JPS63200859A - Coater - Google Patents

Abstract

PURPOSE:To efficiently coat the bottom surface part of a material to be coated by arranging a coating robot wherein paint is jetted through a nozzle part capable of controlling the direction for the bottom surface part of the material to be coated which is shifted with an elevating means so that the robot can be transferred along the side of the material to be coated. CONSTITUTION:A material 12 to be coated is carried to the prescribed coating position by a carrying means 14 and also the material 12 is shifted by an elevating means 16 in the coating position. Further coating robots 18a, 18b, 20a, 20b are equipped with nozzle parts 76a, 76b, 112a, 112b which are capable of controlling the direction for jetting paint and directed to the bottom surface part of the material 12 and displaced and jet paint and these robots are arranged to the side of the material 12 in the coating position and can be transferred along this side. As a result, the bottom surface part of the material to be coated can be efficiently coated at required patterns and also enhancement of operation rate of the robots can be attained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a coating device, and more particularly, the present invention relates to a coating device, and more particularly, it lifts an object to be coated, such as an automobile body, using a lifting means, and coats a desired part of the bottom surface of the object. The present invention relates to a coating device that enables efficient coating using a robot.

[Prior Art] For example, there is a risk that a floor portion of an automobile body or a side sill portion that is a side edge thereof may be damaged by flying stones or the like, or corroded by seawater or the like. Therefore, for such areas, for example, high viscosity paint (hereinafter referred to as PVC) that has impact absorption properties and is mainly composed of vinyl chloride resin is applied.
is applied.

When manually applying PVC to the floor of a car body, workers must crawl under the car body to perform the painting process, which creates extremely poor working conditions and environments that can have a negative impact on the human body. It has been pointed out that there is a risk of Therefore, in recent years, there has been a tendency for such painting work to be performed by painting robots.

Incidentally, the floor portion or side sill portion of an automobile body has unpainted portions for assembling parts in the next process, and the painted portions generally have a complicated shape. For this reason, conventionally, an articulated painting robot capable of relatively complex motion control has been placed under the vehicle body to perform painting work. In this case, there is a concern that the coating robot may be soiled by PVC dripping from the floor of the vehicle body during the painting process, resulting in malfunction. Therefore, painting robots used under such adverse conditions require periodic maintenance, which has been pointed out to have the drawback of unavoidably lowering the operating rate.

On the other hand, in order to paint both the floor and side sills of a vehicle body using the articulated painting robot, more complicated motion control is required.

Therefore, for example, the first articulated painting robot is used at the first painting position of the painting line to paint the floor part of the car body, and then the second painting robot is used at the second painting position to paint the side sill part. Painting is in progress. In this case, the advantage is that the operation control of the painting robots placed at each painting position is simplified, but on the other hand, the painting line becomes longer and the number of steps increases.

[Problems to be Solved by the Invention] The present invention has been made to overcome the above-mentioned disadvantages. By movably disposing a coating robot that injects paint from a nozzle part along the side of the object to be painted, the bottom surface of the object to be painted can be efficiently painted in a desired pattern. An object of the present invention is to provide a coating device that can improve the operating rate of the coating robot.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention includes a conveyance means for conveying the object to be coated to a predetermined coating position, and a lifting means for raising and lowering the object to be coated at the coating position. The nozzle part is capable of controlling the injection direction of the paint and is displaced toward the bottom of the object to be coated to inject the paint, and the nozzle part is disposed on the side of the object to be painted at the painting position. The painting robot is configured to be movable along the painting robot.

[Embodiments] Next, preferred embodiments of the coating apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 10 indicates a main body of a coating apparatus according to the present invention, and this main body 10 has shock absorption properties for a floor part W and a side sill part W of an automobile body 12. Painting work is carried out on a resin material that has a Note that, as the resin material, for example, PVC is used.

The main body part IO includes a transport mechanism 14 that transports the vehicle body 12, a lifting mechanism 16 that raises and lowers the vehicle body 12, and a painting robot 18a that is disposed on both sides of the transport mechanism 14 and paints the floor part W of the vehicle body 12. It basically consists of painting robots 20a and 20b that paint the side sill portion W and the side sill portion W.

In the transport mechanism 14, a pair of guide members 24a and 24b are arranged on a base 22 extending in the Y direction, and the vehicle body 12 is placed on these guide members 24a and 24b and driven by a drive source (not shown). Transport table 2 movable in the Y direction
6 is arranged.

The lifting mechanism 16 has a lid frame 28 that engages with the vehicle body 12 to raise and lower the vehicle body 12, and is supported by a frame 30 surrounding the main body 10 (see FIG. 2). That is, a motor 32 is installed on the upper surface of the frame 30, and a gear 36 that engages with a drive shaft 34 of the motor 32 has a shaft 38.
The gear 40 that engages with the . In this case, the shaft 38 is
Both ends are pivotally supported on the frame 30 via brackets 41a and 41b, and wires 42a to 4 are attached to predetermined portions of the frame 30.
The drums 44a to 44d around which 2d is wound are engaged. Further, on the frame body 30, both ends are brackets 48a and 48b.
an axis 50 supported by and parallel to the axis 38;
is provided. Note that a pulley 5 is provided at a predetermined portion of this shaft 50.
2a and 52b are engaged with each other. The ends of the wires 42a, 42c wound around the drums 44a, 44c hang down and are connected to a frame member 54a constituting the lifter frame 28. Further, the ends of the wires 42b, 42d wound around the drums 44b, 44d hang down via pulleys 52a, 52b, and are connected to a frame member 54b disposed parallel to the frame member 54a.

Here, the lifter frame 28 is connected to the frame member 54.
a, 54b, a frame member 56a156b attached to both ends of these frame members 54a, 54b, and an abbreviated lift attached to both ends of the frame members 56a, 56b and extending downward. Hands 57a to 57d
including. In this case, the lower ends of the lift hands 57a, 57b and 57c, 57d are arranged close to each other. Note that the frame members 56a, 56b
Rollers 58a to 58d are pivotally attached to both ends of the frame body 30, and these rollers 58a to 58d can roll along support frames 60a to 60d attached to the upper surface of the frame body 30.

On the other hand, on both sides of the transport mechanism 14, both ends are provided with support columns 62a.
, 62b, 62c, and 62d, horizontal members 64a and 64b are arranged in parallel along the transport mechanism 14. In this case, painting robots 18a and 20a are movably disposed on the horizontal member 64a via guide rails 66a and 66b. In addition, the horizontal member 64
Painting robots 18b and 20b are movably disposed on guide rails 68a and 68b.

The painting robot 18a is an orthogonal robot that performs painting work on the floor portion W of the vehicle body 12, and is configured as shown in FIG. 3. That is, the painting robot 18a has a column 70a mounted on a horizontal member 64a and extending vertically upward (direction of arrow Z), and a column 70a mounted on the column 70a via a moving table 72a and extending perpendicularly to the horizontal member 64a. direction (
an arm 74a extending in the direction of arrow X), and the arm 7
The PvC is attached to the tip of the car body 12 at the front end W.
, and a nozzle portion 76a that ejects light toward.

A motor 80a is attached to the lower end of the column 70a via a mounting plate 78a. A pinion (not shown) is engaged with the drive shaft of the motor 80a, and the pinion meshes with a rack member 82a disposed along the side of the horizontal member 64a. Therefore, the column 70a is configured to be movable in the direction of arrow Y along the horizontal member 64a under the driving action of the motor 80a.

Further, a motor 84a is installed inside the column 70a, and a ball screw 86a is connected to this motor 84a.

A movable table 72a is connected to the ball screw 86a via a groove 88a formed on the side of the column 70a. As a result, the arm 74a mounted on the moving table 72a is configured to be movable in the direction of arrow Z along the column 70a under the driving action of the motor 84a.

A motor 90a is attached to one end of the arm 74a, and a ball screw 92a installed inside the arm 74a is connected to the motor 90a. In this case, a moving table 72a is connected to the ball screw 92a.

Therefore, the arm 74a is a movable table under the driving action of the motor 90a. It is configured to be movable in the direction of arrow X along 2a.

On the other hand, a motor 94a and a sprocket 96a rotated by the motor 94a are attached to one end side of the arm 74a. Further, a sprocket 98a is attached to the other end side of the arm 74a, and this sprocket 98a
and the sprocket 96a are connected by a chain 100a. A shaft member 102a that rotates together with the subrocket I-98a is pivotally attached to the other end of the arm 74a, and a nozzle portion 76a is attached to this shaft member 102a. Therefore, the nozzle portion 76a is configured to be rotatable in the direction of the arrow under the driving action of the motor 94a.

The nozzle section 76a includes a motor 104a attached to the shaft member 102a, a motor 108a attached to the drive shaft of the motor 104a via a bracket 106a, and an injection section attached to the drive shaft of the motor 108a. 110a. In this case, the injection part 110a is configured to be rotatable in directions of arrows B and C by motors 104a and 108a. The PvC injected from the injection part 110a toward the floor W of the vehicle body 12 is configured to form an oval coating pattern 111, as shown in FIG.

On the other hand, since the painting robot 18b is constructed in the same manner as the painting robot 18a described above, b is added to its reference numeral and a description thereof will be omitted.

The painting robots 20a and 20b perform PvC painting work on the side sill portion W of the vehicle body 12, and are configured as orthogonal robots.

In this case, the construction of the painting robots 20a and 20b is the same as that of the painting robots 18a and 18b described above except for the nozzle parts 112a and 112b shown in FIG. , and its explanation will be omitted.

Therefore, in FIG. 5, the ends of the arms 74a, 74b have shaft members 1 with which sprockets 98a, 98b engage.
14a, 114b are pivotally attached, and these shaft members 114a, 1
Motors 116a and 116b are attached to 14b. Injection parts 120a and 120b for injecting PVC are mounted on the drive shafts of the motors 116a and 116b through brackets 118a and 118b. Therefore, the injection section 120a120b is connected to the motors 94a, 94b and 11
6a and 116b, it is configured to be rotatable in the directions of arrows A and B.

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 12 is placed on the transport table 26 and transported by the transport mechanism 14 to a predetermined painting position. In this case, at the painting position, the lid frame 28 constituting the elevating mechanism 16 is located at the lower end indicated by the two-dot chain line in FIG. Sections 76a, 76b and 112
a and 112b are in a retracted state on both sides of the vehicle body 12.

When the vehicle body 12 is positioned at the painting position, the elevating mechanism 16 is driven and lifting work of the vehicle body 12 is started. That is, when the motor 32 disposed on the upper surface of the frame 30 is driven, the shaft 38 is driven through the gear 36 and the gear 40.
rotates, and each of the drums 44a to 44d rotates accordingly. In this case, since the wires 42a to 42d wound around the drums 44a to 44d move vertically upward, the lid frame 28 is suspended by the wires 42a to 42d and the lower surface of the vehicle body 12 is moved by the lift hand 57a. It rises while being held by 57d. In addition, since the lifter frame 28 is guided by the support frames 60a to 60d via the rollers 58a to 58d and raised, the shaking of the vehicle body 12 during the work is suitably suppressed.

After the vehicle body 12 is raised to a predetermined position by the lifting mechanism 16, each painting robot H8a, 18b, 20a, 20b
PVC painting work begins. In this case, the painting robot f-18aS18b performs the work of applying PVC to the floor Wa of the vehicle body 12, and the painting robot f-
20a and 20b perform PVC painting work on the side sill portion Wb of the vehicle body 12.

Therefore, first, the painting work of the floor portion W by the painting robots 18a and 18b will be explained.

In this case, the columns 70a, 70b are connected to the motors 80a, 80
b is displaced along the horizontal members 64a, 64b via the rack members 82a, 82b, and the nozzle portion 76a
, 76b in the Y direction is set.

Further, the arms 74a and 74b are connected to the columns 70a and 70 via movable tables 72a and 72b by ball screws u86a and 86b which rotate under the driving action of motors 84a and 84b.
0b, and two of the nozzle parts 76a and 76b
The position of the direction is set. Furthermore, arms 74a, 74
b is a movable table 72a, 72 by ball screws 92a, 92b rotating under the driving action of motors 90a, 90b.
b, and the positions of the nozzle parts 76a and 76b in the X direction are set.

Next, the painting robots 18a and 18b have motors Boa,
80b, 84a, 84b, 90a and 90b, the nozzle parts 76a and 76b are moved along the coating path 122 shown in FIG. 4, and the injection parts 110a and 11
PVC is injected from 0b and the desired painting work is performed on 707 parts Wa of the vehicle body. In this case, the painting robot 18a
, 18b are the nozzle parts 76a, 7 during the painting work.
Only the vicinity of 6b is located at the lower part of the vehicle body I2. Therefore, the injection part! The PvC ejected from 10a and 110b toward the floor W1 hardly stains the coating robots 18a and 18b by dripping from the floor Wll.

As a result, the maintenance interval for the painting robots 18a and 18b can be extended,
The operating rate improves dramatically.

Here, from the injection parts 110a and 110b to the floor part W.

The PVC coating pattern 111 is injected in the direction of
As shown in FIG. 4, it is configured to have an oval shape. Therefore, if the painting work is carried out while controlling the rotation of the injection parts 110a and 110b under the driving action of the motors 108a and 108b, PVC can be easily applied to the painting area 124 having the shape as shown in FIG. It can be painted on. As a result, it becomes possible to perform the PVC painting operation on the floor part W, which has a complicated shape including non-painted parts, under extremely simple control.

Next, the painting operation of the side sill portion Wb by the painting robots 20a and 20b will be explained. In this case, the nozzle parts 112a and 112b are connected to the aforementioned painting robot 18a.
, 18b, each motor 80a, 80b, 8
4a, 84b, 90a and 90b (7) are displaced to a predetermined coating start point under driving action.

Therefore, the nozzle parts 112a and 112b are moved along the coating path 126 shown in FIG.
PVC is injected from 20a and 120b, and the intended painting work is performed on the side sill portion W of the vehicle body 12.

In this case, the injection part 120a%120b is the motor 94a1
Under the driving action of the motors 94b, the injection parts 120a and 120b are deflected in the direction of the arrow a shown in FIG. The painted area 128 is deflected in the direction
Paint b.

In this way, when the painting work on the floor part W and side sill part Wh of the vehicle body 12 is completed, each painting robot 1
Nozzle parts 76a, 7 of 8a, 18b, 20a, 20b
6b, 112a, and 112b are evacuated to both sides of the bodywork 2. Next, the lifting mechanism 16 is driven to lower the vehicle body 1.
2 is again placed on the transport table 26 of the transport mechanism 14,
The vehicle body 12 is transported to the next working position by the transport mechanism 14.

[Effects of the Invention] As described above, according to the present invention, in a coating apparatus for painting the bottom surface of an object to be painted such as an automobile body, a painting robot having a nozzle part that can control the direction of injection of paint is used to It is disposed movably along the side of the object to be painted, lifts the object to be painted by a lifting means, and performs painting work on the bottom surface of the object with paint injected from the nozzle section.

are doing. Therefore, by controlling the direction of the nozzle section, it is possible to extremely easily apply a desired pattern to the bottom surface of the object to be coated. In this case, if the coating pattern of the paint injected from the nozzle is set in an oval shape, even if the shape of the area to be painted is extremely complex, it can be accurately applied to the area to be painted using simple control. Painting work can be done. Further, the painting robot is disposed on the side of the object to be painted, and faces the bottom side of the object to perform painting work only when necessary. Therefore, staining of the painting robot due to dripping of paint, etc. is significantly reduced, and it is possible to provide a painting apparatus with improved operation rate.

The above are the preferred results of the present invention! Although the embodiments have been described, the present invention is not limited to these embodiments, and it goes without saying that various improvements and changes in design can be made without departing from the gist of the present invention.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view of the construction of a coating apparatus according to the present invention, FIG. 2 is an explanatory front view of the construction of the coating apparatus according to the invention, and FIG. 3 is a perspective view of the construction of a painting robot used in the painting apparatus according to the invention. 4, 5, and 7 are explanatory diagrams of the painting state by the painting robot used in the painting device according to the present invention, and FIG. 6 is the painting pattern by the painting robot used in the painting device according to the present invention. FIG.

Claims (4)

[Claims] (1) A transport means for transporting the object to be painted to a predetermined painting position, a lifting means for raising and lowering the object to be painted at the painting position, and a controllable direction of paint injection, which directs the paint toward the bottom of the object. and a painting robot having a nozzle part that is displaced by the painting position and injects the paint, and is arranged on the side of the object to be painted at the painting position and is configured to be movable along the side. Device. (2) The coating apparatus according to claim 1, wherein the elevating means has a lift hand that engages with the bottom surface of the object to be coated and raises and lowers the object to be coated. (3) The coating device according to claim 1, wherein the nozzle portion for injecting the paint is configured to be able to form an oval coating pattern on the bottom surface of the object to be coated. (4) In the apparatus according to any one of claims 1 to 3, the painting robot is constituted by an orthogonal robot capable of displacing the nozzle part toward the bottom surface of the object to be painted. Painting equipment.