JPS62234564A - Method and device for coating - Google Patents

Abstract

PURPOSE:To coat in uniform film thickness without causing interference between paints by traveling coating mechanisms capable of independently traveling on both side surfaces and the upper surface of a material to be coated while shifting a gun arm. CONSTITUTION:The first, the second, and the third coating mechanism 36, 38, and 40 each capable of independently traveling are provided, when one and the other surface and the upper surface of the material 14 to be coated are coated in the coating of an outside sheet, etc., of an automobile body. The first - the third coating mechanism 36, 38, and 40 are traveled and controlled while keeping a specified interval from each other. Consequently, the interference of paints on both side surfaces and the upper surface of the material 14 to be coated is prevented, and uneven coating, dripping of paints on both side surfaces, etc., are not caused. Moreover, since the first - the third coating mechanism 36, 38, and 40 are independently controlled, high-precision coating corresponding to the shape of the material to be coated can be very easily carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coating method and an apparatus thereof, and more specifically, for example, when painting an outer panel portion of an automobile body, the present invention relates to a coating method and an apparatus therefor, and more specifically, for example, when painting an outer panel portion of an automobile body, it is possible to paint both side surfaces and an upper surface portion of the vehicle body independently of each other. The first, second, and third coating mechanisms, which can be moved at different speeds, apply the coating to avoid uneven coating, and it is possible to obtain coated products with high precision using as few steps as possible. The present invention relates to a coating method and an apparatus therefor.

In recent years, in the automobile industry, automobiles have been mass-produced efficiently using highly automated line production processes. Therefore, in order to meet the demands of mass production, assembling devices for assembling each component or conveying devices for sequentially conveying the components to predetermined work positions are used, and
Needless to say, the painting equipment that paints the vehicle body is also automated.

In this case, conventionally, various methods have been adopted for automatically painting automobile bodies.

For example, a car body is transported by a transport device, and paint is injected from multiple paint guns attached to a fixed painting device onto both sides of the car body, as well as the bonnet, roof, and trunk cover. This method of painting the car body is adopted.

However, in the above-mentioned prior art, when moving the vehicle body, which is a workpiece, there is a risk that the vehicle body may be unnecessarily vibrated by the conveyance device. For this reason, desired parts of the vehicle body are not accurately painted, resulting in uneven paint. The quality of the paint on the car body is one of the important factors for determining the quality of the product, and as mentioned above, cars with paint defects cannot be offered to the market as products. Therefore, there arises the inconvenience that the painting operation must be performed again in order to prevent such paint unevenness from being exposed.

Further, if not only vibrations of the vehicle body itself but also displacement of the vehicle body occurs during transportation, this may similarly cause painting defects. As a result, it is necessary to reliably position and fix the vehicle body relative to the conveyance device, and the installation work for firmly positioning the vehicle body becomes cumbersome.

On the other hand, a method has also been adopted in which the car body is kept stationary at a painting position and a coating device equipped with a plurality of paint guns is displaced relative to the car body to paint the car body. In this case, in order to carry out the above-mentioned painting method, a so-called gate-type painting apparatus, in which a painting gun is arranged so as to surround both sides and the top of a stationary automobile body, is generally popular. That is, two side painting mechanisms each having a plurality of painting guns facing each other are provided on both sides of the gate-type painting device, and a plurality of painting guns are mounted on the upper part thereof and facing vertically downward. It is equipped with an upper painting mechanism equipped with a gun.

In such a configuration, the upper coating mechanism and the side coating mechanism are integrally displaced relative to the vehicle body via a conveyance mechanism, and the respective coating guns perform painting work over the entire surface of the vehicle body.

However, in the painting apparatus according to the prior art described above, since the side painting mechanism and the top painting mechanism are integrally transferred to the vehicle body, the control of the top painting mechanism and the side painting mechanism is particularly complicated. It becomes something. In other words, the area to be painted is different between the top and side parts of the car body, and while the top painted surface is oriented approximately horizontally, the side painted surface is oriented vertically and is considerably inclined. There is. Therefore, if an attempt is made to properly coat the upper and side surfaces, the coating conditions such as the transfer speed of the coating gun and the amount of paint ejected will be different. After all, in the above-mentioned portal type coating device, the transfer speed of the upper coating mechanism and the side coating mechanism is the same, so for example, the coating film on the upper coating surface becomes thin, or the paint dripping on the side coating surface. etc., and the amount of each paint to be injected must be controlled extremely carefully.

Moreover, when the upper coating mechanism and the side coating mechanism are transferred as one unit, the coating gun located at the top of the side coating mechanism and the coating gun located at the end of the upper coating mechanism become quite close to each other. Since the paint is injected onto the area, the paints discharged from the respective paint guns will interfere with each other. Particularly, in the case of electrostatic painting, in which static electricity is applied to the paint to perform painting, the particles of the paint are repelled by the static electricity, which further increases the interference effect.

As a result, the thickness of the paint film becomes uneven and the paint has to be painted again due to a defect, making the painting process complicated and making it difficult to achieve an efficient automobile line production process. Defects arise.

The present invention has been made to overcome the above-mentioned disadvantages, and the present invention has been made in order to overcome the above-mentioned disadvantages. A coating method which can extremely easily prevent the occurrence of coating defects such as uneven coating by coating the object, and which can realize highly accurate coating according to the shape of the object to be coated with as few steps as possible. The purpose is to provide such equipment.

In order to achieve the above object, the present invention provides a plurality of painting guns that inject paint to each painting surface when painting one side surface, the other side surface, and the top surface of an object to be painted. The present invention is characterized in that the gun arms having the paint guns are moved independently while shifting their positions relative to each other, so that the paint drawn out from the paint guns is applied to the painted surface without substantially interfering with each other.

Furthermore, the present invention provides a coating device for coating both side surfaces and an upper surface of an object to be coated, including a first coating mechanism that travels along one side surface of the object to be coated and coats the side surface. , a second coating mechanism that runs along the other side surface of the object to be painted independently of the first coating mechanism and coats the side surface;
a coating mechanism, and a first coating mechanism along the upper surface of the object to be coated.
and a third painting mechanism that runs independently of the second painting mechanism and paints the upper surface portion.

Next, preferred embodiments of the coating method according to the present invention in relation to an apparatus for carrying out the method will be described in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates an automobile painting line, and this painting line 10 has a first stage 10a1 and a second stage 10b depending on the work process.

It is divided into a third stage 10c and a fourth stage 10d. In this case, the coating device 12 according to the present invention
It is placed on stage 10c.

In the first stage 10a, the engine compartment and trunk compartment of the vehicle body 14 are painted. 1st stage IO
Rail parts 16a and 16b are arranged on both sides of a,
These rail parts 16a and 16b are coated with paint (18)
a to 18d are movably arranged. Furthermore, a bonnet opening/closing mechanism 20 and a trunk opening/closing mechanism 22 are provided in the first stage 10a. Note that the first stage 10a
A vehicle body transport mechanism 24 is provided in the center of the painting line 10 from the first stage to the fourth stage 10d.

In the second stage 10b, the inner surface of the door of the vehicle body 14 and the like are painted. In this case, rail sections 26a and 26b are arranged on both sides of the second stage 10b, and painting robots 28a and 28b are movably arranged on these rail sections 26a and 26b. Additionally, rails 30a and 3 are further provided between the vehicle body transport mechanism 24 and the rail portions 26a and 26b.
0b, and door opening/closing mechanisms 32a, 32b are movably arranged on these rails 30a, 30b.

Next, at the third stage 10c where the painting equipment 2 according to the present invention is installed, the outer panel of the vehicle body 14, including the hood, trunk cover, roof, and doors, is painted. Then, in the fourth stage 10d, the car body 14, which has been painted,
A drying process is performed. In addition, the first to third stages 1
In 0a to 10c, static electricity is applied to the paint, and electrostatic painting is performed on the vehicle body 14, which is the object to be painted.

Therefore, in FIGS. 2 and 3, the coating device 12 according to the present invention has rail sections 34a and 34b arranged in parallel on both sides of the vehicle body transport mechanism 24, and an upper coating device that runs along the rail sections 34a. Mechanism 36 and left side painting mechanism 38
and the right side painting mechanism 4 running along the rail portion 34b.
It basically consists of 0.

The traveling means for causing the upper painting mechanism 36, the left side painting mechanism 38, and the right side painting mechanism 40 to travel along the rail parts 34a, 34b are basically configured the same. That is,
In FIG. 4, a rail bracket 42 constituting each rail portion 34a, 34b extends from one end of the rail portion 34a, 34b to the other end. Spacers 44a and 44b are fixed to the upper surface of the rail bracket 42,
Rails 48a and 48b are fixed to the upper surfaces of the spacers 44a and 44b by bolts 46, respectively. Also,
A rack member 52 is disposed on the vertical outer side of the rail bracket 42 via a support member 5° in parallel with the rail 48a. On the upper surface of the rail bracket 42, a support 54a,
A protective cover 56 having a U-shaped cross section and extending along the rails 48a and 48b is fixed to the upper end portions of the support columns 54a and 54b.

On the other hand, a plate body 60 is fixed to the lower end portions of the casings 58a to 58c that constitute the outer frames of the upper painting mechanism 36, the left side painting mechanism 38, and the right side painting mechanism 40.
Side plates 62a and 62b are fixed to both sides of the lower surface of the 0.

A support member 64 is fixed to the lower end of the side plate 62a, and a travel motor 66 is fixed to the lower end of this support member 64. A binion 70 is pivotally attached to the tip of the rotating wheel 68 of the travel motor 66, and this binion 70 meshes with the rack member 52 fixed to the rail bracket 42.

A wheel portion 72a is attached to the upper end of the support member 64.

The wheel portion 72a includes a wheel 74 that abuts on the upper surface of the rail 48a, and a pair of wheels 73 that are supported by a plate 76 fixed to the wheel portion 72a and abut on both side surfaces of the rail 48a.
a, 78b, and the wheel 8 that comes into contact with the lower surface of the rail 48a.
0 are rotatably attached to each other. Furthermore, a wheel portion 72b is attached to the side plate 62b via a support member 82. A wheel 86 that abuts the upper surface of the rail 48b and a wheel 88 that abuts the lower surface of the rail 48b are rotatably attached to the wheel portion 72b via a support shaft 84, respectively.

Next, the configuration of the upper coating mechanism 36 will be explained.

In FIGS. 3 and 5, a ball screw 90 extending vertically is rotatably supported in the casing 58a, and the upper end of the ball screw 90 is connected to a lifting motor attached to the upper surface of the casing 58a. 92 drive shaft. There are four guide rods 94 around the ball screw 90.
a to 94d are erected in parallel. Here, a support plate 96 is screwed onto the ball screw 90, and the support plate 96 is configured to move up and down by rotating the ball screw 90 under the driving action of the lifting motor 92. In addition,
The support plate 96 has the guide rods 94a to 94d.
is inserted.

As shown in FIG. 5, a swing motor 100 is fixed to the upper surface of the support plate 96 via a holder 98. A gear 104 is pivotally attached to the rotating wheel 102 of the turning motor 100. The holder 98 holds a bearing member 106, and a pivot shaft 108 is pivotally supported on the bearing member 106.

A gear 110 that meshes with the gear 104 is attached to one end of the pivot shaft 108 . The other end of the pivot shaft 108 projects outward from the casing 58a, and one end of a pivot arm 112 is fixed to the other end.

On the other hand, a shift cylinder 114 serving as a shift means is disposed on the other end side of the swing arm 112. The cylinder rod 116 of this shift cylinder 114 is connected to the rail portion 3
A fixed shaft 11B, which extends horizontally perpendicularly to the rotating arms 4a and 34b, and whose one end is fixed to the swing arm 112, is loosely fitted to the outer periphery of the fixed shaft 11B. Further, a cylindrical slide sleeve 122 is slidably fitted to the outer peripheral portion of the fixed shaft 118 via slide metals 120a and 120b. Here, a spline 116a is formed at the tip of the cylinder rod 116, and this spline 116a is connected to the guide member 112 fixed to the other end of the fixed shirt eye 8.
4 are slidably fitted, and one end of the spline 116a is fixedly secured to the slide sleeve 122. In addition,
A telescopic, bellows-shaped cover member 126 is installed between the other end of the slide sleeve 122 and the pivot arm 112 to prevent paint from adhering to the fixed shaft 118.

A horizontal gun arm 132 is connected and held to the outer periphery of the slide sleeve 122 via support members 128 and 130. A clamp member 134a is attached to the horizontal gun arm 132.
Gun support bars 13 are fixed to these clamp members 134a to 134d at predetermined intervals.
6a to 136d are held perpendicular to horizontal gun arm 132. And gun support bar 136
Connecting members 138a to 138a to 136d are provided at the lower ends of
Paint guns 140a to 140d serving as paint injection means are connected to each other at a predetermined distance via 8d. Note that coating cables 142a to 142d for feeding coating materials are connected to the coating guns 140a to 140d.

The left side painting mechanism 38 and the right side painting mechanism 40 are connected to the vehicle body I.
The left side and right side of 4 are painted, and they are basically configured the same. That is, Figures 3 and 6
In the figure, columns 144a and 144b extending in the vertical direction are disposed within casings 58b and 58c that constitute the outer frames of the left side painting mechanism 38 and the right side painting mechanism 40. Two guide bars 146a, 146b extending horizontally and perpendicular to the rail portions 34a, 34b are bridged between these supports 144a, 144b, and a holding member 148 slides on these guide bars 146a, 146b. possible to be engaged and held. Note that the holding member 148 and the support column 1
44a, 144b between guide bars 146a, 146
There are cover members 150a and 150 that can be expanded and contracted on the outer periphery of b.
b is attached. A horizontally moving cylinder 152 is fixed to the holding member 148, and the distal end of a cylinder rod (not shown) of this horizontally moving cylinder 152 is fixed to the support column 144b via a connecting member 154.

Further, the holding member 148 includes slide metals 156a, 1
A shift guide bar 158 is inserted through 56b so as to be slidable in the vertical direction. Cover members 160a and 160b are extendable on the outer periphery of both upper and lower ends of the shift guide bar 158 that protrude from the holding member 148.
A connecting member 162 is attached to the lower end of the shift guide bar 158. On the other hand, the holding member 148
A shift cylinder 16 as a shift means is provided on the outer side of the shift cylinder 16 as a shift means.
4 is fixed via a support member 166, and a cylinder rod 168 protruding from the lower end thereof is connected to the connecting member 162 via a guide member 170 fixed to the holding member 14B. Note that the guide member 170 and the connecting member 16
A telescopic cover member 172 is attached to the outer periphery of the cylinder rod 168 between the cylinder rod 168 and the cylinder rod 168.

On the other hand, a holder 174 is further connected to both upper and lower ends of the shift guide bar 158. This holding body 174
The can arm 1 is attached via support members 176a and 176b.
78 are connected. The gun arm 178 has a connecting member 18.
Paint guns 182a to 182d as paint injection means are attached at predetermined distances via 0a to 180d. Note that the painting guns 182a to 182d are used for the vehicle body 1.
Arrange them so as to correspond to the side shape of No. 4.

Next, the drive control system of the coating apparatus configured as above will be explained.

Therefore, in FIG. 7, the control section 184 drives and controls the upper coating mechanism 36 by outputting a control signal set in advance by teaching or the like. In this case, the drive system includes a hydraulic unit 86 consisting of a fluid pressure pump or the like, servo valves 188a to 188c, and servo amplifiers 190a to 190 that drive the servo valves 188a to 188c by control signals output from the control section 184.
The hydraulic servo system consists of a hydraulic motor and a hydraulic motor.

Here, the hydraulic motor includes a traveling motor 66 that causes the upper painting mechanism 36 to travel along the rail portion 34a, an elevator motor 92 that vertically moves the swing arm 112 that holds the painting guns 140a to 140d, and the The rotating motor 100 rotates the rotating arm 112 around a rotating shaft 108. Note that the rotation speed of the traveling motor 66 is controlled by a potentiometer 194 via a deceleration mechanism 192a.
a and is fed back to the servo amplifier 190a as a position signal of the upper coating mechanism 36 with respect to the rail portion 34a. Further, the rotational speed of the lifting motor 92 is detected by a potentiometer 194b via a deceleration mechanism 192b, and is fed back to the servo amplifier 190b as a position signal with respect to the vertical direction of the swing arm 112. Furthermore, the rotational speed of the turning motor 100 is determined by the speed reduction mechanism 1.
920 and is detected by the potentiometer 194c, and fed back to the servo amplifier 190c as a tilt signal when the swing arm 112 tilts about the swing axis 108.

Similarly, in FIG. 8, the drive systems of the left side painting mechanism 38 and the right side painting mechanism 40 include a hydraulic unit 196, servo valves 198a and 198b, and a servo amplifier 200a.
200b, a hydraulic motor, and a hydraulic cylinder.
84. Note that the rotational speed of the traveling motor 66 as a hydraulic motor is detected by a potentiometer 204a via a deceleration mechanism 202, and
, 34b are fed back to the servo amplifier 200a as position signals of the left side painting mechanism 38 and the right side painting mechanism 40. Further, the amount of displacement of the horizontal movement cylinder 152 as a hydraulic cylinder is controlled by a potentiometer 204.
b is detected and fed back to the servo amplifier 200b as a position signal of the paint guns 182a to 182d relative to the vehicle body 14.

The coating apparatus according to the present invention is basically constructed as described above, and its operation and effects will be explained next.

First, the vehicle body 14 transported to the first stage 10a by the vehicle body transport mechanism 24 has its bonnet opened by the bonnet opening/closing mechanism 20 and the trunk cover opened by the trunk opening/closing mechanism 22, and is moved along the rail portions 16a, 16b. The engine room and trunk room are painted by the moving painting robots 18a to 18d.

Next, the vehicle body 14 with the bonnet and trunk cover closed by the bonnet opening/closing mechanism 20 and the trunk opening/closing mechanism 22 is transported to the second stage 10b by the vehicle body transport mechanism 24.

In the second stage 10b, the door of the vehicle body 14 is opened by the door opening/closing mechanism 32a, 32b, and the inner surface of the door is moved along the rail parts 26a, 26b of the painting robot 2.
8a and 28b. Next, the vehicle body 14 whose door is closed by the door opening/closing mechanisms 32a and 32b is transported to the third stage 10c by the vehicle body transport mechanism 24.

At the third stage 10c, an upper painting mechanism 36, a left side painting mechanism 38, and a right side painting mechanism 40 are waiting on the front side of the vehicle body 14. In this case, the upper coating mechanism 36 is moved from the position shown in FIG. The rotating arm 112 rotates in the direction of arrow B around the rotating axis 10 under the driving action of the rotating arm 1.
Painting guns 140a to 140d are attached to the ends of the vehicle body 12 via slide sleeves 122 and are arranged to face the front head of the vehicle body 14. The state at this time is shown in FIG.

First, the painting operation by the upper painting mechanism 36 will be explained based on FIG. 9. When a control signal is output from the control section 184, the servo amplifier 190a operates the servo valve 188a based on the control signal. in this case,
Pressure fluid supplied from the hydraulic unit 186 drives the traveling motor control unit via the servo valve 188a. As a result, the pinion 70 pivoted on the rotating shaft 68 of the travel motor 66 rotates, and the upper coating mechanism 36 starts traveling in the direction of arrow C along the rails 43a, 48b via the wheel portions 72a272b.

Here, the rotation speed of the traveling motor 66, that is, the amount of movement of the upper coating mechanism 36 is detected by a potentiometer 194a via a deceleration mechanism 192a, and
painting gun 140 for the front end and upper painting mechanism 36 of
When the distance between a to 140d reaches a predetermined distance, the potentiometer 194a outputs a predetermined position signal to the servo amplifier 190a, and the servo amplifier 190a controls the travel motor 66 via the servo valve 188a. As a result, the distance between the front end of the vehicle body 14 and the painting guns 140a to 140d is maintained constant.

Next, the servo amplifier 190b operates the servo valve 188b based on the control signal from the control unit 184, and the pressure fluid from the hydraulic unit 186 flows into the servo valve 18.
A lifting motor 92 is driven via the motor 8b. As a result,
The ball screw 90 connected to the lifting motor 92 rotates, and the swing arm 112 starts to rise in the direction of the arrow through the support plate 96 screwed onto the ball screw 90. In this case, the paint guns 140a to 140d are connected to the vehicle body 14.
Paint is injected toward the front end of the vehicle, and the front end is coated along painting line a.

Note that the painting guns 140a to 140d are arranged at a predetermined distance apart so that the injected paints do not interfere with each other. As a result, the painted surface of the front end is coated with paint in stripes (see Figure 2).

When the painting of the front end is completed and the painting guns 140a to 140d reach the boundary between the front end and the bonnet, the servo amplifier 190C operates the servo valve 188c based on the control signal from the control section 184, and the hydraulic unit 186 The pressure fluid of the servo valve 1
The turning motor 100 is driven through the 88c. As a result, the swing arm 1
12 rotates in the direction of arrow B around the pivot shaft 108. As a result, the slide sleeve 1 is located at 1° 12 of the pivot arm.
Painting guns 140a to 140d connected via 22
will be oriented perpendicularly to the hood of the vehicle body 14.

Here, the rotation angle of the rotation arm 112 is determined by the speed reduction mechanism 192.
When the paint guns 140a to 140d are directed perpendicularly to the bonnet, the potentiometer 194C outputs a predetermined inclination signal to the servo amplifier 190c, and the servo amplifier 190C Servo valve 188
The turning motor 100 is controlled via the As a result,
The paint guns 140a to 140d are held perpendicular to the hood of the vehicle body 14.

Next, the upper coating mechanism 36 travels along the rail portion 34a under the driving action of the travel motor 66, and the bonnet is painted along the painting line b. In this case, the vertical position of the swing arm 112 is detected by a potentiometer 194b that detects the rotation speed of the lifting motor 92, and the potentiometer 194b outputs a predetermined position signal to the servo amplifier 190b, so that the servo amplifier 190b The lifting motor 92 is controlled via the servo valve 188b. As a result, the swing arm 112 moves upward in the direction of the arrow C in response to the movement of the upper coating mechanism 36 in the direction of the arrow C, and maintains a constant distance between the bonnet and the coating guns 140a to 140d to achieve a uniform thickness. Perform the painting.

Similarly, the distance between the painting surface of the vehicle body 14 and the painting guns 140a to 140d is maintained constant, and the painting line c is maintained with the painting guns 140a to 140d being held perpendicular to the painting surface. Painting is done in stripes along d, e and f. Finally, by driving the turning motor 100, the painting guns 140a to 140d are maintained perpendicular to the rear end. As a result, the rear end is painted along the painting line g under the driving action of the lifting motor 92.

Next, the painting operation of both sides of the vehicle body 14 by the left side painting mechanism 38 and the right side painting mechanism 40 will be explained.

When a control signal is output from the control unit 184, the servo amplifier 200a operates the servo valve 198a, and the hydraulic unit 196 drives the travel motor 66 with pressure fluid via the servo valve 198a. As a result, the left side painting mechanism 38 and the right side painting mechanism 40 are connected to the rail portion 34a.
, 34b in the direction of arrow C, and the painting gun 182
Both sides of the vehicle body 14 are painted with paint injected from a to 182d. In this case, the painting guns 182a to 1
B2d is arranged at a predetermined distance apart as in the case of the upper coating mechanism 36. Therefore, the side portions of the vehicle body 14 are painted in a striped manner without mutual interference between the paints.

In addition, the left side painting mechanism 38 and the right side painting mechanism 40
The amount of movement in the direction of arrow C is detected by the potentiometer 204a via the deceleration mechanism 202. On the other hand, the distance between the side portion of the vehicle body 14 and the painting guns 1B2a to 182d is controlled by the horizontal movement cylinder 152. That is, when a control signal is output from the control unit 184, the servo amplifier 200b operates the servo valve 198b, and the hydraulic unit 196 operates the servo valve 198 with pressure fluid.
The horizontal movement cylinder 152 is driven via b. Therefore, the painting guns 182a to 182d connected to the holder 174 via the gun arm 178 move in the direction of arrow E or F (see FIG. 6). In this case, the paint gun 182
The amount of movement of a to 182d in the directions of arrows E and F is detected by a potentiometer 204b, and the potentiometer 204b sends a predetermined position signal to the servo amplifier 200b.
The servo amplifier 200b controls the horizontal movement cylinder 152 via the servo valve 198b. As a result, the painting guns 182a to 182d are displaced in the directions of arrows E and F in accordance with the movement of the left side painting mechanism 38 and the right side painting mechanism 40 in the direction of arrow C, and the painting guns 182a to 1B2d Paint with a uniform thickness while maintaining a constant distance between the

Here, the left side painting mechanism 38 and the right side painting mechanism 40
It is assumed that the vehicle is run at a predetermined distance from the upper coating mechanism 36. That is, in FIG. 3, the painting gun 140a of the upper painting mechanism 36 and the painting gun 182a of the left side painting mechanism 38 are always separated by a predetermined distance, and the painting gun 140d of the upper painting mechanism 36 and the painting gun 182a of the right side painting mechanism 38 are always separated by a predetermined distance. 40 painting guns 182a are always kept apart by a predetermined distance. In this way each painting mechanism 36, 38 and 4
0, it is possible to avoid interference with the paint ejected from the closest paint gun, and it is possible to paint the vehicle body 14 in an extremely appropriate manner.

That is, it is possible to prevent unnecessary occurrences of paint unevenness, paint dripping, etc. caused by interference on the painted surface of the vehicle body 14.

As described above, the vehicle body 14 is painted in a striped pattern as shown by the hatched area in FIG. Here, each painting mechanism 3
6.38 and 40 are moved to the positions indicated by the two-dot chain lines in FIG.

Next, the shift cylinder 164 is driven in relation to the left side painting mechanism 38 and the right side painting mechanism 40. In this case, the cylinder rod 168 of the shift cylinder 164 is lowered in the direction of arrow A, and the guide bar 158 is lowered in the direction of arrow A via the connecting member 162. As a result, the painting guns 182a to 182d are shifted to the positions indicated by the two-dot chain lines in FIG. 6 via the holder 174 supported by the guide bar 158.

Next, the servo valve 198a is operated via the servo amplifier 200a based on the control signal from the control section 184, and the travel motor 66 is driven by the pressure fluid from the hydraulic unit I-196. As a result, the left side painting mechanism 38
Similarly to the case described above, the right side painting mechanism 40 travels in the direction of arrow G along both sides of the vehicle body 140, and after painting the unpainted parts with the paint injected from the painting guns 182a to 182d, It returns to the position shown by the solid line and its travel is stopped.

On the other hand, in the upper coating mechanism 36, the shift cylinder 114 installed in the swing arm 112 is driven, and the cylinder rod 116 is displaced in the direction of arrow E. In this case, a slide sleeve 1 is provided at the end of the cylinder rod 116.
22 are connected to each other, and the slide sleeve 122 is displaced along a fixed shaft 118 that fits over the cylinder rod 116.

As a result, the horizontal gun arm 1 is attached to the slide sleeve 122.
Painting guns 140a to 140d connected via 32
is shifted to the position indicated by the two-dot chain line in FIG.

Next, as in the case described above, the upper coating mechanism 36 travels along the rail portion 34a in the direction of arrow G under the driving action of the traveling motor 66, the lifting motor 92, and the turning motor 100, and removes the unpainted portion of the vehicle body 14. After painting the parts according to the painting lines a to g shown in FIG. 9, the robot returns to the position shown by the solid line in FIG. 2 and stops running. In this case, as well, the left side painting mechanism 38, the right side painting mechanism 40, and the upper painting mechanism 36 are moved at a predetermined distance apart to prevent interference of paint during painting. shall be.

The vehicle body 14 that has been painted in the manner described above is transported to the fourth stage 10d by the vehicle body transport mechanism 24, and is then subjected to a drying process.

In the above-described embodiment, the vehicle body 14 is painted in a striped pattern with the painting guns 140a to 140d and the painting guns 182a to 182d separated by a predetermined distance in order to prevent paint interference. Then, the painting guns 140a to 140d and 182a to 18
2d is shifted under the driving action of the shift cylinders 114 and 164, and then the unpainted portions of the vehicle body 14 are painted. Therefore, for example, the painting guns 140a to 140d and 182a to 182d are placed at the positions indicated by the solid lines and the two-dot chain lines in FIGS. 5 and 6, respectively.
If each row is divided into two sets of nozzle groups, and furthermore, the nozzle groups are arranged with a predetermined distance apart in the running direction of each coating mechanism 36, 38 and 40,
It is possible to complete the painting of the vehicle body 14 by one painting operation.

As described above, according to the present invention, both side surfaces and the top surface of an object to be coated are coated by the first, second and third coating mechanisms, which are respectively movable independently along the object to be coated. It consists of

Therefore, for example, the first coating coats both sides of the object to be coated.
By controlling the second painting mechanism and the third painting mechanism that paints the upper surface to run at a predetermined distance from each other, paint is spread between both sides and the upper surface of the object to be painted. Since they do not interfere with each other, there is no possibility of defects such as uneven coating or dripping of paint on both sides. In addition, the first
, since the second and third painting mechanisms can be independently driven and controlled within a range where the injected paint does not interfere with each other,
High-precision coating according to the shape of the object to be coated can be achieved extremely easily and with fewer steps.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments, and various improvements and changes in design can be made without departing from the gist of the present invention. Of course.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of a coating line in which a coating device according to the present invention is installed, FIG. 2 is a plan configuration diagram of the coating device according to the present invention, and FIG. 3 is a front configuration diagram of the coating device according to the present invention. FIG. 4 is a cross-sectional view showing the traveling means of the coating device according to the present invention, FIG. 5 is a partially omitted structural explanatory diagram of the upper coating mechanism in the coating device according to the present invention, and FIG. 6 is the coating device according to the present invention. FIG. 7 is a block diagram showing the drive control system of the upper coating mechanism in the coating device according to the present invention, and FIG. 8 is a diagram showing the side coating mechanism in the coating device according to the present invention. FIG. 9 is a block diagram showing the drive control system of the mechanism, and is an explanatory diagram showing the coating operation of the upper surface of the vehicle body by the upper coating mechanism in the coating apparatus according to the present invention. 10...Painting line 10a-10d...Stage 12...Painting device 14...Car body 2
4...Vehicle body transport mechanism 34a, 34b...Rail part 36...Upper coating mechanism 38...Left side painting mechanism 40...Right side painting mechanism 66...Traveling motor 92...Elevating/lowering Motor 100...Swivel motor 112...Swivel arm 114...Shift cylinders 140a to 140d...Painting gun 152...Horizontal movement cylinder 164...Shift cylinder

Claims (7)

[Claims] (1) When painting one side surface, the other side surface, and the top surface of the object to be painted, the gun arms each having a plurality of paint guns that inject paint onto each surface are shifted from one another. A coating method characterized in that the paints are run independently, whereby the paints drawn out from the paint gun are applied to the painted surface without substantially interfering with each other. (2) A method according to claim 1, in which a plurality of paint guns held by respective gun arms spray paint so that the paint does not substantially interfere with each other. (3) In the method described in claim 2, a first linear coating process is performed via a coating gun by running a gun arm against each coating surface of the object to be coated, and then, A painting method comprising displacing the painting gun and performing a second linear painting process on an unpainted surface defined by the first linear painting surface. (4) A coating device that coats both side surfaces and the top surface of the object to be painted, including a first coating mechanism that runs along one side surface of the object to be painted and paints the side surface; a second painting mechanism that runs along the other side of the object to be painted independently of the first painting mechanism and paints the side;
A coating apparatus comprising: a third coating mechanism that travels along the upper surface of the object to be coated independently of the first and second coating mechanisms and paints the upper surface of the object. (5) In the device according to claim 4, the first
, a coating apparatus in which the second and third coating mechanisms each have a paint injection means for injecting paint toward an object to be painted. (6) In the apparatus according to claim 5, a plurality of paint injection means are arranged at predetermined intervals in a direction orthogonal to the running direction of the first, second and third painting mechanisms, and A coating device in which each paint injection means is configured to be movable in the arrangement direction by a shift means. (7) In the apparatus according to claim 5, the paint injection means includes a first nozzle group arranged at a predetermined interval in a direction orthogonal to the traveling direction of the first, second, and third coating mechanisms. and a second nozzle arranged at a predetermined distance apart from the first nozzle group in the traveling direction of each of the painting mechanisms, and displaced by a predetermined distance in the arrangement direction of the paint injection means constituting the nozzle group. A coating device consisting of a group of nozzles.