JPH10401A - Coating apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent coating mist from adhering to the outside of the partition line of the border of surface to be coated by driving a coating gun changing blowing directions toward a workpiece according to coating positions and mounting air nozzles blowing air so to limit coatings spread. SOLUTION: A coating apparatus 11 is supported by a coating robot arm 12 disposed in a coating area for coating work, it includes a coating gun 17 rotatably carried by an end of a horizontal rod 16 of a bracket 15, a first air nozzle 19 mounted on a vertical rod 18 of the bracket 15 and a second air nozzle 29 positioned above the first air nozzle 19. The coating gun 17 is connected to a driving shaft 21a of a rotary actuator 21, fixed in a way so that blowing angles toward a workpiece can be changed; coating patterns blasted by the coating gun 17 are controlled by air flow blowed by the air nozzles 19, 20, preventing coating mist from spreading out of the partition line A forming circumferences of the surfaces 13a to be coated.

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 more particularly to a coating apparatus configured to cope with a case where a workpiece has a different coating range.

[0002]

2. Description of the Related Art For example, one of the processes for painting a body of an automobile includes a process for painting a side seal guard coat. In this painting process, both bottoms of the body of the automobile conveyed by the conveyance device are painted, and a plurality of painting guns are used according to the painting width.

On both sides of this type of coating area, reciprocators or coating robots that support a plurality of coating guns so as to be able to move up and down have been installed. Therefore, the plurality of coating guns are fixed at a predetermined spraying angle to a reciprocator or a bracket supported by a coating robot, and share the painted surface of the body.

As a conventional coating apparatus, there is one having a configuration as shown in FIG. 6, for example. In this coating apparatus, three coating guns 2 to 4 are arranged at predetermined intervals to coat the lower surface and side surfaces of the body 1 of the automobile. Each paint gun 2
In 4, the spray angle of the body 1 to the painted surface is set to a predetermined angle by stays 6 to 8 supported by the brackets 5.

The bracket 5 is supported by a reciprocator or a painting robot so as to be able to move up and down.
The height position is adjusted according to the type of work. And
When the body 1 of the automobile is transported to the painting area, the lower surface and side surfaces of the body 1 to be painted are painted by the respective painting guns 2 to 4.

[0006]

However, conventionally, a plurality of coating guns 2 to 4 are mounted on brackets 5 by stays 6 to 4.
8 cannot be used on the same coating line to handle a plurality of types of bodies. For example, when coating different types of bodies, the stays 6 to 8
It was necessary to adjust the spraying angle of each of the coating guns 2 to 4 by adjusting the protruding length and angle of the spray gun. In this case, the spray angle of each of the coating guns 2 to 4 has to be manually adjusted every time the vehicle type changes, and the adjustment work is troublesome.

On the other hand, in the case of a vehicle having a wide coating range, the number of coating guns must be increased in order to expand the coating range, so that bodies having different coating ranges cannot be coated on the same coating line. Also, with the conventional coating equipment,
There is a problem that the coating mist sprayed from the coating gun easily adheres around the parting portion at the boundary of the surface to be coated, so that the coating quality is deteriorated.

Accordingly, an object of the present invention is to provide a painting apparatus and a painting robot which have solved the above-mentioned problems.

[0009]

In order to solve the above problems, the present invention has the following features. Claim 1
According to the invention, a bracket supported so as to be able to move up and down, a coating gun rotatably provided on the bracket, and the coating gun driven so as to change a spraying direction on a workpiece according to a coating position of the coating gun. And an air nozzle provided on the bracket and blowing air so as to restrict scattering of the paint sprayed from the paint gun.

Therefore, according to the first aspect, the coating gun is rotatably provided on the bracket supported so as to be able to move up and down, so that a single coating gun can be used for coating a plurality of works having different coating ranges. In addition to the above, it is possible to prevent the paint sprayed from the paint gun from being scattered by the air blown from the air nozzle, so that the paint mist can be prevented from adhering to the outside of the parting portion as the boundary of the coated surface.

According to a second aspect of the present invention, there is provided a bracket supported so as to be able to move up and down, a coating gun rotatably provided on the bracket, and a spraying direction for a workpiece is changed according to a coating position of the coating gun. A driving unit for driving the coating gun, a plurality of air nozzles provided on the bracket, for controlling the scattering of the paint sprayed from the coating gun, and a plurality of air nozzles depending on the coating position of the coating gun. Air supply means for switching an air supply path so as to blow air from one of the air nozzles.

Therefore, according to the second aspect, the air supply path can be switched so as to blow air from one of the plurality of air nozzles according to the coating position of the coating gun. It is possible to cope with the work, and it is possible to prevent the paint mist from adhering to the outside of the parting part of the work having a different coating range.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of a coating apparatus according to the present invention. The coating apparatus 11 is supported by an arm 12 of a coating robot installed in a coating area for performing a coating operation. The body 13 of the automobile, which is the object to be coated, is transported by the transport device 14 to the coating area. On both sides of the painting area, painting robots are arranged, and a painting device 11 is attached to the tip of the arm 12 of each painting robot.
Is installed. In this embodiment, a description will be given of the coating apparatus 11 for coating one of the surfaces 13a to be coated of the body 13, and the description of the other coating apparatus will be omitted.

This painting area is an area where the side seal guard coat is painted on the lower part of the body 13 of the automobile.
The painting robot is installed at a position lower than the body 13. The coating device 11 is mounted such that the height position and the separation distance of the body 13 with respect to the surface 13a to be coated are adjusted by the operation of the arm 12 of the coating robot.

The coating apparatus 11 includes a bracket 15 supported at the tip of an arm 12, a coating gun 17 rotatably supported at the end of a horizontal rod 16 of the bracket 15, and a vertical rod 18 supported by the bracket 15. And a second air nozzle 20 located above the first air nozzle 19.

The coating gun 17 is connected to a drive shaft 21a of a pneumatically driven rotary actuator (drive unit) 21, and is rotated by being driven by the rotary actuator 21 to change the spray angle on the workpiece. It is attached so that. In the present embodiment, the rotary actuator 21 rotates to a first painting position for holding the coating gun 17 in a tilting direction inclined upward by a predetermined angle or a second coating position for holding the coating gun 17 in a horizontal direction. The drive angle is set so as to cause the drive angle.

Therefore, even if the type of vehicle changes, the paint gun 17
By rotating, a work having a wide coating range can be coated with one coating gun 17, so that there is no need to add a coating gun. In addition, the air nozzles 19 and 20
Are supported via joints 22 and 23 slidably fitted to the vertical rod 18.
The height position is set by moving 23 along the vertical rod 18. The air nozzles 19 and 20 are
By loosening the joints 22 and 23, the joints 22 and 23 can be rotated around the fulcrum, and the air blowing direction can be changed by manual operation.

The coating pattern sprayed from the coating gun 17 is regulated by the air flow blown from the air nozzles 19 and 20. That is, the air sprayed from the air nozzles 19 and 20 prevents the paint mist from protruding from the parting-off portion A which is the boundary of the surface to be coated.

The first air nozzle 19 has a mounting position and a mounting angle set so as to regulate a coating pattern when the coating gun 17 performs coating at the second coating position.
The mounting position and the mounting angle of the air nozzle 20 are set so as to regulate the coating pattern when the coating gun 17 performs the coating at the first coating position.

FIG. 2 is a configuration diagram showing the configuration of the air supply system. The air nozzles 19 and 20, the rotary actuator 21, and the coating gun 17 are connected to an air source 25 via an air supply pipe 24. Also, the air supply line 24
The branch pipe 24 a to 24 d, the control valve for turning on and off the air supply (air supply means) V ₁ ~V ₄ is arranged.

Control valve V₁, V_TwoAre the air nozzles 19 and 20
Turns on / off the air flow injected from the control valve V_ThreeIs painted
By tilting the spraying direction of the mounting gun 17,
When rotating to the second painting position, the rotary actuator
The control valve V _FourTurns on the painting gun 17
It is something that turns off.

Each of the control valves V _{1 to} V ₄ is connected to a control device 26.
Is opened by the signal output from the air nozzles 19 and 2
0, the compressed air from the air source 25 is supplied to the rotary actuator 21 and the coating gun 17. The memory of the control device 26, together with the robot control program that drives and controls the coating robot is stored, supplies the compressed air by controlling the respective control valves V ₁ ~V ₄ of the coating apparatus 11 as described below And a painting control program for performing painting.

That is, the control device 26 controls a plurality of air nozzles 1 according to the coating position of the coating gun 17 as described later.
It is opened the control valve V ₁ or V ₂ to blow air from one air nozzle of 9,20 by switching the air supply path. FIG. 3 is a diagram illustrating an operation when the coating apparatus 11 performs coating at the first coating position.

In the case of painting at the first painting position, the arm 12 of the painting robot moves below the body 13 carried by the carrying device 14 and lowers the painting device 11.
Then, the coating gun 1 is rotated by the rotary actuator 21.
The paint is sprayed on the coated surface 13a of the body 13 by rotating the 7 upward. At the same time, an air flow is jetted from the air nozzle 20 toward the body 13. for that reason,
An air curtain sprayed from the air nozzle 20 is formed above the paint pattern sprayed from the paint gun 17 to prevent paint mist from rising. Therefore, paint mist is prevented from adhering to the surface of the body 13 other than the surface 13a to be coated.

FIG. 4 is a view showing the operation when the coating apparatus 11 performs coating at the second coating position. When painting at the second painting position, the arm 12 of the painting robot moves upward to move the painting apparatus 11 to the side of the body 13 to be painted 13a. In this case, the paint gun 17 is returned to the horizontal state, and the paint is applied to the surface 13a to be painted located on the side surface of the body 13.
Spray. At the same time, an air flow is injected from the air nozzle 19 toward the body 13. Therefore, the air nozzle 1 is positioned above the paint pattern sprayed from the paint gun 17.
An air curtain sprayed from 9 is formed to prevent the paint mist from rising. Therefore, the coated surface 13a
The paint mist is prevented from adhering to the surface of the body 13 above the parting part A.

Here, the processing executed by the control device 26 will be described. FIG. 5 shows a body 13 using the coating apparatus 11.
6 is a flowchart showing a control operation when painting the surface 13a to be painted. When the body 13 is transported to the coating area by the transport device 14, the controller 26 proceeds to step S
In step 1 (hereinafter, "step" is omitted), the teaching data of the painting robot is read.

In the next step S2, it is determined whether or not the first painting position is set in the teaching data of the painting robot. Then, the robot teaching data contains the first
When the painting position is not set, the process proceeds to S3, and it is determined whether or not the second painting position is set in the robot teaching data. If the second painting position is not set in the robot teaching data in S3, the process returns to S1.

In S2, if the first painting position has been set, the process proceeds to S4 and the control valves V ₂ , V ₃ ,.
The V ₄ by opening the upper angle θ is tilted to the spray gun 17 by driving the rotary actuator 21 as shown in FIG. Thus, the paint sprayed upward from the painting gun 17 is sprayed on the surface 13a to be painted below the body 13. At the same time, an air flow is jetted from the air nozzle 20 toward the body 13.

For this reason, the body 13 is conveyed and the surface 13a below the body 13 is painted.
At this time, the paint pattern of the paint sprayed from the paint gun 17 is regulated by the air flow sprayed from the air nozzle 20. That is, the paint gun 17 inclined at a predetermined angle sprays paint upward, but above the paint range,
Since the air curtain formed by the air flow injected from the air nozzle 20 prevents the paint mist scattered from the coating gun 17 from rising, the paint mist is prevented from adhering to the body 13 above the surface 13a to be coated. Is done.

In the next S5, the coating at the first coating position is performed.
When the mounting is completed, the process proceeds to S6, where the control valve V_Two, V_Three, V_Four
To turn off the coating gun 17 and air nozzle 20
At the same time, the coating gun 17 is returned to the horizontal state. And S
In 7, the second painting is added to the robot teaching data.
It is determined whether or not the position has been set. There is the above S3
In S7, the second painting position is added to the robot teaching data.
If the position is set, the process proceeds to S8 and the control valve
V₁, V _FourIs opened.

That is, as shown in FIG. 4, the coating gun 17 is held in a horizontal state without driving the rotary actuator 21. Thus, the paint sprayed from the paint gun 17 is sprayed from the side of the body 13 onto the surface 13a to be painted.
At the same time, an air flow is injected from the air nozzle 19 toward the body 13.

Therefore, the body 13 is conveyed, and the surface 13a to be coated on the side of the body 13 is painted.
At this time, the paint pattern of the paint sprayed from the paint gun 17 is regulated by the air flow sprayed from the air nozzle 19. That is, the paint sprayed from the coating gun 17 is sprayed below the parting portion A of the surface 13a to be coated, and above the parting portion A, an air curtain is formed by the air flow injected from the air nozzle 19. For,
The rise of the paint mist scattered from the paint gun 17 is prevented, and the paint mist can be prevented from adhering to the body 13 above the parting part A.

At S9, when the coating at the second coating position is completed, the process proceeds to S10, where the control valves V ₁ and V ₄ are closed to turn off the coating gun 17 and the air nozzle 19, and then at S11. Then, it is determined whether the first painting position is set in the robot teaching data.
If the first painting position is set in the robot teaching data in S11, the process proceeds to S4, and the above-described processes from S4 are repeated.

As described above, by rotating the coating gun 17, the coating range can be widened. Even when a body of a different vehicle type is coated, the direction of the same coating gun 17 can be adjusted or the coating gun can be adjusted. It is not necessary to increase the number of units, and a plurality of types of bodies can be painted on the same painting line.

In the above embodiment, one bracket 15
The configuration in which one painting gun 17 and two air nozzles 19 and 20 are attached has been described as an example, but the number of painting guns and air nozzles is not limited to this. Further, in the above-described embodiment, the bracket 15 is described as operating by being supported by the arm of the painting robot. However, the present invention is not limited to this. For example, the bracket 15 may be supported by a reciprocator to raise and lower the painting apparatus.

[0036]

As described above, according to the first aspect, since the coating gun is rotatably provided on the bracket supported so as to be able to move up and down, one coating gun can cope with a plurality of works having different coating ranges. To prevent the paint mist from adhering to the outside of the boundary of the surface to be coated, since the spray of the paint sprayed from the coating gun by the air blown from the air nozzle is regulated. .

According to the second aspect, the air supply path can be switched so as to blow air from one of the plurality of air nozzles according to the coating position of the coating gun. It can handle multiple workpieces with different coating ranges by spraying air from any air nozzle according to the position of the coating gun, even if the orientation of the coating gun is changed, while being able to handle multiple workpieces with different coating ranges. Even in this case, the paint mist can be prevented from adhering to the outside of the parting part.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment of a coating apparatus according to the present invention.

FIG. 2 is a configuration diagram illustrating a configuration of an air supply system.

FIG. 3 is a diagram illustrating an operation when the coating apparatus performs coating at a first coating position.

FIG. 4 is a diagram illustrating an operation when the coating apparatus performs coating at a second coating position.

FIG. 5 is a flowchart executed by the control device.

FIG. 6 is a view for explaining a conventional coating apparatus.

[Explanation of symbols]

 Reference Signs List 11 coating device 12 arm 13 body 14 transfer device 15 bracket 16 horizontal rod 17 coating gun 18 vertical rod 19 first air nozzle 20 second air nozzle 21 rotary actuator 25 air source 26 control device

Claims (2)

[Claims] 1. A bracket supported so as to be able to move up and down, a coating gun rotatably provided on the bracket, and a coating gun that changes a spraying direction on a workpiece according to a coating position of the coating gun. A coating device, comprising: a driving unit that drives; and an air nozzle that is provided on the bracket and that blows air so as to restrict scattering of the paint sprayed from the coating gun. 2. A bracket supported so as to be able to move up and down, a coating gun rotatably provided on the bracket, and a coating gun that changes a spraying direction on a workpiece according to a coating position of the coating gun. A driving unit to be driven; a plurality of air nozzles provided on the bracket, which regulate the scattering of paint sprayed from the coating gun; and air from one of the plurality of air nozzles depending on a coating position of the coating gun. An air supply means for switching an air supply path so as to blow the air.