) is the right side view in the same figure (a), the same figure (c) is the AA 'arrow sectional view in the same figure (a), the same figure (d) is the same figure (a). 3 is a cross-sectional view taken along the line BB 'in FIG. 3, FIGS. 3 (a) to 3 (e) are explanatory views when a vehicle is painted by the above-mentioned vehicle painting apparatus, and FIG. 4 is an explanatory view showing a conventional vehicle painting apparatus. Is. [Explanation of reference numerals] 9 ... automobile, 9a ... center pillar, 10 ... painting robot,
11 _a ... Front door (opening / closing member), 11 _b ... Rear door (opening / closing member), 11 _c , 11 _d ... Glass groove (recess), 12 ... Manipulator, 13 ... Opening / closing device, 14 ... Fixing device, 15 ... Frame (base) Table), 19 ... First arm, 20 ... Second arm, 21 ... Motor (first arm swinging mechanism), 22 ... Motor (second arm swinging mechanism), 27 ... Air cylinder (insertion pin lifting mechanism), 28 ...
Insertion pin, 29 ... Proximity switch (hold detection means), 31 ... Phototube (position detection means), 32 ... Fixed arm (arm member), 33 ... Air actuator (arm member swinging mechanism), 34 ... Support arm (arm member) ), 35 ... Air cylinder (fixed pin lifting mechanism)

Claims (4)

[Claims] 1. An automobile painting apparatus for painting an automobile by means of a painting device by opening an opening / closing member openable and closable in the automobile, and one end of which can be swung about a vertical axis on the base of the automobile painting device. A first arm pivotally mounted on the first arm, a first arm swinging mechanism for horizontally swinging the first arm, and a second arm swingably mounted on the other end of the first arm about a vertical axis. A second arm, a second arm swinging mechanism for horizontally swinging and driving the second arm, and an insertion pin attached to a tip of the second arm so as to be vertically movable and inserted into a recess of an opening / closing member of the vehicle. An opening / closing device for opening / closing the opening / closing member having an insertion pin lifting mechanism for vertically moving the insertion pin; and an arm member pivotably attached to the base at one end thereof about a vertical axis. ， The above arm member is horizontal An arm member swinging mechanism that swings, a fixing pin that is attached to the tip of the arm member so as to be able to move up and down, and is inserted into the recess of the opening and closing member of the vehicle, and a fixing pin lifting mechanism that vertically moves the fixing pin. An automobile coating apparatus comprising: a manipulator having: a fixing device for fixing the opening / closing member at its open position. 2. An automobile painting apparatus for painting an automobile by means of a painting device by opening an opening / closing member that is openable / closable in an automobile, and one end of which can be swung about a vertical axis on the base of the automobile painting device. A first arm pivotally mounted on the first arm, a first arm swinging mechanism for horizontally swinging the first arm, and a second arm swingably mounted on the other end of the first arm about a vertical axis. A second arm, a second arm swinging mechanism for horizontally swinging and driving the second arm, and an insertion pin attached to a tip of the second arm so as to be vertically movable and inserted into a recess of an opening / closing member of the vehicle. An opening / closing device for opening / closing the opening / closing member having an insertion pin lifting mechanism for vertically moving the insertion pin; and an arm member pivotably attached to the base at one end thereof about a vertical axis. ， The above arm member is horizontal An arm member swinging mechanism that swings, a fixing pin that is attached to the tip of the arm member so as to be able to move up and down, and is inserted into the recess of the opening and closing member of the vehicle, and a fixing pin lifting mechanism that vertically moves the fixing pin. And a manipulator having a fixing device for fixing the opening / closing member in the open position, and opening the opening / closing member by the opening / closing device according to the portion to be coated and opening the opening / closing member by the fixing device. An automobile coating apparatus, characterized in that it is fixed at a position and the opening / closing device is retracted, or another opening / closing member is opened by the opening / closing device and fixed at the open position. 3. The automobile coating apparatus according to claim 1, wherein the second arm is provided with a position detecting means for detecting a position of the opening / closing member at a tip thereof. 4. The automobile coating apparatus according to claim 3, wherein the insertion pin comprises a holding detection means for detecting a state in which the opening / closing member is held by the fixing device.