JPS62110764A - Coating device - Google Patents

Abstract

PURPOSE:To simplify and miniaturize the equipment by providing a work having function to a coating robot, orienting a work carrying-in conveyor and a taking- out conveyor in the work conveying direction, and shifting the positions from each other. CONSTITUTION:The work carrying-in conveyor 12 for conveying an uncoated work W to a work carrying-in position A on the front side in the work conveying direction and a work taking-out conveyor 14 for conveying the coated work W from aq work taking-out position C on the rear side in the work conveying direction are provided in parallel to convey the work in the same direction. In this case, the work carrying-in position A and the work taking-out position C are placed parallel and shifted from each other. The work W is transferred between the carrying-in position A and a coating position B and between the coating position B and the taking-out position by a coating robot 1 which is provided with a hanging function. The equipment and the arrangement space are reduced in this way.

Description

DETAILED DESCRIPTION OF THE INVENTION A0 OBJECTS OF THE INVENTION (1) Industrial Field of Use The present invention relates to a coating device for coating a workpiece with paint, adhesive, etc. using a coating robot.

(2) Conventional technology Conventionally, as the application opening bottle, Japanese Patent Application Laid-Open No. 59-128
As disclosed in Japanese Patent Application No. 061, there is known a device that can open and close the door in addition to the coating operation, but there is no known device that is equipped with a work transfer function.

(3) Problems to be solved by the invention Therefore, between the work loading position where uncoated workpieces are brought in and the coating position where coating processing is performed on the workpieces, and between the coating position and the workpiece unloading position where coated workpieces are taken out. A workpiece transfer machine must be provided, which not only increases equipment costs but also makes the entire structure complicated and increases the size of the plant.

An object of the present invention is to provide the coating device that can solve the above problems.

B6 Structure of the Invention (1) Means for Solving Problems The present invention provides a workpiece loading conveyor that conveys uncoated workpieces to a workpiece loading position located on the front side in the workpiece conveyance direction, and a workpiece conveyor located on the rear side in the workpiece conveyance direction. A workpiece carry-out conveyor that conveys the coated workpiece from a workpiece carry-out position is arranged in parallel with the workpiece carrying direction facing the same direction and with the workpiece carrying-in position and the workpiece carrying-out position being staggered;
A coating position is provided between the workpiece carry-in position and the workpiece carry-out position, and a coating robot that performs a coating process on the uncoated workpiece located at the coating position transfers the workpiece from the workpiece carry-in position to the coating position. , and in order to suspend and transport the workpieces from the coating position to the workpiece carry-out position, the coating robots 1 to 1 are moved between the workpiece carry-in and coating positions.
ffl and the coating and workpiece unloading positions, one of which is rotatable and linearly movable, and the other of which is movable linearly.

(2) Operation An uncoated workpiece located at the workpiece loading position is suspended and transferred to the coating position by rotation and linear movement of the coating robot, or by linear movement only. At the coating position, a coating robot applies coating to the workpiece. The coated workpiece is suspended and transferred from the coating position to the workpiece unloading position by linear movement alone or rotation and linear movement of the coating robot.

(3) Embodiment In FIG. 1, there is a workpiece carry-in conveyor 12 that conveys an uncoated workpiece W to a workpiece carry-in position A located on the front side in the workpiece conveyance direction, and a workpiece carry-out position C located on the rear side in the workpiece conveyance direction.
A workpiece unloading conveyor 1 that transports the coated workpiece W from
4 are arranged parallel to each other with their work conveyance directions facing in the same direction and with their workpiece loading position MA and workpiece unloading position C being staggered.

A coating position B is provided between a workpiece carry-in position A and a workpiece carry-out position C, and the coating position B and workpiece carry-out position C are located on a straight line substantially orthogonal to the workpiece conveyance direction of the workpiece carry-out conveyor 14.

The coating robot 1 performs a coating process on an uncoated workpiece W located at a coating position B. In addition to the coating operation, the coating robot 1 transfers the workpiece W from the workpiece loading position A to the coating position B, and also transfers the workpiece W from the coating position B to the coating position B. Each can be suspended and transferred to the unloading position NC.

1st. As shown in FIG. 2, a first guide rail 161 parallel to the straight line where coating position B and workpiece unloading position C are located is laid with both ends facing workpiece loading and unloading positions iA and C, respectively. Ru. First guide rail 161
A second guide rail 16□ is slidably supported so as to intersect therewith, and a first guide rail 16□ is supported on the second guide rail 16□.
Guide rail 16. A sliding table 3 is supported so as to be able to slide in a direction intersecting with.

A coating robot 1 is provided on a sliding table 3, and the coating robot 1 includes a rotary table 4 supported on the sliding table 3 so as to be able to rotate around an axis perpendicular to the sliding table 3, and a rotary table 4 that rotates. A movable arm 6 is connected to the stand 4 via a support 5 and performs one movement within a plane including the axis, and a movable arm 6 is provided at the tip of the movable arm 6 and can rotate around the axis. It is equipped with a movable wrist 7. As clearly shown in FIG. 3, a bracket 8 is provided on the movable wrist 7 and extends in the axial direction thereof, and a coating gun 9 is attached to the bracket 8 via a tilt mechanism 10. It is designed to be able to tilt around an axis perpendicular to the axis.

The movable arm 6 is an upper arm portion 6 on the rotary table 4 side. and the forearm part 6□ on the movable wrist 7 side, and these 6 violets.

6□ are connected via a pivot 11 and can be bent and extended within the plane.

When the second guide rail 16□ is at a position facing the coating position B, the coating robot 1 moves the sliding table 3 forward so as to approach the coating position B, thereby moving the workpiece to the workpiece lifting and transferring position. Further, by retreating the sliding table 3 away from the coating position B, the coating work position E can be occupied.

When the coating robot 1 is at the workpiece lifting and transferring work position, the second guide rail 162 is at the workpiece loading position A.
When the movable arm 6 of the coating robot 1 is at the workpiece loading position A, and when the second guide rail 16□ is at the position facing the coating position iB, the movable arm 6 of the coating robot 1 is at the coating position. It is in B. Therefore, the coating robot 1 rotates 1806 times in the counterclockwise direction in FIG. 18 clockwise
The coating robot 1 rotates by 0°, and is configured to be able to freely rotate back and forth and move linearly back and forth between the workpiece loading position A and the coating position B.

The posture of the coating robot 1 at the workpiece unloading position C side is the same as that at the coating position fiB side, and therefore, the coating robot 1 is configured to be able to move linearly back and forth between the coating position B and the workpiece unloading position WC.

A workpiece transfer suspension member 15 is attached to the lower surface of the tip of the forearm 6 □ of the movable arm 6 of the coating robot 1 . Fourth
As clearly shown in the figure, the hanging member 15 is an inverted letter-shaped mounting member 2.
0 and its mounting material 20 and two L-shaped hooks 21 integral with it. The vertical portion 20a of the mounting member 20 is suspended from the lower surface of the forearm portion 6□, and both hooks 21 are provided at both ends of the horizontal portion 20b. Each hook 21 has a base end 21a suspended from the horizontal part 20b, an intermediate part 21b bent at a substantially right angle from the base end 21a, and a base end 21a from the intermediate part 21b.
The tip portion 21c is bent at a substantially right angle so as to face the tip portion 21c. The tip of the tip 21C is sharply formed in the shape of a cutting edge, and the sharp tip serves as the first engaging portion e1 for the workpiece W, and the corner between the two-sided surfaces of the tip 21C and the intermediate portion 21b serves as the first engaging portion e1 for the work W. Each functions as a second holding part e2 for the workpiece W.

As clearly shown in Fig. 5, the synthetic resin workpiece W is
A plate-shaped first plate bent at a substantially right angle to the back side of the application surface a on the side edge.
It has a bent part C1 and a plate-shaped second bent part c2 which is bent at an obtuse angle toward the back side on the other side edge, and is substantially parallel to the first bent part C1 on the back side. It has a plate-shaped reinforcing portion C3 that protrudes from. Said first bent part C+
+A U-shaped groove G along one side edge of the workpiece W is formed by the reinforcement part c3 and the back surface.

1st. As shown in FIG. 5, the workpiece conveyor 12 has a pair of endless belts 22 parallel to each other. and those endless bands 2
2. is multiple 1 cola 23. (Only one is shown in the figure)
be hung up on. A large number of 1-lays 24. on which workpieces W are placed on the side heating phase 22°. are attached at a predetermined interval, and the tray 241 of one endless band 221 and the opposite endless band 22 . Tray 24. is used for transporting the workpiece W as -&rl. Each set of trays 24. It forms a plane quadrilateral, with bent edges 2 on three sides excluding the opposing sides.
4a is formed.

As shown in FIG. 5, the first telescopic rod 25 is used to erect the workpiece W, which has been conveyed in a lying state between the end bands 221 on both sides, at the workpiece loading position. will be placed. 261
is the first hydraulic pressure, pneumatic pressure, etc. that operates the first telescopic rod 251.
It is a working cylinder.

In addition, as shown in Figs.
has a pair of endless bands 22□ that are parallel to each other, and these endless bands 222 are suspended around a plurality of rollers 232 (only one is shown in the figure). A large number of trays 242 on which workpieces W are placed are installed at predetermined intervals on the side heating layer 22□, with the tray 242 of one endless band 22° and the tray 24 of the other endless band 222 facing it. □ and are used as a set to transport the workpiece W. Each set of trays 24□ is rectangular in plan, with bent edges 24b on three sides excluding opposite sides.
is formed.

As shown in FIG. 6, at the workpiece unloading position C, the workpiece W in an upright state is placed directly on the workpiece unloading conveyor 14 between the side heating stages 227, and then a second telescopic rod 252 is installed to lower the workpiece W. will be placed. 26□ is a second hydraulic, pneumatic, etc. operating cylinder that operates the second telescopic rod 25□.

As clearly shown in FIG. 2, the installation stand 17 is formed into an approximately letter shape by a vertical portion 17a and a horizontal portion 17b at the coating position 2B.
is provided, and the workpiece W is placed on the installation stand 1 in an upright position during coating work.
7 can be installed. The coating position B is surrounded by a coating booth 18.

Next, the coating work will be explained.

As shown by the solid line in FIG. 1, the coating I+ bot 1 is in the workpiece lifting and transferring position WD on the workpiece loading position A side, and the movable arm 6 is in the workpiece 1 general loading position iA.

1st. As shown by the solid line in FIG. 5, a set of rays 1 to 24. The workpiece is placed on the workpiece and is conveyed to the workpiece loading position WA by the workpiece loading conveyor 12 in a lying down state. When the work W is in a lying state, the tips of the second bent portion C2 and the reinforcing portion C3 are in the tray 24. is in contact with. The first telescopic rod 251 is in a contracted state as shown by the solid line in FIG. , therefore, is located below the workpiece W, so that the conveyance of the workpiece W is not obstructed.

When the workpiece W reaches the workpiece carry-in position A, the workpiece carry-in conveyor 12 stops, and the tip of the first telescopic rod 251 is placed between the second bending part C2 of the workpiece W and the reinforcement part 03, near the reinforcement part C3 of the back surface. to face.

As shown by the chain line in FIG. 5, the first actuating cylinder 26 is operated to extend the first telescopic rod 251, and the second bending portion C2 is expanded.
The edge of the tray 241 is brought into contact with the bent edge 24a of the tray 241, and the workpiece W is rotated counterclockwise in FIG.
and have them stand up. In this upright state of the workpiece W, the first telescopic rod 25. The tip of the reinforcing portion c3 comes into contact with the corner between the lower surface and the back surface.

Both hooks 2 on the hanging member 15 as shown in FIG. 5(I)
1 is positioned near the opening of the groove G in the workpiece W. As shown in FIG. 5(n), the movable arm 6 is retracted, the tip 2] is loosely inserted into the groove G of the work W, and the first engaging portion e of the tip 21c is inserted into the upper inner surface of the groove G. and the bottom surface. As shown in FIG. 5 (III), the movable arm 6 is further retracted and the workpiece W is lifted up via both hooks 21.

As a result of this lifting, the workpiece W swings counterclockwise in FIG. 5 around the corner due to its own weight, and as a result of this swinging, the lower inner surface of the groove G in the workpiece W engages with the second retaining part e2. Moreover, the first engaging portion e1 bites into the corner portion.

The workpiece W is reliably suspended by the suspension member 15 by the biting engagement of the first engaging portion e and the engagement of the second retaining portion e2.

■ Rotate the cloth robot 1 while linearly moving it to the application position B side, rotate the movable arm 6 to the application position B, and then rotate the movable arm 6 to the application position B. ”)～(II
T), (1111), (TI), (1
) The workpiece W is installed in an upright position on the installation table 17 in the following order. In this installed state, the vertical portion 17a of the installation base 17 engages with the corner between the lower surface of the reinforcing portion 03 and the back surface of the workpiece W, and the second bent portion C2 engages with the horizontal portion 17b of the installation base 17.

The coating robot 1 is moved to the coating work position E, and a coating process is performed on the coating surface a of the workpiece W using the coating gun 9.

After the coating process, the coating robot 1 is moved to the workpiece lifting and transferring operation position, and the workpiece lifting operation is performed in the same manner as in the workpiece loading position A in FIGS. 2(T) and (II>).

Suspend the workpiece W on the suspension member 15 in the order of (III),
The coating robot 1 is moved linearly to the workpiece unloading position C side.

At this time, the workpiece delivery conveyor 14 is stopped, and as shown in FIG.
Located on the two sides of 4□. The extended state of the second telescopic rod 25□ is approximately the same as the extended state of the first telescopic rod 251 when suspending the workpiece W at the workpiece loading position A.

FIGS. 6(T) to (II) corresponding to FIGS. 5(1) to (1)
In I), (I'll), (II), (r
) The workpieces W are placed upright on a pair of trays 24□ facing each other in the following order. When the workpiece W is in the upright state, the tip of the second telescopic rod 25□ comes into contact with the corner between the lower surface of the reinforcing portion C3 and the back surface, and the edge of the second bent portion c2 contacts the bent edge 24 of the tray 24□. b.

Operate the second operating cylinder 26□ to open the second telescopic rod 25.
□ is contracted until its tip is located below the tray 24□, and the workpiece W is rotated counterclockwise in FIG. 6 around the contact point between the second bent portion C2 and the bent edge 24b to fall Then, the work W is placed on a pair of trays 24□ facing each other in the same laid-down state as when the work W was carried in.

The workpiece W is conveyed to a drying furnace or the like by a workpiece discharge conveyor 14. The coating robot 1 moves linearly toward the coating position B, and after passing the coating position iB, rotates while moving linearly, and its movable arm 6 reaches the workpiece loading position iA and is ready for the next workpiece coating operation.

Large, complex-shaped parts, such as vehicle instrument panels, are manufactured by bonding a composite sheet consisting of a polyvinyl chloride skin layer and a foamed polypropylene cushion layer adhered to it to an ABS resin core material. Although the coating robot 1 is effective in applying adhesive to the core material, it can also be used for painting.

Note that a workpiece carry-in conveyor 14 is disposed at the position of the workpiece carry-in conveyor 12, and a workpiece carry-in conveyor 12 is disposed at the position of the workpiece carry-out conveyor 14, and the coating robot 1
The movement method may be reversed to that of the above embodiment.

C8 Effects of the Invention According to the present invention, the coating robot 1- is provided with a workpiece lifting function, and the coating robot 1- is used to move the workpiece between the workpiece loading position and the coating position, and between the coating position and the workpiece unloading position. This eliminates the need for separate work transfer machines between each position, as was the case in the past.
Thereby, equipment costs can be reduced, and the configuration can be simplified and downsized.

Further, in the present invention, due to the installation space, the workpiece carry-in conveyor and the workpiece carry-out conveyor must be arranged so that the general conveyance direction of the workpieces faces the same direction, and the workpiece carry-in position and workpiece carry-out position are staggered. This is particularly effective in cases where

[Brief explanation of drawings]

Fig. 1 is an overall plan view of an embodiment of the present invention, Fig. 2 is a front view of a coating robot, Fig. 3 is an enlarged view of the part indicated by the arrow in Fig. 2,
FIG. 4 is a perspective view of the hanging member, FIG. 5 is a front view showing the workpiece lifting operation at the workpiece carry-in position, and FIG. 6 is a front view showing the workpiece setting operation at the workpiece carry-out position. A... Work loading position, B... Application position, C...
Workpiece delivery position, W...Workpiece, ■...Coating robot, 12...Workpiece delivery conveyor, 14...Workpiece delivery conveyor Figure 5

Claims (1)

[Claims] A workpiece carry-in conveyor that conveys uncoated workpieces to a workpiece carry-in position located on the front side in the workpiece conveyance direction, and a workpiece carryout conveyor that conveys the coated workpieces from a workpiece discharge position located on the rear side in the workpiece conveyance direction. The work transport directions of the workpieces are oriented in the same direction, and the workpiece carry-in position and the workpiece carry-out position are staggered and parallel to each other, and a coating position is provided between the workpiece carry-in position and the workpiece carry-out position. The coating robot performs a coating process on the uncoated workpiece located at the coating position, and the workpiece is suspended and transferred from the workpiece loading position to the coating position and from the coating position to the workpiece unloading position. A coating apparatus comprising a coating robot configured to be rotatable and linearly movable between the workpiece loading and coating positions, and between the coating and workpiece unloading positions, and to be freely linearly movable at the other.