JPS5864157A - Automatic water sanding method and apparatus therefor - Google Patents

Abstract

PURPOSE:To enhance productivity, by a method wherein a painting surface defect indicating apparatus and a water sanding apparatus utilizing an industrial robot are provided along the conveyor line of an object to be treated and the water sanding apparatus is controlled based on the informations obtained by the painted surface inferiority indicating apparatus. CONSTITUTION:Painted surface defect indicating apparatuses 13R, 13L detecting the defective position and the defective state of the painted surface of an object 1 to be painted is provided in a conveyor line 2 of the object 1 to be treated and the defective position and the defective state of the painted surface detected by said indicating apparatuses are stored by the control panel 15 for the indicating apparatus. To the downstream position from the painted surface defect indicating apparatuses of the conveyor line 2, water sanding apparatuses 16R, 16L for correcting the defective region of the aforementioned painted surface are provided as well as, to the control panel 18 for the water sanding apparatuses, aforementioned defective position and the defective state are applied as an electric signal and a control signal for correcting the painting inferior region is issued to the water polishing apparatuses 16R, 16L.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic water polishing method and apparatus K for automatically correcting defective paint pipes that occur on the painted surface of an object such as an automobile body.

Paint defects on painted surfaces caused by undercoating and intermediate coating on automobile bodies are corrected by water sanding, but many of the paint defects that involve water sanding are corrected by #i, 1 as shown in Figure 1. This is done manually by a worker. That is, in the correction zone 3 arranged along the conveyance line 2 of the automobile body 1, an inspection process person and a correction water engineer sB are arranged from the upstream side to the downstream side of the conveyance line 2.

A full-scale hydroponic process C is provided, and the full-scale hydroponic process CjK is provided with an automatic water sanding zone G-1 and a manual water sanding machine zone C-2. The automobile body 1 has been transported by the transport line 2.

Paint defects such as foreign matter adhesion, scratches, and craters that occur on the undercoat painted surface t - Inspector 4 at inspection worker @A
．． 4, and the defective paint area was found by
Then, in the first correction water polishing step B, the defective coating area is corrected and water sanded by operator 1 &5. The automobile body 1 that has undergone the modified water grinding process B is in the primary automatic water grinding machine zone C-1 and manual water sanding machine zone C-2t? Through.

In Fig. 1, numeral 6 indicates a water-polishing machine for the top, 7.8.9Fi a water-polishing machine for the side, and 1α11.12 each indicate a water-polishing operator.

However, during the conventional modification process mentioned above.

In particular, in the modified water grinding work 8B, the parts to be water sanded are not fixed, and the worker i5 must perform the water sanding work by visually judging the marks made in inspection process A. This method requires a lot of labor and has extremely low productivity.

An object of the present invention is to provide an automatic water grinding method and snowmaking thereof that can improve productivity by automating the modified water grinding process Bt mentioned above.

The present invention is characterized in that along the conveyance line of the object to be coated, a painted surface defect indicating device for detecting a coating defect state and a coating defect condition is arranged, and the coating surface defect indicating device is A method and apparatus for automating correction water sanding work by installing a water sanding device using an industrial robot etc. on the downstream side and controlling this water sanding device based on information (based on) obtained by a painted surface defect indicator It is in.

In other words, the painted surface defect indicating device placed at the position corresponding to inspector sAK in Figure @1 is operated by the inspector,
The defective coating area and the defective coating state are stored in the control panel for the indicating device. This control panel for the indicating device is connected to the control panel for the water polishing device, and information indicating the defective coating area and the state of the coating defect is input from the control panel for the indicating device as an electrical signal to the control panel for the water polishing device. That will happen.

Then, the control panel for the Suiken equipment that obtained this information was
The Ryokiken equipment 1tt, which is installed at a position corresponding to the modified water-refining process BK in the figure, is operated according to a predetermined program, and thereby j! ! Repairs and water polishing are automatically performed for areas where surface O-painting defects occur.

An embodiment of the present invention will be described below with reference to FIGS. 2 to 4.

FIG. 2 shows the schematic configuration of this embodiment. Along the conveyance line 2 of the automobile body 1, which is the object to be painted, there is an automatic hydraulic inspection process AI on the upstream side, and a correction automatic hydraulic A process BI is provided for each. Inspection process AIK
A painted surface defect indicating device 13R113L is arranged, and these painted surface defect indicating devices 13R, 13L Fi are connected to the indicating device control panel 15 by signal lines 4114R, 14L, respectively. 16.16 Fi Painted Surface Defect Indicating Devices 13R, 13L't - Indicates an inspector assigned to operate them. On the other hand, in the modified automatic hydraulic process Bt,
Water research equipment 16R and 16L consisting of industrial robots are installed.

These Suikenso fl16R, 16L are signal wiring 17R
217L, each is connected to the water-sharpening device control panel 18. The control panel 15 for the indicating device, the control panel 18 for the water-sharpening device, Fi, and the signal wiring 119K are connected to each other.

The detailed diagram of the paint defect indicator 13R1 (13L) is shown in the third figure.
As shown in the figure. The devices 13R, (13L) have an indicator row, and the indicator 20 is rotatably attached to the tip of the primary arm 21. Primary arm 21 #'i Secondary arm 22
K GC11 rotatably installed, secondary arm 22t
It is rotatably attached to the 3rd-order arc. The base end of the tertiary arm 23 is rotatably attached to the rotating pace b, and the rotating pace b is rotatably supported by the pace b. on the other hand.

The rotational connection between the indicator needle 20 and the primary arm 21, the rotational connection between the primary arm and the secondary arm, the secondary arm and the 3
The rotational connection part with the next arm device, the rotational connection part between the tertiary arm device and the turning pace Sae, and the turning pace 24 and the pace 2
Each rotary connection with 5 has a potentiometer P.
I, Pg, Ps, Pa.

P6 is installed. These potentiometers Pi
, P1. P3. Pa and Pa are provided to detect the position and direction of the tip of the indicator needle row, and the detection signals of Pa and Pa are transmitted to the indicator control panel 15 via signal wirings 11R and (IIL). It was. A defect status indicator 26 is attached to the secondary arm 22KFi, and this indicator includes a switch 26a for indicating defects on the painted surface such as adhesion of foreign matter, paint flow, formation of crater-shaped recesses, etc. a switch 26t) for instructing the size and degree of the change, and a potentiometer P1. Pg, P3. Pa, PI5
The tip position of the indicator needle row detected by the switch 26a,
A set switch 26c is provided that transmits the set state of the switch 26b to the control panel 15 to set the set state. That is, when the set switch 26c is pressed, the location and details of the defect on the painted surface are stored in the control panel 15. In addition.

27I'i is a signal wiring connecting the instruction section 26 and the control panel 15.

FIG. 4 ii shows a detailed view of the water testing device 16R, (161L). The water grinding devices 16F, (16L) consist of a modified water grinding robot, and a disk-shaped abrasive material 31, which is attached to the tip of the arm part and rotated by the motor 3OK, is attached to the wrist part 4. On the other hand, the modified water research robot itself is not running! It is attached to the top and can be moved. Due to the presence of the traveling device 32, the robot is able to follow the conveying direction of the object to be coated, and at the same time,
Obtain an arbitrary relative position in the front-back direction of the object to be coated. Nine.

Due to the presence of the arm portion 4, the disc abrasive material 31 can take any position within the field perpendicular to the direction of movement of the conveyor line 2. Here, the disk abrasive material 31 is mixed with abrasive material in a direction perpendicular to its rotation axis, and nylon bristles with a rectangular cross section are damaged. And the control panel 18
Fi, the program is designed to instruct the water grinding device 16IL (16L) to perform the optimum water grinding operation in accordance with the painted surface defect signal sent from the control panel 15 via the signal wiring 19 in synchronization with the conveyance of the automobile body 1. “It’s been grammed.

Two effects will be explained below.

Automobile body iFi that has completed the undercoating process or intermediate coating process,
In the inspection process A', the painted surface is inspected by the inspector 1a16, and the painted surface defect indicating device 131 (, 13L
This allows the control panel 15 to store defects in the painted surface.

That is, the tip of the indicator needle 20 is brought into contact with the center of the defective coating area at right angles, and the JI! K.

After setting the contents of the paint defect in the switch 26 (261), when the switch 26c is pressed, the position and details of the defect in the paint that has occurred in the automobile body IK are stored in the control panel 15.

When the automobile body 1 reaches the corrected automatic water polishing process BIK, the location of the paint defect and the details of the defect stored in the control panel 15 are transmitted to the control panel 18 as an I11 signal in synchronization with the movement of the automobile body 1. It is.

By a program selected according to this signal.

The water grinding device 16F%16L performs the water grinding operation. Namely.

In response to the paint defective position signal, the traveling device 32 and the arm f [
Fs and the wrist part 29 are operated to move the disk-shaped grinder 31 rotated by the motor 30 to the position of the defective coating. Further, in response to the coating defect content signal, the disk-shaped abrasive material 31 is pressed against the defective area and the amount of rotation per rotation is controlled to perform an operation of scraping the defective area where the coating surface pressure has occurred.

The same applies even if there are multiple defective spots on the painted surface.

As described above, according to the automatic water sanding method and apparatus of the present invention, it is possible to perform water sanding to automatically correct defects on the undercoat or intermediate coated surface.

This brings about the effect that it is possible to provide a highly productive water testing device.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of an apparatus showing a conventional water-refining process. FIG. 2 is a schematic diagram of the automatic water grinding device of the present invention. FIG. 3 is a perspective view of the painted surface defect indicating device, and FIG. 4 is a perspective view of the water polishing device. 111...Automobile body. 2... Conveyance line. 13R%13L...Wrinkles indicating defective painted surface of fist. 15... Control panel for indicating device. 16R%16L...Suiken equipment. 18・φ・e Control panel for water testing equipment.

Claims (4)

[Claims] (1) Detecting the defective coating position and defective coating condition on the painted surface of the object being conveyed by the conveyance line of the object to be coated, and storing the defective coating position and defective coating condition. and the process of making it. correcting the defective coating position of the object to be coated in accordance with an optimal program selected based on the stored electrical signals representing the defective coating position and the defective coating state; An automatic water grinding method characterized by having the following. (2) A painted surface defect indicating device for detecting defective positions and defective state sounds on the painted surface of the object to be coated is installed along the conveyance line of the object to be coated, and the defects detected by the painted surface defect indicating device are provided. The defective coating position 11 is connected to a control panel for an indicating device that stores the defective position and the defective state of the painted surface, and the coating of the painted surface is placed at a downstream position of the conveyance line from the defective painted surface indicating device. A hydroponic device for correcting a defective part is provided, and the defective position and defective state are inputted as electrical signals from the control panel for the indicating device. An automatic water polishing device comprising: a control panel for a hydroponic device that issues a control signal to the hydroponic device to correct the defective coating portion; (3) In the automatic water polishing device according to claim 2, the painted surface defect indicator is rotatably connected to a primary arm that rotatably supports an indicator needle and a mosquito primary arm. It is composed of another arm, a thoracic gyrus base that rotatably supports the other arm, and detectors such as potentiometers and shaft encoders attached to the respective connecting parts. (4) Scope of patent claims i! The automatic water grinding device described in Section I or ASGS is constructed by attaching the water grinding device t, a motor (therefore, a rotating disc-shaped grinding material) to an industrial robot.