JPH0952067A - Automatic coating method for car body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the number of coaters the minimum of two and to reduce production costs by a method in which when the right and left sides of a car body are coated with right and left robot coaters respectively, the right half of an outer plate is coated with the right coater, while the left half of the outer plate is coated with the left coater. SOLUTION: When the body 2 of a passenger car is coated, out of the whole outer plate surface of the body 2, a hood 2A to be an upper surface part, a roof 2D, a trunk lid 2K, a left half from the center line O-O of a rear 2M, a left side front fender 2B to be a left side surface part, and a left half of the outer plate consisting of a front pillar 2C, a front door 2E, a center pillar 2F, a rear door 2G, a rear pillar 2H, and a rear fender 2J are coated with a left side robot coater. The rest right half of the outer plate front surface of the body 2 and the right half of the outer plate are coated with a right side robot coater. In this way, the whole outer plate surface of the body 2 is coated automatically with a small number of coaters.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle body automatic coating method for automatically coating an outer panel of a vehicle body of an automobile or the like with a robot coating device.

[0002]

2. Description of the Related Art Generally, as a coating apparatus for coating the outer panel of a vehicle body of an automobile or the like, a reciprocating type coating apparatus using a reciprocating mechanism, a robot coating apparatus using a coating robot, a reciprocating type coating apparatus and robot coating are used. A coating device and the like using the device together is known. Then, these coating apparatuses spray a paint from a coating machine onto a vehicle body conveyed by a conveyor, thereby forming a vehicle body including a hood of the vehicle body, a front fender, a roof, a door, a rear fender, a trunk lid, a rear, and the like. It is designed to paint the entire outer plate.

Among these coating apparatuses, the reciprocating type coating apparatus is a top reciprocating mechanism for coating a hood, a roof, a trunk lid, etc. on the upper surface of a vehicle body, a left front fender and a door on the left side surface portion of the vehicle body. A total of three reciprocating mechanisms are provided: a left side reciprocating mechanism for painting rear fenders and the like, and a right side reciprocating mechanism for painting the right front fender, which is the right side surface of the vehicle body, doors, rear fenders, etc. The reciprocating type coating device sprays paint from a coating machine attached to each reciprocating mechanism toward the vehicle body, and reciprocates the coating machine in accordance with the coating surface of the vehicle body to thereby cover the entire outer surface of the vehicle body. To paint.

On the other hand, the robot coating apparatus includes an upper surface robot coating apparatus for painting the upper surface of the vehicle body, a left side robot coating apparatus for painting the left side surface of the vehicle body, and a right side robot for painting the right side surface of the vehicle body. By preparing a coating device, the entire outer panel of the vehicle body is coated.

A robot coating device is disclosed in Japanese Patent Application Laid-Open No. 62-62.
There are those disclosed in JP-A-247858 and JP-A-4-371252. Of these, JP-A-64-2478
In the robot coating apparatus of Japanese Patent Laid-Open No. 58, the coating machine is attached to two coating robots arranged on the left and right sides of the vehicle body, and the coating machine is reciprocated along the coating surface of the vehicle body to move the interior of the vehicle body. It is to be painted. In addition, JP-A-4-37
The robot coating apparatus of Japanese Patent No. 1252 reciprocates the coating machines of the robot coating apparatuses arranged on the left and right sides of the vehicle body in a direction orthogonal to the convey direction of the conveyor, thereby forming a left side surface portion forming a part of the outer plate of the vehicle body. And the right side is to be painted.
It should be noted that the configuration in which the left and right robot coating devices reciprocate the coating machine orthogonally to the convey direction of the conveyer is disclosed in Japanese Patent Laid-Open No.
No. 187264 is also disclosed.

[0006]

By the way, in the above-mentioned conventional reciprocating type coating apparatus, when the outer panel of the vehicle body is coated, the top reciprocating mechanism for coating the upper surface portion of the vehicle body and the left side surface portion of the vehicle body are coated. It is necessary to have three reciprocating mechanisms, a left side reciprocating mechanism and a right side reciprocating mechanism for painting the right side surface of the vehicle body. Since one reciprocating mechanism requires one or more coating machines, three or more coating machines are required. Will be needed.

Further, as in the reciprocating type coating apparatus, a total of three robot coating apparatuses, that is, an upper surface robot coating apparatus, a left side robot coating apparatus and a right side robot coating apparatus are required.

As a result, the number of coating machines, reciprocating mechanisms and coating robots for operating the coating machines, paint and solvent lines, controllers for controlling the reciprocating mechanism and coating robots, and the like will increase. In addition to the increase in cost and installation work cost, the number of coating machines increases, so that the amount of paint and cleaning solvent used and the cleaning time increase, which causes an increase in running cost during operation.

In addition, a large installation space is required to install three or more reciprocating mechanisms and painting robots, and the installation space expands, so that the painting booth itself becomes large. There is a problem that equipment costs such as equipment and waste liquid equipment increase.

On the other hand, when the outer panel of the vehicle body is painted by the robot coating device arranged on the left and right sides of the vehicle body as in Japanese Patent Laid-Open No. 62-247858, the boundary where the spray patterns of the left and right coating machines interfere with each other. There is a problem in that the coating films overlap each other and the coating film becomes thicker than other coating parts, and the coating quality deteriorates due to color unevenness and the like, causing defective coating.

Further, when the coating machine is reciprocated as in JP-A-4-371252 and JP-A-4-187264, the moving speed of the coating machine decreases or stops before and after the turning point. Or Even in such a case, since the conveyor conveys the vehicle body at a constant speed, the moving speed of the coating machine with respect to the coating surface of the vehicle body decreases before and after the turning point. As a result, there is a problem in that the coating film becomes thicker as the moving speed of the coating machine decreases and coating defects such as color unevenness occur.

Therefore, when the coating machine moves before and after the turning point, the reciprocating stroke of the painting machine is extended so that the paint is not sprayed from the painting machine onto the painting surface of the vehicle body. However, in this case, the amount of paint used is increased because the paint is sprayed unnecessarily on the parts other than the painted surface, and in addition, the painting time becomes long and the productivity is reduced, resulting in running costs. There is a problem that is increased.

The present invention has been made in view of the above-mentioned problems of the prior art. When the entire outer panel of the vehicle body is coated, the number of coating robots and coating machines is set to a minimum of two, so that coating is performed. The number of robots, painting machines, paint systems, solvent systems, controllers, etc. has been reduced to reduce manufacturing costs, and the installation space has been reduced to reduce the air-conditioning equipment and waste liquid equipment in the painting booth. To reduce the running cost, especially the paint and cleaning solvent discarded at the time of color change, and shorten the color change setup time, thereby providing an automatic vehicle body painting method capable of reducing the running cost. I am trying.

[0014]

In order to solve the above-mentioned problems, the invention of claim 1 is to convey a vehicle body, and to coat one on each of the left and right sides of the conveying means in the conveying direction. A robot is arranged, and a left and right robot coating device in which a coating machine is provided at the arm tip of each coating robot is provided, and the left and right positions of the vehicle body are respectively controlled by the left and right robot coating devices. In the automatic vehicle body painting method, the robot coating device located on the left side of the left and right robot coating devices is
Of the entire outer skin of the vehicle body including the right side surface, the left half of the outer surface of the upper surface and the left half of the outer surface are painted, and the robot coating device located on the right side applies the upper surface and the left and right side surfaces. It is characterized in that a right half of the upper surface and a right half of the outer surface of the entire outer plate of the vehicle body including the right half are painted.

According to a second aspect of the present invention, in the coating area of the upper surface of the vehicle body where the spray patterns of the coating machines of the robot coating devices interfere with each other, the coating spray section of the coating machine faces the coating surface of the vehicle body. This is because the paint spray portion was gradually separated from the painted surface in the state where the paint was sprayed.

According to a third aspect of the present invention, in the coating area of the upper surface of the vehicle body where the spray patterns of the coating machines of the robot coating devices interfere with each other, the coating spray section faces the coating area of the counterpart coating machine. As described above, each of the coating machines is swung so that the paint spray portion is gradually separated from the coating surface.

According to a fourth aspect of the invention, when coating is performed by reciprocating the coating machine by each of the robot coating apparatuses, the moving speed of the coating machine with respect to the coating surface of the vehicle body is changed to include the folding portion of the coating machine. Is almost equal, and the coating film thickness by coating is constant.

According to a fifth aspect of the present invention, there is provided a conveying means for conveying a vehicle body having an upper surface portion including a front upper surface, a roof and a rear upper surface and a side surface portion including a front side surface, a door and a rear side surface, and a conveying direction of the conveying means. One coating robot is arranged on each of the left and right sides of the robot, and the left and right robot coating devices are provided with a coating machine at the arm tip of each coating robot. In the automatic vehicle body painting method in which the left and right positions of the vehicle body are respectively painted by a device, the robot painting device located on the left side of the left and right robot painting devices is the front upper surface, the roof and the rear upper surface. The front side on the left side and the front side on the left side, the entire surface of the door and the rear side are painted, and the robot coating device on the right side is the right upper half of the front upper surface, roof and rear upper surface. Right front side, characterized in that so as to painting the entire surface of the door and the rear side.

[0019]

According to the coating method of the first aspect of the present invention, when the vehicle is conveyed by the conveying means, the robot coating device located on the left side has the outer plate of the vehicle body including the upper surface portion and the left and right side surface portions. Of the entire surface, the left half of the outer panel consisting of the left half of the upper surface and the left side is sequentially coated, and the robot coating device located on the right side is the upper surface of the entire outer panel of the vehicle body including the upper surface and the left and right side surfaces. Since the right half of the outer panel and the right half of the outer panel consisting of the right side surface are sequentially coated, the entire outer panel of the vehicle body can be independently and automatically coated by the two robot coating devices.

According to the second aspect of the present invention, in the coating area where the spray patterns of the coating machines of the robot coating devices interfere with each other on the upper surface of the vehicle body, the paint spraying section of the coating machine remains facing the coating surface of the vehicle body. In this state, the paint spray section is gradually separated from the coating surface, so that the coating efficiency of the paint can be reduced according to the separation of the paint spray section from the coating surface, and the coating film thickness in this coating area can be reduced. Thus, the coating film thickness on the entire coated surface can be made constant.

According to the third aspect of the invention, in the coating area where the spray patterns of the coating machines of the robot coating devices interfere with each other on the upper surface of the vehicle body, the coating spray section faces the coating area of the counterpart coating machine. Since each coating machine is swung and the paint spray section is gradually separated from the paint surface of the vehicle body, the coating efficiency of the paint can be reduced depending on the distance of the paint spray section from the paint surface. The coating film thickness in the area can be reduced to make the coating film thickness on the entire coating surface constant.

According to the invention of claim 4, the moving speed of the coating machine with respect to the coating surface of the vehicle body can be made uniform including the folded portion when the coating machine reciprocates, so that the coating film thickness by the repeated coating can be made constant. It is possible to prevent the occurrence of color unevenness.

According to the coating method of the fifth aspect of the present invention, when the vehicle body is transported by the transport means, the robot coating device located on the left side has the front upper surface, the left half surface of the roof and the rear upper surface, and the left front side surface. The entire surface of the door and rear side is sequentially coated, and the robot coating device located on the right side sequentially coats the right half of the front upper surface, roof and rear upper surface and the right front side, and the entire surface of the door and rear side. A robot coating device can automatically coat the entire outer surface of the car body.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A coating apparatus equipped with a rotary atomizing head type coating machine will be described below with reference to FIGS. 1 to 9 as a coating apparatus according to an embodiment of the present invention.

First, FIGS. 1 to 6 show a first embodiment of the present invention.

In the figure, reference numeral 1 denotes a conveyor device as a conveying means provided in a coating booth (not shown), which conveys a vehicle body 2 of an automobile or the like from one side to the other side at a constant speed. It is to be transported toward.

The vehicle body 2 includes a hood 2A, front fenders 2B and 2B, front pillars 2C and 2C,
Roof 2D, front doors 2E, 2E, center pillar 2
F, 2F, rear doors 2G, 2G, rear pillars 2H, 2
H, rear fenders 2J, 2J, trunk lid 2K, and rear 2M, which are substantially symmetrical to the left and right with respect to the center line OO.

3 is a robot coating device on the left side which is arranged on the left side of the conveyor device 1 in the conveying direction, and 4 is a robot coating device on the right side which is arranged on the right side of the conveyor device 1 in the conveying direction so as to face the left robot coating device 3. The robot coating devices are respectively shown, and the robot coating devices 3 and 4 are roughly composed of a tracking mechanism 5, an articulated robot 6 for coating, and a coating machine 7 which will be described later.

Reference numerals 5 and 5 denote tracking mechanisms that extend in parallel to the conveying direction of the conveyor device 1 and serve as the bases of the robot coating devices 3 and 4. Each tracking mechanism 5 is mounted on a moving table (not shown). Articulated robot 6 for painting
Are independently moved in the conveying direction or the anti-conveying direction at an arbitrary speed.
The moving speed of the coating machine 7 with respect to the vehicle body 2 conveyed by is adjusted.

Reference numerals 6 and 6 denote multi-joint type coating robots (hereinafter referred to as coating robots 6) provided on the tracking mechanisms 5 and 5. The coating robots 6 are mounted on the moving base of the tracking mechanism 5. Fixed base 6A and support 6B rotatably and rotatably mounted on the base 6A
And an arm 6C rotatably and rotatably attached to the tip of the column 6B, and a wrist 6D rotatably and rotatably provided at the tip of the arm 6C. The arm portion 6C and the wrist portion 6D are controlled on the basis of a control signal from a controller (not shown), and the coating machine 7 can be freely moved to the entire painting surface of the vehicle body 2 by appropriately rotating or rotating by the controller. It can be moved independently.

7 and 7 are wrist parts 6D of the coating robots 6.
And a paint sprayer 7A provided on the tip side thereof, each of the painters 7 is connected to a color change valve device or the like via a paint pipe and is supplied with a solvent via a solvent pipe. Connected to the source. Further, a waste liquid pipe (not shown) for discarding the paint and the solvent at the time of color change is connected to each coating machine 7. Each of the coating machines 7 sprays the paint supplied through the paint pipe from the paint spraying section 7A toward the vehicle body 2. The paint spraying section 7A may be, for example, a rotary atomizing head type, air Atomization nozzle type, hydraulic atomization nozzle type and the like are widely used.

Robot coating apparatus 3, 4 according to this embodiment
Has a structure as described above, and when the vehicle body 2 is conveyed by the conveyor device 1, the robot coating device 3 on the left side coats the left half of the entire outer plate of the vehicle body 2 from the center line OO. The robot coating device 4 on the right side coats the entire outer skin of the vehicle body 2 by painting the right half from the remaining center line OO.

Therefore, the robot coating device 3 of this embodiment is
The coating method of the vehicle body 2 according to No. 4 will be described in detail with reference to FIGS.

First, the vehicle body 2 of a four-door sedan type passenger car will be described as an example, and the coating sequence will be described based on the loci of the coating machines 7 shown in FIG.

First, when the vehicle body 2 is conveyed forward by the conveyor device 1, the robot coating device 3 on the left side,
When the coating machine 7 reaches the point a, the robot coating device 4 on the right side sprays the coating material from the coating material spraying section 7A of the coating machine 7 in the left and right directions (the vehicle body 2). The hood 2A is painted by reciprocating in the width direction). When the coating of the hood 2A progresses and each coating machine 7 reaches the point b, the reciprocating motion of each coating machine 7 is stopped, and the coating machine 7 is directed to the point c at the boundary between the hood 2A and the front fender 2B. Move along.

During the coating of the hood 2A, the hood 2A has a substantially parallelogram shape on both sides of the center line OO, so that when the coating machines 7 are reciprocated, the hood 2A is aligned with the inclination of the parallelogram. It is reciprocating diagonally.

Next, when each coating machine 7 reaches the point c, each coating machine 7 is reciprocated in the upward and downward directions along the front fenders 2B, 2B of the vehicle body 2 so that the front fender 2B,
After coating 2B to point d, the reciprocating motion of each coating machine 7 is stopped, and in this state, each coating machine 7 is linearly moved toward point e to coat the front pillars 2C, 2C. When each coating machine 7 reaches the point e, the roof 2D is coated up to the point f while reciprocating the coating machine 7 on the roof 2D in the left and right directions. From the point f, the side surface of the roof 2D, Painting is performed by linearly moving to the point g along the front pillars 2C, 2C.

Next, when each coating machine 7 reaches the point g, each coating machine 7 is reciprocated in the upward and downward directions along the side surface of the vehicle body 2 so that the front doors 2E, 2E and the center pillars 2F, 2 are moved.
F, the rear doors 2G and 2G, the rear pillars 2H and 2H, and the front parts of the rear fenders 2J and 2J are sequentially painted. Then, when these coating surfaces are coated and each coating machine 7 reaches the point h, the trunk lid 2K is coated by reciprocating the coating machines 7 in the left and right directions from the point h.

Further, when the trunk lid 2K is coated and each coating machine 7 reaches point j, the reciprocating motion of each coating machine 7 is stopped and the upper parts of the rear fenders 2J, 2J are coated and moved to point k. Later, from this k point, the rear fender 2J, 2J
Paint the back part while reciprocating up to m points. Finally, the paint is applied from the m point to the rear 2M up to the n point.

By coating the vehicle body 2 with the robot coating device 3 on the left side and the robot coating device 4 on the right side in this way, in the robot coating device 3 on the left side, the hood which is the upper surface part of the entire outer plate of the vehicle body 2. 2A, roof 2D, trunk lid 2K, rear 2M from the center line OO to the left half surface,
The left half of the outer panel consisting of the left side front fender 2B, the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J can be entirely coated.

On the other hand, in the robot coating device 4 on the right side, the center line OO of the hood 2A, the roof 2D, the trunk lid 2K, and the rear 2M which are the upper surface portions of the entire outer plate of the vehicle body 2.
To the right half and the right side of the front fender 2B, the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J.
The entire outer plate of the vehicle body 2 can be automatically painted.

Next, the hood 2A, which is the upper surface of the vehicle body 2,
The operation of each coating machine 7 when painting the roof 2D, the trunk lid 2K, and the rear 2M will be described by taking the case of painting the roof 2D as an example.

First, as shown in FIG. 3, when coating is performed while reciprocating each coating machine 7 in the left and right directions on the roof 2D, a position where the paint sprayed from each coating machine 7 does not interfere ( Positions spaced from the center line OO in the left and right directions)
At the time of the normal coating in (2), the coating distance between the paint spraying section 7A of each coating machine 7 and the roof 2D is set to the coating distance L that can achieve high coating efficiency. On the other hand, when each coating machine 7 moves toward the center line OO and reaches the vicinity of the center line OO, the movement loci M1 and M1 shown by dotted lines in FIG.
As shown in FIG.
With the paint spraying section 7A facing the roof 2D (facing at a right angle), the coating machines 7 are gradually separated from the roof 2D to increase the coating distance and reduce the coating efficiency.

As a result, the spray pattern P of the coating material sprayed from each coating machine 7 is accompanied by the separation of the coating machine 7 from the spray pattern P1 during normal coating (decrease in coating efficiency), as shown in FIG. And gradually larger spray patterns P2, P3, P
Therefore, as shown in FIG. 5, the thickness of the coating film F formed on the roof 2D is changed to the center line O according to the decrease in the coating efficiency.
It can be gradually thinned in a portion where the spray pattern P interferes in the vicinity of -O, and it is possible to prevent the coating film thickness of the coating portion where the spray pattern P interferes from becoming thicker than the coating film thickness of other coating portions. .

On the other hand, when each coating machine 7 is reciprocated, the stroke pitch when each coating machine 7 reciprocates is made constant on the entire coating surface of the vehicle body 2, whereby the coating film thickness is It is kept constant to prevent the occurrence of color unevenness and the like.

When the coating machines 7 are reciprocated,
As shown in FIG. 6, the folded-back portion T of each coating machine 7 is folded back in an arc shape with a radius R that is half the reciprocating pitch, so that the coated portion 7 of each coating machine 7 with respect to the coating surface of the vehicle body 2 is also folded back. It is possible to always paint at a constant moving speed without reducing the moving speed.

When the vehicle body 2 is coated, if each coating machine 7 comes off the coating surface of the vehicle body 2, the spraying of the coating material from each coating machine 7 may be stopped.

Thus, according to the present embodiment, when the vehicle body 2 is painted, the robot coating device 3 on the left side causes the vehicle body 2 to be painted.
2A, roof 2 which is the upper surface of the entire outer plate
D, trunk lid 2K, rear 2M from the center line O-O left half face and left front fender 2 which is the left side face
B, the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J can be entirely coated on the left half of the outer plate.

Further, in the robot coating device 4 on the right side, the center line OO of the hood 2A, the roof 2D, the trunk lid 2K, and the rear 2M, which are the upper surface portions of the entire outer plate of the vehicle body 2.
The right half of the front and the right front fender 2 which is the right side
B, the front pillar 2C, the front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J can be entirely coated on the right half of the outer plate.

As a result, the two robot coating devices 3, 4 (two coating machines 7,
Since it can be painted in 7), the number of painting robot 6, painting machine 7, paint piping, solvent piping, controller, etc. is 2
It is possible to reduce the number of units, and it is possible to reduce the manufacturing cost.

Also, by using two robot coating devices 3 and 4, the installation space for the robot coating devices 3 and 4 can be reduced, so that the coating booth can be reduced to effectively use the space in the factory. In addition to being able to reduce air conditioning equipment and waste liquid equipment, it is possible to reduce running costs during operation, especially paints to be discarded when changing colors, cleaning solvents, etc. The cost can be reduced.

Moreover, the hood 2 which is the upper surface of the vehicle body 2
When coating A, the roof 2D, the trunk lid 2K, and the rear 2M, the paint spraying section 7A of each of the coating machines 7 is painted near the center line OO where the spraying patterns P of the coating machines 7 interfere with each other. While gradually facing each other, the coating machines 7 are gradually separated from the coating surface to increase the coating distance, the coating efficiency of the coating is reduced, and the thickness of the coating film F can be gradually reduced. It is possible to make the thickness of the coating film F at the coating portion where the spray pattern P interferes to be equal to that of other portions. Therefore, it is possible to prevent the occurrence of color unevenness due to variations in coating film thickness, and it is possible to perform high-quality coating desired for coating the outer panel of the vehicle body 2.

Further, in the present embodiment, when each coating machine 7 is reciprocated, the folding part T of each coating machine 7 is folded back in an arc shape, so that each coating machine 7 moves at this folding part T. Since it is possible to prevent a decrease in speed and always apply a constant moving speed, it is possible to improve the coating quality by making the coating film thickness constant without wasting the coating material as described in the prior art. .

Further, when the hood 2A is coated, the coating machines 7 are reciprocally moved diagonally in accordance with the parallelogram-shaped hood 2A, so that the coating machines 7 can be effectively reciprocated without waste. Therefore, it is possible to reduce the coating time and the amount of paint used.

Moreover, since the robot coating device 3 on the left side and the robot coating device 4 on the right side can be operated independently, good coating can be performed even on a left and right asymmetric vehicle body.

Next, FIG. 7 to FIG. 9 show a second embodiment of the present invention. The feature of this embodiment is that the paint spraying part is the counterpart of the paint spraying part where the spraying pattern of each coating machine interferes. This is because each coating machine was swung so as to face the coating area of the coating machine. Note that, in the present embodiment, the first
The same reference numerals are given to the same components as those of the embodiment, and the description thereof will be omitted.

In the figure, M2 and M2 shown by dotted lines show the movement loci of the respective coating machines 7 according to the present embodiment, and the movements of the respective painting machines 7 will be described based on these movement loci M2 and M2.

First, at the time of coating at a position where the paint sprayed from each coater 7 does not interfere with each other, the coating distance between the paint spraying section 7A of each coater 7 and the roof 2D is high so that high coating efficiency can be obtained. Let the distance be L. On the other hand, each coating machine 7
When the coating machines 7 move toward −O and reach the vicinity of the center line OO, the paint spraying unit 7A comes into contact with the other as the movement loci M2 and M2 approach the center line OO. Each coating machine 7 is swung so as to face the coating area of the side coating machine 7 to increase the coating distance and reduce the coating efficiency of the coating.

As a result, as shown in FIG. 8, the spray pattern P'of the paint sprayed from each coating machine 7 is separated from the spray pattern P1 during normal coating (the coating efficiency is lowered). While gradually deforming, the spray pattern P gradually increases.
As shown in FIG. 9, the spray pattern P'in the vicinity of the center line OO interferes with the thickness of the coating film F'formed on the roof 2D as the coating efficiency decreases. It is possible to gradually reduce the thickness in the portion, and it is possible to prevent the coating thickness of the coating portion where the spray pattern P ′ interferes from becoming thicker than the coating thickness of the other portions.

Thus, in this embodiment having the above-described structure, the same effects as those of the first embodiment can be obtained. In particular, in this embodiment, each coating machine 7 is swung. Therefore, each coating machine 7 can be operated in a short time, and the coating time can be shortened.

In each of the above embodiments, a four-door sedan passenger car is taken as an example, and the upper surface of the vehicle body 2 is the hood 2A, the roof 2D, the trunk lid 2K, and the rear 2M, and the side surfaces are the front fender 2B and the front pillar 2C. , The front door 2E, the center pillar 2F, the rear door 2G, the rear pillar 2H, and the rear fender 2J are shown as examples, but it is also applicable to those having a front in front of the hood as the upper surface part, and a two-door car or a one-box car. Can also be applied to.

In each of the above-described embodiments, the vehicle body 2 includes the hood 2A, the front fenders 2B and 2B, and the front pillar 2.
C, 2C, roof 2D, front doors 2E, 2E, center pillars 2F, 2F, rear doors 2G, 2G, rear pillars 2H, 2H, rear fenders 2J, 2J, trunk lid 2K, rear 2M are described in this order. ,
The order of painting is appropriately determined according to the shape of the vehicle body.

In each of the above-mentioned embodiments, the vehicle body 2 having a symmetrical shape to the left and right with respect to the center line OO is taken as an example, and the center line OO is divided into left and right painted surfaces. However, in the present embodiment, the invention can be applied to a vehicle body in which the left and right are asymmetrical, and the left and right painted surfaces may be divided at positions deviated from the center line.

Further, as the coating material, powder coating material may be used as well as liquid coating material such as solvent-based coating material and water-based coating material. In this case, a coating machine suitable for the coating material may be used.

[0065]

As described in detail above, according to the automatic vehicle body painting method of the present invention, when the vehicle body is transported by the transporting means, the robot coating device located on the left side causes the upper surface portion and the left side portion to move. Out of the entire outer skin of the vehicle body including the right side surface, the left half of the upper surface and the left half of the outer surface can be sequentially coated, and the robot coating device located on the right side can be used to coat the upper surface and the left and right side surfaces. The right half of the upper surface and the right half of the outer surface of the outer surface of the vehicle body including
With the minimum of two robot coating devices, the entire outer panel of the car body can be independently and automatically coated, reducing the number of coating robots, coating machines, coating systems, solvent systems, controllers, etc. to two. Therefore, the manufacturing cost can be reduced. Moreover, since the installation space of the robot coating device can be made small, the coating booth can be made small and the space in the factory can be effectively used, and the air-conditioning equipment, waste liquid equipment, etc. can be reduced. In particular, it is possible to reduce running costs by saving paints, cleaning solvents, etc., which are discarded at the time of color change, and shortening the color change setup time.

According to the second aspect of the invention, in the coating area where the spray patterns of the coating machines of the robot coating devices interfere with each other on the upper surface of the vehicle body, the paint spraying section of the coating machine remains facing the coating surface of the vehicle body. In this state, the paint spray part is gradually separated from the coating surface, and the coating efficiency of the paint is reduced according to the separation of the paint spray part from the coating surface. Since the coating film thickness on the entire surface can be made constant, it is possible to prevent the occurrence of color unevenness due to variations in the coating film thickness, and it is possible to perform the high-quality coating desired for the outer panel coating of the vehicle body.

According to the third aspect of the invention, in the coating area where the spray patterns of the coating machines of the robot coating apparatuses interfere with each other on the upper surface of the vehicle body, the coating spray section faces the coating area of the counterpart coating machine. Swing each painting machine to
The paint spraying part is gradually separated from the painted surface of the vehicle body, and the coating efficiency of the paint is reduced according to the separation of the paint sprayed part from the painted surface. Since the coating film thickness of can be made constant, it is possible to prevent color unevenness due to variations in the coating film thickness.
It is possible to perform high-quality painting that is desired for the exterior coating of vehicle bodies.

According to the fourth aspect of the present invention, the moving speed of the coating machine with respect to the coating surface of the vehicle body including the folded-back portion when the coating machine is reciprocated is made substantially equal as a whole, so that the coating film thickness by coating is replenished. Since it is possible to prevent the occurrence of color unevenness and the like by keeping the same, it is possible to improve the coating quality.

According to the automatic vehicle body painting method of the fifth aspect of the present invention, when the vehicle body is transported by the transporting means, the robot coating device on the left side causes the left half surface of the front upper surface, the roof and the rear upper surface and the left front side surface. , The entire surface of the door and the rear side can be sequentially coated, and the robot coating device on the right side can sequentially coat the right upper half of the front upper surface, the roof and the rear upper surface and the right front side, and the entire surface of the door and the rear side. The robot coating device on the stand can automatically coat the entire outer skin of the car body,
The number of coating machines, paint systems, solvent systems, controllers, etc. is 2
It is possible to reduce the number of units, and it is possible to reduce the manufacturing cost. Moreover, since the installation space of the robot coating device can be made small, the coating booth can be made small and the space in the factory can be effectively used, and the air-conditioning equipment, waste liquid equipment, etc. can be reduced. In particular, it is possible to save paints, cleaning solvents, etc. to be discarded at the time of color change, shorten the color change setup time, and reduce the running cost.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a state in which a left robot coating device and a right robot coating device according to a first embodiment of the present invention are arranged on the left and right sides of a vehicle body.

FIG. 2 is an explanatory drawing of a coating operation showing a coating locus of each coating machine according to the coating method of the first embodiment of the present invention.

FIG. 3 is a drawing operation explanatory view showing an operation trajectory of each coating machine when the roof of the vehicle body is painted.

FIG. 4 is an explanatory diagram showing a spray pattern of the coating machine along the movement locus in FIG.

5 is an enlarged cross-sectional view of a main part of the roof showing the displacement of the coating film thickness along the movement locus in FIG.

FIG. 6 is a view showing a folded-back portion of each coating machine according to the present embodiment.
It is an enlarged view of B section in the middle.

FIG. 7 is a painting operation explanatory diagram showing movement loci of each painting machine when painting the roof of the vehicle body according to the second embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a spray pattern of the coating machine along the operation locus in FIG.

9 is an enlarged cross-sectional view of a main part of the roof, which shows the displacement of the coating film thickness along the movement locus in FIG. 7.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveyor device (conveying means) 2 Vehicle body 2A Hood (upper surface) 2B Front fender (side surface) 2C Front pillar (side surface) 2D Roof (upper surface) 2E Front door (side surface) 2F Center pillar (side surface) 2G Rear door (side) 2H Rear pillar (side) 2J Rear fender (side) 2K Trunk lid (top) 2M Rear (top) 3 Left robot coating device 4 Right robot coating device 6 Articulated robot 6C Arm part 7 Coating machine 7A Paint spraying part L Coating distance P, P ', P1 to P6 Spraying pattern F, F'Coating film T Folding part

Claims (5)

[Claims] 1. A transport means for transporting a vehicle body, and one coating robot is arranged on each of the left and right sides of the transport direction of the transport means, and a coating machine is provided on the left end of the arm of each coating robot. , A robot coating device on the right, wherein the left and right robot coating devices coat the left and right positions of the vehicle body, respectively. The robot coating device located on the left side of the vehicle paints the left half of the outer panel consisting of the left half of the upper surface and the left side of the entire outer skin of the vehicle body including the upper surface, left and right side surfaces, and is located on the right side. The robot coating apparatus is characterized in that it coats the right half of the upper surface and the right half of the outer surface of the vehicle body including the upper surface and the left and right side surfaces. Automatic painting method. 2. In a coating area of the upper surface of the vehicle body where the spray patterns of the coating machines of the robot coating devices interfere with each other, the state in which the coating spray section of the coating machine faces the coating surface of the vehicle body 2. The automatic vehicle body painting method according to claim 1, wherein the paint spray portion is gradually separated from the painting surface. 3. In the coating area of the upper surface of the vehicle body where the spray patterns of the coating machines of the robot coating devices interfere with each other, the coating spray sections face the coating areas of the counterpart coating machines. 2. The machine is swung to move the paint spraying part gradually away from the painted surface.
The automatic painting method of the car body described in. 4. When coating is performed by reciprocating the coating machine by each of the robot coating devices, the moving speed of the coating machine with respect to the coating surface of the vehicle body is made substantially the same including the folding portion of the coating machine, The automatic coating method for a vehicle body according to claim 1, 2 or 3, wherein the coating film thickness by coating is constant. 5. Conveying means for conveying a vehicle body having an upper surface portion including a front upper surface, a roof and a rear upper surface and a side surface portion including a front side surface, a door and a rear side surface, and left and right sides in the conveying direction of the conveying means. One coating robot is provided for each of the coating robots, and the left and right robot coating devices are provided with coating machines at the arms of the coating robots.
The left and right robot coating devices are used for the left side of the vehicle body,
In the automatic vehicle body painting method in which the right position is painted respectively, the robot painting device located on the left side of the left and right robot painting devices is a front upper surface, a left half surface of a roof and a rear upper surface, and a left front side surface, The entire surface of the door and the rear side is painted, and the robot coating device located on the right side is designed to paint the right upper half of the front upper surface, roof and rear upper surface and the right front side, and the entire door and rear side. How to automatically paint a car body.