JPWO2018143451A1 - Automatic coating equipment and coating method - Google Patents

Abstract

An object of the present invention is to reduce the labor and time required for removing dust and correcting uneven coating in repair painting of automobiles and the like by improving the reproducibility of the painted skin. Kind Code: A1 An automatic coating apparatus for spraying a paint on an object to paint the object to be coated, comprising a paint nozzle 10a for spraying the paint, and a paint flow path in the paint nozzle 10a. A spray gun 10 having a trigger 10c for opening and closing a needle valve 10b for opening and closing, a spray gun mounting portion 11 for detachably supporting the spray gun 10, a horizontal drive mechanism 12 for reciprocating the spray gun mounting portion 11 in a horizontal direction, and An elevating mechanism 13 for vertically moving the spray gun mounting portion 11, a trigger 10c detachably engaged with the trigger 10c and applying a driving force to the trigger 10c, and a control panel 20 for controlling the operation of each mechanism. And

Description

  The present invention relates to an automatic coating apparatus and a coating method for spraying a coating material on an object to be coated by using a commonly used spray gun as it is.

  2. Description of the Related Art Conventionally, industrial products such as automobiles and home electric appliances, and parts and members (objects to be coated) constituting buildings such as buildings and bridges are often automatically coated using a coating apparatus (for example, see Patents). Reference 1).

  However, in the repair painting of automobiles, it is necessary to perform a painting method corresponding to various situations such as a repaired portion, a repair method, a state, a vehicle type, and characteristics of a paint. For this reason, general-purpose mechanization is difficult, and it is necessary to select various types of spray guns. At present, the operations are performed by humans familiar with the characteristics of the spray guns.

JP-A-2006-08607

  By the way, in the repair painting, it is necessary to reproduce the so-called “painting skin” around the repair location in the painting of the repair location. However, it is difficult to reproduce this painted skin by manual painting work. In addition, there is a problem that quality is unstable in the painting work by hand, in addition to variations in quality such as finish and film thickness, and physical variations due to splicing.

  For this reason, conventionally, in order to make the difference between the painted skins inconspicuous, in addition to the skin adjustment, it is necessary to remove dust and correct sagging (irregular coating), thereby increasing labor and loss time. There has been a problem that efficiency is reduced, and labor costs for re-correction and material costs such as waste paint are increased.

  Therefore, the present invention solves the above-described problem, and reduces the labor and loss time required for dust removal and correction of uneven coating by improving the reproducibility of the coating surface in repair painting of automobiles and the like. An object of the present invention is to provide an automatic coating apparatus and a coating method that can be performed.

In order to solve the above-described problems, the present invention is an automatic coating apparatus that sprays paint on an object to be coated and performs coating of the object to be coated,
A spray gun having a paint nozzle for injecting paint, and having a trigger unit for opening and closing an on-off valve for opening and closing a flow path of the paint in the paint nozzle,
A spray gun mounting part for detachably supporting the spray gun,
A horizontal drive mechanism for reciprocating the spray gun mounting portion in a horizontal direction,
A vertical drive mechanism for vertically moving the spray gun mounting portion,
A trigger drive unit detachably engaged with the trigger unit and applying a driving force to the trigger unit;
A drive control unit for controlling operations of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit is provided.

Further, the present invention is a coating method using the automatic coating device,
A spray gun mounting step of supporting the spray gun on the spray gun mounting part and engaging the trigger driving part with the trigger part of the spray gun;
The horizontal drive mechanism and the vertical drive mechanism apply a driving force to the trigger section by the trigger drive section while moving the spray gun mounting section in the horizontal direction or the vertical direction, and the paint nozzle applies the driving force to the paint section. And a drive control step of injecting the paint onto the object.

  According to the present invention, while the spray gun is automatically moved in the horizontal and vertical directions by the driving force from the power source such as a motor, the trigger is driven by the trigger driver to automatically spray the paint. Therefore, it is possible to avoid variations in quality such as finish and film thickness and physical variations due to splicing, and to accurately reproduce the painted skin. As a result, the coating quality can be stabilized.

  In addition, the spray gun can be detachably attached to the spray gun mounting part, so the spray gun can be removed and replaced with another spray gun, and various commercially available general spray guns can be used. it can. As a result, according to the present invention, it is possible to select various types of spray guns corresponding to various situations, such as the location of the repair location, the repair method, state, vehicle type, and paint characteristics.

  In the above invention, the trigger drive unit is advanced and retracted while being in contact with the trigger unit, and a trigger engagement unit that presses or releases the trigger unit, and the trigger engagement unit is advanced and retracted while contacting the trigger unit. And a trigger drive range setting mechanism for setting a drive range.

  In this case, a movement simulating the movement of the fingertip of the person holding the trigger can be used as the trigger engagement portion, and the drive range can be set freely, so that a commercially available spray gun can be easily adapted to this device. It is possible to easily match the characteristics of the spray guns of various companies with various coating situations.

  In the above invention, the horizontal drive mechanism includes a horizontal orbital portion that guides the spray gun mounting portion in a horizontal direction, a horizontal orbital holding portion that holds a curved state of the horizontal orbital portion, and a curved state of the horizontal orbital holding portion. It is preferable to further include a horizontal trajectory adjustment unit for adjusting the distance.

  In this case, the coating is performed at a distance or moving speed of the spray gun suitable for the horizontal curve of the surface of the workpiece by bending the horizontal track portion so as to match the horizontal curve of the surface of the workpiece. be able to. At this time, since the movement locus of the spray gun can be set by adjusting the curved state of the horizontal orbit, the visual confirmation and adjustment of the movement locus in the on-site work can be easily performed without complicated operation and knowledge. it can.

  In the above invention, the vertical drive mechanism includes: a vertical track portion that guides the spray gun mounting portion in a vertical direction; a vertical track holding portion that holds a curved state of the vertical track portion; It is preferable to further include a vertical trajectory adjustment unit for adjusting.

  In this case, the coating is performed at a distance or a moving speed of the spray gun suitable for the vertical curve of the surface of the workpiece by bending the vertical track portion so as to match the vertical curve of the surface of the workpiece. be able to. At this time, since the movement locus of the spray gun can be set by adjusting the bending state of the vertical orbit, the visual confirmation and adjustment of the movement locus in the on-site work can be easily performed without complicated operation and knowledge. it can.

  A rotating portion for rotating the spraying direction of the spray gun up and down in the above invention, a rotating control track portion for maintaining a curved state corresponding to a vertical curvature of the surface of the object to be coated; A rotation control orbit holding unit that holds the bending state of the control track unit, a rotation control orbit adjustment unit that adjusts the bending state of the rotation control track unit, and a vertical direction of the spray gun mounting unit. It is preferable to further include a rotation control unit that detects a bending state of the rotation control track unit in accordance with the movement of the rotation control unit, and rotates the rotation unit according to the detected bending state.

  In this case, the angle of the spray gun suitable for the vertical curve of the surface of the workpiece is adjusted by bending the rotation control track portion so as to match the vertical curve of the surface of the workpiece. Can be. At this time, since the change of the rotation angle of the spray gun can be set by adjusting the bending state of the rotation control track portion, visual confirmation and adjustment of the movement trajectory in the field work can be performed without complicated operation and knowledge. Can be done easily.

  Further, in the above invention, the vertical drive mechanism is disposed along a vertically erected base portion, and the base portion is disposed at one end of the horizontal drive mechanism, and at the other end side of the horizontal drive mechanism. A vertically standing support is arranged, a working space is formed between the base portion and the support, and the spray gun is movable up, down, left, and right in the working space. Is preferred.

  In this case, in the work space, the worker grasps the spray gun and places his / her finger on the trigger section so that the worker follows the movement of the spray gun so that the worker can move at the time of painting. Training can be done.

  According to these inventions, in repair painting of automobiles and the like, paint is automatically sprayed while automatically moving a spray gun in a horizontal direction and a vertical direction. Eliminates physical variability due to aging, stabilizes coating quality, and enhances the reproducibility of the applied skin, thereby starting to adjust the applied skin, removing dust and correcting the sagging (irregular coating). And labor costs and material costs such as waste paint can be reduced.

It is the perspective view which looked at the automatic coating device concerning an embodiment from the left front. It is the perspective view which looked at the automatic coating device concerning an embodiment from right front. It is the perspective view which looked at the automatic coating device concerning an embodiment from right rear. It is the perspective view which looked at the automatic coating device concerning an embodiment from left rear. It is explanatory drawing which shows the basic operation | movement of the automatic coating device which concerns on embodiment. It is a top view which shows the front-back operation | movement at the time of the horizontal movement of the spray gun which concerns on embodiment. It is a side view which shows the front-back operation at the time of the vertical movement of the gantry concerning embodiment. It is a perspective view showing trigger operation of a spray gun concerning an embodiment. It is a perspective view showing up-and-down rotation of a spray gun concerning an embodiment. FIG. 3 is a top view showing vertical rotation of the spray gun according to the embodiment. It is an explanatory view showing operation at the time of setting up-and-down rotation of a spray gun concerning an embodiment. It is a perspective view which shows the front-back movement mechanism at the time of the horizontal movement of the spray gun which concerns on embodiment. It is a top view which shows the front-back operation mechanism at the time of the horizontal movement of the spray gun which concerns on embodiment. It is an upper surface figure showing the control board concerning an embodiment. It is a front view showing the tilt operation of the horizontal gantry concerning an embodiment. It is a front view showing operation at the time of storing a horizontal stand concerning an embodiment. It is an explanatory view showing a movement locus of the spray gun according to the embodiment. It is the perspective view which looked at the automatic coating device concerning a modification from the left front. It is a front view of the automatic coating device concerning a modification. It is a side view of the automatic coating device concerning the modification 1. It is a perspective view of the automatic coating device for toning which concerns on the example 2 of a change.

(Basic configuration of automatic coating equipment)
Hereinafter, an automatic coating apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. 1 to 4 are perspective views of an automatic coating apparatus 1 according to one embodiment of the present invention.

  As shown in these figures, the automatic coating apparatus 1 of the present embodiment includes a spray gun mounting portion 11 to which the spray gun 10 is mounted, a horizontal R advance / retreat mechanism 17 that supports the spray gun mounting portion 11 so as to be able to advance and retreat, and a spraying device. The apparatus includes a horizontal drive mechanism 12 for moving the gun 10 in the horizontal direction, an elevating mechanism 13 for elevating and lowering the spray gun 10 in the vertical direction, and a base 15 serving as an apparatus main body. Further, a control panel 20 as shown in FIG. 14 is connected to the automatic coating apparatus 1 so that drive control and operation setting of the automatic coating apparatus 1 can be performed.

  The base section 15 is an apparatus main body that supports each mechanism to be described later. The base section 151 has a rectangular shape that is long in the vertical direction, and extends horizontally from the bottom 152 of the base body 151 and is radially arranged. It has four legs 153 (153a, 153b).

  The side of the base body 151 facing the object to be coated is the front surface, and on the front side, an elevating mechanism 13 and a horizontal drive mechanism 12 for moving the spray gun 10 up, down, left and right are arranged, and the center of gravity of the entire automatic coating apparatus 1 is provided. Are biased toward the front side, so that the front leg 153a is longer than the rear leg 153b, and is set to protrude toward the front.

  On the front surface of the base body 151, an elevating rack 131 for vertically moving the vertical drive unit 132 of the elevating mechanism 13 is vertically extended vertically, and the vertical drive of the elevating mechanism 13 is moved along the elevating rack 131. The part 132 can be moved up and down. The raising / lowering rack 131 is a linear gear having linear teeth. The stepping motor of the vertical drive unit 132 is meshed with the rack, and the vertical drive unit 132 is moved up and down by the rotation drive of the step motor. Further, a vertical curved rail 181 of the vertical R advance / retreat mechanism 18 is disposed on the right side surface of the base body 151, and a rotation controlling curved rail 141 of the gun angle adjusting mechanism 14 is disposed on the other left side surface.

  The control panel 20 is a device that sets and controls the operation of each mechanism provided in the present apparatus, and is electrically connected to the base body 151 and other mechanical units via a cable (not shown). I have. As shown in FIG. 14, on the operation surface of the control panel 20, direction buttons 23a to 23d for instructing the vertical and horizontal movement of the spray gun 10, and the speed and movement of the spray gun 10 in the left and right direction (x direction in the figure). A horizontal movement setting unit 21 for setting a distance and a movement range; a vertical movement setting unit 22 (22a to 22c) for setting a pitch and the like of a vertical driving unit 132; and a trigger for setting a driving range and a driving amount of the trigger driving mechanism 16. The setting knobs 24a and 24b, the hold switch 25, the main control buttons 28 (28a to 28d) for controlling a series of operations, and the main power switch 27 are arranged.

  The direction buttons 23a to 23d are switches for arbitrarily moving the horizontal drive mechanism 12 and the elevating mechanism 13 by an operator, and the spray gun 10 moves up, down, left, and right while the switches are pressed. The horizontal movement setting unit 21 includes a dial 21c for setting the moving speed of the horizontal slider 122, a display plate 21a for displaying the set speed, a moving direction switch 21d, and a mode switch 21b for switching between an execution state and a standby state. Have.

  The vertical movement setting unit 22 includes left and right lifting switches 22a and 22c for switching whether or not the vertical driving unit 132 moves on the right and left ends of the reciprocating path, and a dial 22b for adjusting a pitch of a step of descending and ascending. When both the left and right elevating switches 22a and 22c are turned on, as shown in FIG. 17A, the elevating operation is performed on both the left and right, and the ascending and descending is performed at both the forward end point and the return end point. It descends and rises zigzag. When only one of the left and right elevating switches 22a and 22c is turned ON, as shown in FIGS. 8B and 8C, the elevating operation is performed only on one of the left and right ON / OFF switches. 122 is moved up and down at each end point after reciprocating at the same height. When both of the left and right elevating switches 22a and 22c are turned off, the elevating operation is not performed on either of the left and right as shown in FIG. 3D, and the horizontal slider 122 keeps reciprocating at the same height. Becomes In FIG. 17, a control in which the robot descends while reciprocating left and right from top to bottom is illustrated. However, for example, a control in which the robot reciprocates upward and downward from left to right can also be performed.

  The trigger setting knob 24a is an adjustment knob for setting a moving amount and a moving range of the trigger engaging portion 161 before and after, and sets a driving range of the servo motor portion 162 by a maximum value and a minimum value of an operation amount. Specifically, the knob 24a sets the maximum displacement of the trigger engaging portion 161 rearward, and the knob 24b sets the maximum displacement forward (minimum rearward displacement). The hold switch 25 is a switch for switching whether to hold the trigger or release the trigger when moving vertically. The main control buttons 28a to 28d include a start button 28a, a stop button 28b, a standby button 28c, and a spray injection button 28d. The start button 28a and the stop button 28b are buttons for starting and stopping the horizontal movement and the vertical movement repeatedly performed by the horizontal movement setting unit 21 and the vertical movement setting units 22a to 22c.

  The spray gun 10 is a device that sprays a paint on an object to be coated to coat the object to be coated. More specifically, as shown in an enlarged view in FIG. 8, the spray gun 10 has a paint nozzle 10a for spraying paint at the tip of the gun body 101, and opens and closes a paint flow path to the paint nozzle 10a. It has a trigger 10c for opening and closing the needle valve 10b as a valve. A grip 10d is attached to the lower part of the gun body 101, so that an operator can put a finger on the trigger 10c by gripping the grip 10d. By pulling the trigger 10c while holding the gun body 101 while gripping the grip 10d, the needle valve 10b is retracted, and compressed air is ejected, whereby the paint in the tank 102 is ejected from the paint nozzle 10a by the negative pressure. Is done. As the spray gun 10, a commercially available general product can be used. The spray gun 10 is appropriately selected according to various conditions such as a repaired portion, a repairing method, a state, a vehicle type, and characteristics of a paint. Attached to the device.

  The spray gun 10 constitutes a part of the automatic coating apparatus 1 by being attached to the spray gun mounting section 11. The spray gun mounting portion 11 is a portion that detachably supports the spray gun 10, and includes a holder portion 111 in which a grip 10d of the spray gun 10 is detachably gripped, and is detachably engaged with a trigger 10c. A trigger driving mechanism 16 for applying a driving force to 10c is provided. The holder portion 111 is a jig for detachably fixing the grip 10d, and includes a clip mechanism and a vise mechanism for sandwiching the grip 10d and an auxiliary member such as an adapter fitted to the grip 10d with a strong magnet or the like. Indirect fixing means such as detachably fixing with a fixing tool or the like is also included.

  The trigger 10c is a mechanism that performs an operation of gripping the trigger 10c of the spray gun 10 like a human finger, and is moved forward and backward while being in contact with the trigger 10c, and a trigger engaging portion 161 that presses or releases the trigger 10c; And a servo motor section 162 for moving the trigger engaging section 161 back and forth. The trigger engaging portion 161 is a member obtained by bending a rod member into an L-shape, and is formed so as to extend from the servo motor portion 162 disposed behind the spray gun 10 to the trigger 10c, so that the bent portion is hooked on the trigger 10c. , And can be moved back and forth by a servo motor unit 162.

  Further, in the present embodiment, the control panel 20 constitutes a part of the trigger drive range setting mechanism, and the control panel 20 moves forward and backward with respect to the servo motor section 162 while the trigger engaging section 161 contacts the trigger 10c. The drive range is set. Accordingly, by moving the trigger engaging portion 161 back and forth, it is possible to cause the trigger engaging portion 161 to perform a movement similar to a fingertip of a person holding the trigger.

  The rear end side of such a spray gun mounting portion 11 is connected to a horizontal R advance / retreat mechanism 17. This connection portion includes a gun as a rotating portion for rotating the spray direction of the spray gun 10 up and down. An angle actuator 144 is provided, and as shown in FIG. 9, the spray gun mounting unit 11 is raised and lowered through the gun angle actuator 144. The gun angle actuator 144 is a driving source that constitutes a part of the lateral R advance / retreat mechanism 17, is rotated up and down based on control by the control panel 20, and moves the spray gun mounting unit 11 up and down with respect to the advance / retreat arm 172. Raise it.

  The reciprocating arm 172 is a rod-shaped support member for moving the spray gun mounting portion 11 including the spray gun 10 back and forth in the paint spraying direction of the spray gun 10. It is connected. The horizontal drive mechanism 12 is a mechanism that slides and moves the spray gun 10 in a horizontal direction (x direction in the drawing) orthogonal to the spray direction of the spray gun 10 along a straight rail 121 laid on a horizontal gantry 123. . A horizontal slider 122 is slidably engaged with the linear rail 121, and an advance / retreat arm 172 is connected to the horizontal slider 122.

  When the horizontal slider 122 slides in the horizontal direction along the straight rail 121, the reciprocating arm 172 is also moved in the horizontal direction following the horizontal slider 122. As a result, the spray gun 10 connected to the tip of the reciprocating arm 172 is consequently moved. Is moved in the horizontal direction. Along with the horizontal movement of the advance / retreat arm 172, the lateral R advance / retreat mechanism 17 moves the advance / retreat arm 172 back and forth in the y direction in FIG. It has become so.

  On the other hand, the rear end side of the horizontal pedestal 123 is connected to the base main body 151 via the elevating mechanism 13 so as to be vertically movable. The elevating mechanism 13 is a drive source that slides the horizontal gantry 123 up and down with respect to the base body 151, and is moved up and down based on control by the control panel 20.

  More specifically, an elevating rack 131, which is a linear gear extending in the vertical direction, is provided on the front surface of the base body 151. The elevating mechanism 13 includes a gear that meshes with the elevating rack 131. Ascending and descending by rotating with a step motor. As the elevating mechanism 13 moves up and down, the horizontal gantry 123 is also moved in the vertical direction (z direction in the figure), and is connected to the horizontal drive mechanism 12 on the horizontal gantry 123 and the tip of the reciprocating arm 172 of the horizontal drive mechanism 12. The spray gun 10 is moved up and down.

  Further, as the horizontal pedestal 123 moves up and down, the vertical R advance / retreat mechanism 18 moves the advance / retreat arm 182 of the vertical R advance / retreat mechanism 18 in the front-rear direction (y direction in the drawing). The spray gun 10 connected to the tip of the arm 182 is slid in the y direction in the drawing. The forward / backward movement of the forward / backward arm 182 causes the forward / backward arm 182 to move back and forth in the ejection direction (the y direction in the figure) following the bending of the vertical curved rail 181.

  Further, as the horizontal gantry 123 moves up and down, the gun angle adjusting mechanism 14 moves the reciprocating arm 142 of the gun angle adjusting mechanism 14 in the front-rear direction (y direction in the figure) following the movement. The angle actuator 144 is rotated, and the spray gun 10 connected to the tip of the reciprocating arm 142 is raised and lowered.

  Further, since the paint used in the automatic coating apparatus 1 basically contains a flammable component, it has an explosion-proof structure. As the explosion proof, for example, even if the explosive gas enters the container of the electrical equipment and explodes inside, the container withstands the explosion pressure and there is no danger of igniting the external explosive gas. In order to prevent electric sparks from being generated during normal operation or in a portion where high temperatures should not be generated, a safety-enhanced explosion-proof structure having an increased degree of safety, particularly in terms of structure and temperature rise, may be mentioned.

(Configuration of each part)
The configuration of each part of the automatic coating apparatus 1 having the above basic configuration will be described in detail.

(1) Horizontal drive mechanism 12
The horizontal drive mechanism 12 is a mechanism that horizontally reciprocates the spray gun mounting unit 11 along the horizontal direction (x direction in the figure) of the object to be coated, and includes a horizontal mount 123, a linear rail 121, and a horizontal slider 122. It is composed of

  The horizontal gantry 123 is a horizontal plate-like member extending in the horizontal direction (x direction in the drawing) of the object to be coated, and is supported on the lower surface side by the vertical drive unit 132 of the lifting mechanism 13 in the vertical direction. That is, it is moved up and down along the vertical direction (z direction in the figure) of the object to be coated. Further, the horizontal gantry 123 is connected to the vertical drive unit 132 so as to be horizontally slid relative to the vertical drive unit 132 in the front-rear direction, that is, in the direction approaching and separating from the object to be coated (the y direction in the drawing).

  On the lower surface side of the horizontal pedestal 123, there is provided an advancing / retreating arm 182 which projects rearward and is provided so as to face the right side surface of the base body 151. The reciprocating arm 182 forms a part of the vertical R reciprocating mechanism 18, and the reciprocating arm 182 moves in the front-rear direction (y direction in the drawing) following the bending of the vertical curved rail 181 as the horizontal frame 123 moves up and down. Be retired. With the advance / retreat of the advance / retreat arm 182, the vertical drive unit 132 and the mechanisms on the vertical drive unit 132 are collectively slid in the y direction in the drawing.

  Further, at a connection portion between the horizontal gantry 123 and the vertical drive unit 132, a rotating shaft projecting so as to be horizontal in a direction (y direction) toward the object to be coated Ob1 is provided. The horizontal gantry 123 is rotatably supported by a shaft, and the moving direction of the horizontal slider 122 is inclined as shown in FIG. This allows the horizontal slider 122 to reciprocate obliquely with respect to the horizontal. By using this rotating mechanism, as shown in FIG. 16, the horizontal gantry 123 can be rotated 90 ° to stand along the height direction (z direction) of the main body 151, and the space required for storage is reduced. can do.

  The linear rail 121 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal stand 123, and is a groove that extends linearly along the lateral direction (x direction in the drawing) of the object to be coated. It is in a state.

At both ends (start and end) of the linear rail 121, limit switches are provided as regulating means for setting the sliding range of the horizontal slider 122. The limit switch is a pair of members movably arranged at positions at the start and end of the horizontal slider 122 on the linear rail 121, for example, a magnet or a convex portion movably adhered inside the linear rail 121. And the horizontal slider 122 is fixed at an arbitrary position where the horizontal slider 122 is desired to be inverted.

  Further, the bottom of the groove-shaped linear rail 121 communicates with a belt case 124 provided on the lower surface of the horizontal gantry 123, and the belt case 124 is circulated along the longitudinal direction of the linear rail 121. An endless orbiting belt 125 is wound around the reels at both ends, and is driven to rotate by a motor or the like. The horizontal slider 122 is a driving unit which is slidably engaged with the groove-shaped linear rail 121 and reciprocates along the linear rail 121 in the horizontal direction (x direction in the drawing) of the object to be coated.

  The horizontal slider 122 reciprocates left and right as the orbital drive of the orbiting belt 125 rotates forward and backward. The orbiting belt 125 is an endless (annular) member such as a belt, a chain, and a wire. The orbiting belt 125 is wound around a reel or a motor pinion, and is driven and driven by these driving sources. The moving range and the moving speed of the horizontal slider 122 are set and controlled by the control panel 20. Note that the horizontal slider 122 may be driven by a method in which a power source such as a step motor is built in the horizontal slider 122 and the slider is driven by itself.

  A reciprocating arm 172 is connected to the upper part of the horizontal slider 122. When the horizontal slider 122 slides in a horizontal direction along the linear rail 121, the reciprocating arm 172 is also moved in the horizontal direction. With the movement of the reciprocating arm 172 in the horizontal direction, the reciprocating arm 142 is moved back and forth in the y direction in FIG. Is back and forth.

(2) Lifting mechanism 13
The elevating mechanism 13 is a mechanism that moves the spray gun mounting unit 11 in the vertical direction along the lateral direction (x direction in the figure) of the object to be coated, and includes a lifting rack 131 and a vertical driving unit 132. You.

  The lifting / lowering rack 131 is a vertical track portion that guides the spray gun mounting portion 11 in the vertical direction on the front surface of the base body 151, and extends linearly along the vertical direction (z direction in the drawing) of the object to be coated. Has been established. The vertical driving unit 132 is a driving unit which is slidably engaged with the lifting rack 131 and drives the lifting and lowering of the object to be coated in the vertical direction (z direction in the drawing) along the lifting rack 131. Specifically, the vertical drive unit 132 includes a gear that meshes with a lifting rack 131 provided on the front surface of the base body 151, and moves up and down by rotating this gear with a step motor or the like. The elevation drive of the vertical drive unit 132 is performed by a power source such as a step motor built in the vertical drive unit 132. In addition, as the mechanism for driving up and down, in addition to the method in which a power source is built in the vertical drive unit 132, a method in which a chain mechanism or a wire mechanism for moving the vertical drive unit 132 on the base body 151 side is provided. it can. The moving range, moving speed, and moving timing of the vertical drive unit 132 are set and controlled by the control panel 20.

  As the vertical drive unit 132 moves up and down, the horizontal gantry 123 supported by the vertical drive unit 132 also moves in the vertical direction (z direction in the figure), and the horizontal drive mechanism 12 on the horizontal gantry 123 and this horizontal drive The spray gun 10 connected to the mechanism 12 is moved up and down in a lump. In addition, the horizontal frame 123 is moved up and down by the vertical drive unit 132 being moved up and down, and with the vertical frame 123 being moved up and down, the reciprocating arm 182 follows the bending of the vertical curved rail 181 and moves in the front-rear direction (the y direction in the figure). Will be retired. With the advance / retreat of the advance / retreat arm 182, the vertical drive unit 132 and the mechanisms on the vertical drive unit 132 are collectively slid in the y direction in the drawing, and the ejection position of the spray gun 10 is moved forward and backward.

(3) Lateral R advance / retreat mechanism 17
As shown in FIG. 6, the horizontal R advance / retreat mechanism 17 moves the spray gun 10 in the horizontal direction with the horizontal movement of the horizontal slider 122 in the horizontal direction, that is, in the horizontal direction (x direction in the figure) of the object Ob1. This is a mechanism that changes the movement trajectory. Specifically, the lateral R advance / retreat mechanism 17 holds the curved state of the horizontal curved rail 171 and the horizontal curved rail 171 that is a horizontal orbital section that guides the spray gun mounting section 11 in the horizontal direction. It comprises a curved rail holding part 173 for adjusting the state and an advancing / retreating arm 172.

  The horizontal curved rail 171 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal gantry 123, and is extended so as to be capable of bending along the lateral direction (the x direction in the drawing) of the object Ob1. ing. The horizontal curved rail 171 is formed of a material and a thickness that can be bent, and for example, an iron plate or a hard plastic can be used. The horizontal curved rail 171 of this embodiment is fixed on the horizontal gantry 123 by four curved rail holders 173.

  The curved rail holding section 173 has a screw section 173a as a horizontal track adjusting section, a fixing jig 173b as a horizontal track holding section, and a connecting section 173c. Each fixing jig 173b is fixed at a predetermined interval in the x direction on the horizontal gantry 123, and a portion provided with a screw hole is erected vertically with respect to the upper surface of the horizontal gantry 123, and a screw portion 173a is provided in the screw hole. It is screwed in the y direction. The connecting portion 173c is a support member fixed to the lower end of the horizontal curved rail 171. The connecting portion 173c is connected to the tip of the screw portion 173a, and moves back and forth in the y direction according to the screwing position of the screw portion 173a with the fixing jig 173b. Is done. Thereby, the screw portion 173a is screwed to the fixing jig 173b and fixed to the upper surface of the horizontal gantry 123, and the length from the screwing position to each fixing jig 173b to the connecting portion 173c at the tip is changed. The horizontal curved rail 171 is installed on the horizontal gantry 123 so as to be curved in the y direction in the figure.

  The horizontal slider 122 is slidably engaged with the linear rail 121 as shown in an enlarged manner in FIGS. 12 and 13, and reciprocates along the linear rail 121 in the lateral direction (the x direction in the drawing) of the object to be coated. It is a driving unit for driving. The reciprocating drive of the horizontal slider 122 is performed by a power source such as a step motor built in the horizontal slider 122. In addition, as a mechanism for performing the reciprocating drive, a method in which a power source is built in the horizontal slider 122, or a method in which a chain mechanism or a wire mechanism for moving the horizontal slider 122 is provided in the horizontal pedestal 123 can be used. The moving range and the moving speed of the horizontal slider 122 are set and controlled by the control panel 20.

  The reciprocating arm 172 is connected to the upper part of the horizontal slider 122. The reciprocating arm 172 is a member that supports the spray gun mounting portion 11, is disposed so as to be orthogonal to the linear rail 121, and is engaged with the horizontal slider 122 so as to be slidable in the x direction. I have. On the upper surface of the horizontal slider 122, a pair of support rollers 122a and 122b arranged in the front-rear direction (x direction) are arranged, and the support rollers 122a and 122b sandwich the advance / retreat arm 172. Following the guide of the gripping roller 172a on the rear end side, it is driven in the y direction. The gripping rollers 172a, 172a are provided at a rear end of the lower surface of the reciprocating arm 172 so as to protrude downward and forward and backward, and grip the front and back of the horizontal curved rail 171.

  With such a configuration, in the horizontal R advance / retreat mechanism 17, the horizontal slider 122 slides linearly in the horizontal direction (x direction) along the linear rail 121, and accordingly, the advance / retreat arm 172 also moves in the horizontal direction. With the movement of the reciprocating arm 172 in the horizontal direction (x direction), the gripping rollers 172a, 172a move back and forth in the y direction in the figure following the curve of the horizontal curved rail 171. As a result, the reciprocating arm 172 is moved back and forth in the y direction in the figure, and the spray position of the spray gun 10 is moved back and forth.

(4) Vertical R advance / retreat mechanism 18
As shown in FIG. 7, the vertical R advance / retreat mechanism 18 moves the spray gun 10 in the vertical direction with the vertical movement of the horizontal gantry 123 in the vertical direction, that is, the vertical direction (z direction in the figure) of the object Ob1. This is a mechanism for changing the trajectory in the y direction. Specifically, as shown in FIG. 7, the vertical R advance / retreat mechanism 18 includes a vertical curved rail 181 that is a vertical track part that guides the spray gun mounting unit 11 in a vertical direction (z direction in the figure), and a vertical curved rail 181. It is composed of a curved rail holding section 183 that holds the curved state and adjusts the curved state of the vertical curved rail 181, and an advance / retreat arm 182.

  The vertical curved rail 181 is a vertical track portion that guides the horizontal gantry 123 in the vertical direction on the right side surface 151a of the base body 151, and is capable of bending along the vertical direction (the y direction in the drawing) of the object Ob1. It has been extended. The vertical curved rail 181 is formed of a material and a thickness that can be bent. For example, an iron plate or a hard plastic can be used. The vertical curved rail 181 of the present embodiment is fixed to the right side surface 151a of the base body 151 by four curved rail holding portions 183.

  The curved rail holding section 183 has a screw section 183a as a vertical track adjusting section, a fixing jig 183b as a vertical track holding section, and a connecting section 183c. Each fixing jig 183b is fixed at a predetermined interval in the z direction on the right side surface 151a, and a portion provided with a screw hole is erected perpendicularly to the right side surface 151a. It is screwed in the direction. The connecting portion 183c is a support member fixed to the left end of the vertical curved rail 181. The connecting portion 183c is connected to the tip of the screw portion 183a, and moves back and forth in the y direction according to the screwing position of the screw portion 183a with the fixing jig 183b. Is done. As a result, the screw portion 183a is screwed to the fixing jig 183b and fixed to the right side surface 151a. By changing the length from the screwing position to each fixing jig 183b to the connecting portion 183c at the tip end, The vertical curved rail 181 is installed on the right side surface 151a so as to be curved in the y direction in the drawing.

  The reciprocating arm 182 is a member connected to the horizontal gantry 123, is disposed so as to be orthogonal to the lifting rack 131, and is engaged with the horizontal gantry 123 so as to be slidable in the z direction. The reciprocating arm 182 follows the guidance of the rear-side grip rollers 182a, 182a, and is driven in the y direction. The gripping rollers 182a, 182a are provided in a pair at the rear end of the side surface of the advance / retreat arm 182 toward the right side surface 151a, and grip the front and back of the vertical curved rail 181.

  With such a configuration, in the vertical R advance / retreat mechanism 18, the vertical drive unit 132 slides linearly in the vertical direction (z direction) along the elevating rack 131, and the advance / retreat arm 182 follows the vertical drive unit 132. The gripping rollers 182a, 182a are moved in the vertical direction (z direction) with the vertical movement (z direction) of the advance / retreat arm 182 following the bending of the vertical bending rail 181. The reciprocating arm 182 is moved back and forth in the y direction in the figure, and the ejection position of the spray gun 10 is moved back and forth.

(5) Gun angle adjusting mechanism 14
As shown in FIG. 10, the gun angle adjusting mechanism 14 moves the curved rail 141 for rotation control in accordance with the vertical movement of the horizontal gantry 123 in the vertical direction, that is, the vertical direction (z direction in the figure) of the object Ob1. This is a control mechanism that detects the bending state by the gun angle sensor 145 and rotates the gun angle actuator 144 according to the detected bending state. Specifically, the gun angle adjusting mechanism 14 includes a rotation control curved rail 141 that is a vertical orbit portion that guides the spray gun mounting unit 11 in a vertical direction (z direction in the drawing), and a curve of the rotation control curved rail 141. It is composed of a curved rail holding section 143 that holds the state and adjusts the curved state of the rotation control curved rail 141, and an advance / retreat arm 142.

  The curved rail 141 for rotation control is a vertical track portion for guiding the horizontal gantry 123 in the vertical direction on the left side surface 151b of the base body 151, and extends along the vertical direction (the y direction in the drawing) of the object Ob1. It is extended to bendable. The rotation control curved rail 141 is formed of a material and a thickness that can be bent, and for example, an iron plate or a hard plastic can be used. The rotation control curved rail 141 of the present embodiment is fixed to the left side surface 151b of the base body 151 by four curved rail holding portions 143. In the present embodiment, the rotation control curved rail 141 and the above-described vertical curved rail 181 are provided on both left and right sides of the base body 151, respectively, at line-symmetric positions sandwiching the base body 151, They are arranged so as to be parallel to each other.

  The curved rail holding section 143 has a screw section 143a as a vertical track adjusting section, a fixing jig 143b as a vertical track holding section, and a connecting section 143c. Each fixing jig 143b is fixed at predetermined intervals in the z direction on the left side surface 151b, and a portion provided with a screw hole is erected perpendicularly to the right side surface 151a. It is screwed in the direction. The connection portion 143c is a support member fixed to the left end of the rotation control curved rail 141, is connected to the tip of the screw portion 143a, and moves in the y direction according to the screwing position of the screw portion 143a with the jig 143b. Moved back and forth. As a result, the screw portion 143a is screwed to the fixing jig 143b and fixed to the left side surface 151b, and the length from the screwing position to each fixing jig 143b to the connecting portion 143c at the tip is changed. The rotation control curved rail 141 is installed on the left side surface 151b so as to be curved in the y direction in the drawing.

  The reciprocating arm 142 is a member disposed to face the gun angle sensor 145, is disposed so as to be orthogonal to the elevating rack 131, and is slidably engaged with the horizontal stand 123 in the z direction. Have been. The reciprocating arm 142 follows the guide of the gripping rollers 142a, 142a on the rear end side, and is driven in the y direction. The grip rollers 142a, 142a are provided in a pair at the rear end of the side surface of the advance / retreat arm 142 toward the right side surface 151a, and grip the front and back of the rotation control curved rail 141.

  The gun angle sensor 145 is a detector that detects the bending state of the rotation control bending rail 141 in accordance with the vertical movement of the spray gun mounting unit 11. The components are separated from each other and fixed to the vertical driving unit 132, and move only in the vertical direction (z direction) together with the vertical driving unit 132 without moving back and forth (y direction). The gun angle sensor 145 has a built-in encoder for measuring the moving distance of the advance / retreat arm 142, and the tip of the advance / retreat arm 142 is inserted into the gun angle sensor 145, and the horizontal direction (y direction) with respect to the gun angle sensor 145. The relative movement of the reciprocating arm 142 is detected and converted into a bending angle of the rotation control bending rail 141 (an angle in a tangential direction with respect to a vertical direction, an angle in a normal direction, or the like).

  The method of converting the bending of the rotation control bending rail 141 into the gun angle will be described in detail. In this embodiment, two types of settings are possible. As shown in FIG. 11 (a), when the horizontal is set to 0 ° and the gun is turned up and down in the range of 45 ° to 45 ° (−45 °), the angle is used for rotation control. This is set according to the degree of bending of the bending rail 141. For example, as in a curve line CL1 shown in FIG. 3B, a time when the elevation angle is 0 ° is set as a reference line, and the elevation angle is set in proportion to a distance away from the reference line. In this case, the elevation angle of the gun can be visually grasped by the distance from the reference line, and the setting can be made. At this time, as shown in FIG. 11C, the gun angle may be set to a reversal line ReL of the curve line, and the sign of the elevation angle may be reversed at the reversal line ReL. In this case, by matching the curvature of the rotation control bending rail 141 with the curvature of the surface of the object Ob1, the elevation of the gun angle can be adjusted, and visual setting can be facilitated. Further, as shown in FIG. 3D, the conversion may be performed so that the normal direction (perpendicular direction) of the curve line CL1 becomes the gun angle. Also in this case, the elevation of the gun angle can be adjusted by matching the curvature of the rotation control bending rail 141 with the curvature of the surface of the object Ob1.

  With such a configuration, in the gun angle adjusting mechanism 14, the vertical drive unit 132 slides linearly in the vertical direction (z direction) along the elevating rack 131, and accordingly, the reciprocating arm 142 follows. The gripping rollers 142a, 142a are moved in the vertical direction (z direction) in accordance with the movement of the advance / retreat arm 142 in the vertical direction (z direction), and follow the bending of the rotation control bending rail 141 in the y direction in the figure. As a result, the reciprocating arm 142 is moved back and forth in the y direction in the drawing, and the relative movement of the reciprocating arm 142 in the horizontal direction (y direction) with respect to the gun angle sensor 145 is detected, so that the gun angle actuator 144 according to the detected bending state. Is rotated, and the spray angle of the spray gun 10 is raised and lowered. Here, the spray gun 10 is controlled so that the spray direction of the spray gun 10 is oriented in a direction perpendicular to the rotation control curved rail 141, that is, in a direction perpendicular to the tangent direction of the curve.

(Operation of automatic coating equipment)
By operating the automatic coating apparatus 1 described above, the coating method of the present invention can be performed. FIG. 5 is an explanatory diagram showing a basic operation of the automatic coating apparatus 1.

  First, a spray gun mounting step of mounting and supporting the spray gun 10 on the spray gun mounting portion 11 and engaging the trigger engaging portion 161 of the trigger drive mechanism 16 with the trigger 10c of the spray gun 10 is performed. At this time, as the spray gun 10 to be attached, a commercially available general product can be used, and the spray gun 10 is appropriately selected according to various situations such as a repaired portion, a repairing method, a state, a vehicle type, and paint characteristics. You.

  Next, in the control panel 20, an operation setting and a coating start position are set. Specifically, the horizontal movement setting unit 21 sets the speed and movement distance (movement range) of the spray gun 10 in the left-right direction (x direction in the figure), and the vertical movement setting units 22a to 22c control the vertical drive unit 132. Set the amount of movement per step. At the same time, the driving range and the driving amount of the trigger driving mechanism 16 are set by the trigger setting knobs 24a and 24b. Specifically, the knob 24a controls the maximum displacement of the trigger engaging portion 161 rearward in accordance with the selected characteristics of the spray gun 10 and the location of the repair location and the repair method, state, vehicle type, paint characteristics, and the like. Is set, and the maximum forward displacement (minimum backward displacement) is set with the knob 24b.

  Then, a driving force is applied to the trigger 10c by the trigger driving mechanism 16 while the spray gun mounting part 11 is moved in the horizontal direction or the vertical direction by the horizontal driving mechanism 12 and the elevating mechanism 13, and the object to be coated is drawn from the paint nozzle 10a. A drive control step of injecting paint to Ob1 is performed.

  As shown in FIG. 5A, the spray gun 10 is moved up, down, left and right by the direction buttons 23a to 23d on the control panel 20 to set the coating start position. Thereafter, a series of operations is started by pressing the start button 28a of the control panel 20.

  When the operation is started, as shown in FIG. 5B, the spray gun mounting unit 11 is horizontally moved by the horizontal drive mechanism 12 along the lateral direction (the x direction in the figure) of the workpiece. At this time, the horizontal R advance / retreat mechanism 17 causes the horizontal movement of the spray gun 10 along with the horizontal movement of the horizontal slider 122 along the horizontal direction (x direction in the figure) of the object Ob1, as shown in FIG. Is changed.

  Next, as shown in FIG. 5B, when the spray gun 10 reaches the moving distance set by the horizontal movement setting unit 21, the horizontal slider 122 stops, and as shown in FIG. The vertical drive unit 132 is lowered by one step in accordance with the settings made by the setting unit 22 (left and right up / down switches 22a and 22c, dial 22b). At the time of this lowering, the vertical R advance / retreat mechanism 18 causes the vertical movement of the spray gun 10 along with the vertical movement of the horizontal gantry 123 in the vertical direction (the z direction in the figure) of the object Ob1, as shown in FIG. The movement trajectory is changed in the y direction. At the same time, as shown in FIG. 10, the gun angle adjusting mechanism 14 controls the rotation of the object to be coated Ob1 in accordance with the vertical movement of the horizontal gantry 123 in the vertical direction (z direction in the figure). The bending state of the bending rail 141 is detected by the gun angle sensor 145, and the gun angle actuator 144 is rotated according to the detected bending state.

  Thereafter, the horizontal movement mechanism 12 restarts the horizontal movement of the spray gun mounting portion 11 in the opposite direction along the lateral direction (the x direction in the drawing) of the object Ob1, and repeats the horizontal movement and the downward movement. Thus, the coating is automatically repeated over the entire surface of the object Ob1.

(Modification 1)
The description of the above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various changes can be made according to the design and the like without departing from the technical idea according to the present invention. In the following modifications, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the functions and the like are the same unless otherwise specified, and description thereof will be omitted.

  For example, in the above-described embodiment, the base main body 151 is disposed at the center of the apparatus, and the automatic coating apparatus 1 is supported only by the base main body 151. However, the base main body 151 is disposed at one end of the horizontal frame 123. Alternatively, a support 191 that stands vertically on the other end side may be arranged to form a gate shape as a whole, and the base body 151 and the support 191 may support the device. 18 to 20 are a perspective view, a front view, and a side view of an automatic coating apparatus according to a modification.

  As shown in FIGS. 18 to 20, in the automatic coating apparatus 1 ′ according to the present modification, the base body 151 is set upright by legs 192 a extending in the y direction in the drawing below the base body 151. It is held and assisted by the support 191 arranged on the opposite side of the horizontal stand 123. The support body 191 is held at its lower part by a leg portion 192b extending in the y direction in the figure, and the leg portion 192a and the leg portion 192b are connected to each other by a connecting member 193. An auxiliary slider 195 slidable up and down is fitted to the support 191. The auxiliary slider 195 supports the other end of the horizontal pedestal 123 via a support member 194 horizontally protruded from the auxiliary slider 195. I have. The auxiliary slider 195 is provided with an auxiliary rack 133 as a mechanism for moving up and down following the vertical drive unit 132. The auxiliary rack 133 is laid along the height direction of the support 191, and a gear that is driven to rotate in synchronization with the vertical drive unit 132 is built in the auxiliary slider 195, and the gear rotates. As a result, the auxiliary slider 195 moves up and down together with the vertical drive unit 132, so that the horizontal frame 123 is kept horizontal.

  According to the automatic coating apparatus 1 'according to this modified example, the working space S1 is formed between the base body 151 and the support 191 and the spray gun 10 is moved up, down, left, and right in the working space S1. The Rukoto. The worker can enter the work space S1. In the work space S1, the worker grasps the grip 10d of the spray gun 10 and puts his / her finger on the trigger engaging portion 161 to horizontally move. The body movement follows the operation of the spray gun 10 by the driving mechanism 12, the elevating mechanism 13, the trigger driving mechanism 16, and other mechanisms. Thereby, the worker can perform training of body movement at the time of painting.

(Modification 2)
As another modified example, before starting the painting work by the automatic painting device 1 or 1 ′ described in the above-described embodiment and the modified example, an adjustment automatic painting device for performing test spraying and performing fine color adjustment is used. You may do so. FIG. 21 is a perspective view of the toning automatic coating device 4 according to this modification. The automatic coating device 4 for toning is a test spray coating device on a small desk, and is provided with a spray gun 10 that is to be used in the automatic coating device 1 or 1 ′ described in the above-described embodiment and modifications. 1 or 1 ′, and attached to the small-sized automatic toning device 4, so that test spraying can be easily performed.

  As shown in the figure, in the automatic toning device 4 according to the present modification, the spray gun 10 is fixed to the base body 41 so as to be finely adjustable, and the object to be coated Ob2 for test blowing is vertically and horizontally. The paint is ejected from the spray gun 10 by relative movement. The object to be coated Ob2 for test blowing is, for example, a plate having a size of 20 cm × 10 cm, and is formed and installed under the same conditions as those in the actual coating.

  Specifically, the automatic coating apparatus 4 for toning includes a spray gun mounting unit 11, a trigger driving mechanism 16, and a gun angle actuator 144 having the configuration and function described in the above-described embodiment and modified examples, A structure is provided in which the base body 41 is connected to the base main body 41 via a front and rear movement rail 47 for fine adjustment.

  The base body 41 according to the present modification is a frame that is installed horizontally, and the rear ends of a pair of horizontal members 41a, 41a that are arranged in parallel along the y direction in the drawing are in the x direction in the drawing. Are connected by a connecting member 41b extending to form a U-shape. At the front end portions of the horizontal members 41a, 41a, the lower ends of a pair of vertical members 42, 42 vertically erected along the z direction in the drawing are fixed, and the respective horizontal members 41a, 41a and the vertical member 42 are fixed. , 42 are L-shaped in side view. At the upper ends of the vertical members 42, 42, a horizontal rail 43 is laid along the x direction in the drawing so as to be parallel to the connecting member 41b, and the upper ends of the pair of vertical members 42, 42 are mutually connected via the horizontal rail 43. It is connected to.

  A horizontal movement slider 44 is attached to the horizontal rail 43 so as to horizontally move left and right (x direction in the figure). A vertically moving rail 45 is hung downward in the vertical direction (z direction in the figure) on the horizontal movement slider 44, and a vertically moving slider 46 is vertically suspended in the vertically moving rail 45 (z direction in the figure). ) So that it can move vertically. The test-blow coating object Ob2 is attached to the vertical movement slider 46 so as to face the spray gun 10. The horizontal movement slider 44 and the vertical movement slider 46 have built-in driving means for sliding movement, and their operations are controlled by the control unit 40.

  The fine-adjustment longitudinal movement rail 48 is a guide member extending from the connecting member 41b along the y direction in the drawing so as to reach the installation position of the object Ob2. An adjustment front-rear movement slider 47 is slidably fitted in the front-rear direction (y direction in the drawing). A holder 111 is rotatably connected to the fine adjustment front-rear slider 47 via a gun angle actuator 144. The grip 10d of the spray gun 10 is attached to and detached from the holder 111 by a mechanism such as a magnet or a clip. It is fixed as possible. Further, a trigger engagement portion 161 driven by a servo motor portion 162 is attached to the holder portion 111, and the trigger engagement portion 161 also rotates up and down following the vertical rotation by the gun angle actuator 144. It is supposed to.

  By attaching the grip 10d of the spray gun 10 to the fine adjustment front-rear movement slider 47 by these mechanisms, the position of the spray gun 10 can be moved back and forth along the fine adjustment front-rear movement rail 48, and the gun angle actuator can be used. 144 allows the jetting direction to be turned up and down (swinging). Note that the control unit 40 can remotely control the forward and backward movements, the swing of the spray gun 10, the ejection operation, and the driving of the object Ob2 up, down, left, and right. This remote control function may be appropriately omitted depending on the target drive mechanism, and may be manually operated as necessary.

  In this modified example, such an automatic toning device 4 for color toning is installed in the work space 3a in the exhaust device 3 to perform operations such as test blowing and fine color toning. The exhaust device 3 is a local exhaust device that sucks a surplus of paint sprayed from the spray gun 10 toward the object Ob2 behind the object Ob2 and exhausts the same to the outside. The air is exhausted to the outside by the exhaust part 31 at the upper part of the air main body in the work space 3a through the filter part 32 installed behind the air conditioner. The base body 41 may be provided with an engagement means for fixing the exhaust device 3 in the work space 3a.

  According to the automatic coating apparatus 4 for toning according to the present modified example, the spray gun 10 that actually performs the coating in the automatic coating apparatus 1 or 1 ′ described in the embodiment and the modified example is detached and a simple test is performed. Blowing can be done. For this reason, the spray gun 10 can be installed in the automatic coating apparatus 1 or 1 'as it is after performing fine color adjustment under the same conditions as the actual coating environment, and it is easily confirmed that there is no color difference. be able to.

(Action / Effect)
According to the embodiment described above, the spray gun 10 is automatically moved in the horizontal and vertical directions by the driving force of the motor or the like, and the trigger drive unit drives the trigger unit to automatically control the injection of paint. Therefore, it is possible to avoid variations in quality such as finish and film thickness and physical variations due to splicing, and to accurately reproduce the painted skin. As a result, the coating quality can be stabilized.

  In addition, since the spray gun 10 can be detachably attached to the spray gun mounting portion 11, the spray gun can be removed and replaced with another spray gun, and various types of commercially available general spray guns can be used. Can be. As a result, according to the present embodiment, it is possible to select various types of spray guns corresponding to various situations, such as the location of the repair location, the repair method, state, vehicle type, and paint characteristics.

  Further, in the present embodiment, since a movement simulating the movement of a fingertip of a person holding the trigger is made to be the trigger engagement portion 161 and its driving range can be freely set by the control panel 20, a commercially available spray gun can be used. Can easily be adapted to the apparatus, and the characteristics of the spray guns of various companies can be easily matched with various coating situations.

  Furthermore, in this embodiment, by bending each rail so as to match the vertical and horizontal curves of the surface of the object Ob1, the distance, moving speed, and gun speed of the spray gun suitable for the curve of the surface of the object Ob1 are adjusted. The painting can be performed at an angle, and the visual confirmation and adjustment of the movement trajectory in the on-site work can be easily performed without requiring complicated operation and knowledge. In this embodiment, the curved rail for setting the distance of the spray gun to the object Ob1 and the curved rail for setting the gun angle of the spray gun are separately provided, so that the curved shape of the object Ob1 is obtained. Since the setting operation of the spray distance to match and the gun angle adjustment that matches the attitude control of the spray gun giving priority to the spraying direction of the paint can be set independently and visually, workability according to the actual situation at the site can be achieved. Can be realized.

  Further, in the above-described embodiment, the base body 151 is configured to stand upright on the floor surface by the legs 153. However, for example, the base body 151 is arranged so that the side of the base body 151 where the spray gun is arranged faces downward. 151 is suspended or fixed to the ceiling of the building, and further, the gate-type base body 151 and the support body 191 are enlarged so as to straddle an object to be coated such as a car. Alternatively, the paint may be sprayed such that the upper surface of the object to be coated such as the roof of an automobile is directed downward from above.

S1: Work space Ob1: Workpiece to be coated Ob2: Workpiece to be sprayed for test 1 ... Automatic coating device 3: Exhaust device 3a: Work space 4: Automatic coating device for toning 10: Spray gun 10a: Paint nozzle 10b: Needle valve 10c Trigger 10d Grip 11 Spray gun mounting part 12 Horizontal drive mechanism 13 Lifting mechanism 14 Gun angle adjustment mechanism 15 Base 16 Trigger drive mechanism 17 Horizontal R advance / retreat mechanism 18 Vertical R advance / retreat mechanism 20 ... Control panel 21 ... Horizontal movement setting part 22a-22c ... Vertical movement setting part 23a-23d ... Direction button 24a, 24b ... Trigger setting knob 25 ... Hold switch 26a, 26b ... Brake button 27 ... Main power switch 28a-28d ... Main Control button 31 ... Exhaust unit 32 ... Filter unit 40 ... Control unit 41 ... Base 41a, 41a ... Horizontal member 41b ... Connecting member 42, 42 ... Vertical member 43 ... Horizontal rail 44 ... Horizontal slider 45 ... Vertical slider 46 ... Vertical slider 47 ... Fine adjustment front / rear slider 48 ... Fine adjustment front / back Rail 101 Gun body 102 Tank 111 Holder 121 Linear rail 122 Horizontal slider 122a, 122b Support roller 123 Horizontal mount 131 Elevating rack 132 Vertical drive unit 133 Auxiliary rack 141 Rotation control Curved rail 142 ... Advancing / retreating arms 142a, 142a ... Grip roller 143 ... Curved rail holding part 143a ... Screw part 143b ... Fixing jig 143b ... Jig 143c ... Connecting part 144 ... Gun angle actuator 145 ... Gun angle sensor 151 ... Base body 151a ... right side surface 15 b: Left side surface 152: Bottom portion 153a: Leg portion 153b: Leg portion 161: Trigger engagement portion 162 ... Servo motor portion 171 ... Horizontal curved rail 172 ... Reciprocating arm 172a, 172a ... Gripping roller 173 ... Curved rail holding portion 173a ... Screw Part 173b Fixing jig 173c Connecting part 181 Vertical curving rail 182 Advancing / retracting arm 182a, 182a Gripping roller 183 Curving rail holding part 183a Screw part 183b Fixing jig 183c Connecting part 191 ... Support 192a 192b ... Leg 193 ... Connecting member 194 ... Support member 195 ... Auxiliary slider

Claims (8)

An automatic coating apparatus that sprays a paint on an object to be coated and performs coating of the object to be coated,
A spray gun having a paint nozzle for injecting paint, and having a trigger unit for opening and closing an on-off valve for opening and closing a flow path of the paint in the paint nozzle,
A spray gun mounting part for detachably supporting the spray gun,
A horizontal drive mechanism for reciprocating the spray gun mounting portion in a horizontal direction,
A vertical drive mechanism for vertically moving the spray gun mounting portion,
A trigger drive unit detachably engaged with the trigger unit and applying a driving force to the trigger unit;
An automatic coating apparatus comprising: a drive control unit that controls operations of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit. The trigger drive unit is advanced and retracted while being in contact with the trigger unit, and a trigger engagement unit that presses or releases the trigger unit,
2. The automatic coating apparatus according to claim 1, wherein the trigger engagement portion further includes a trigger drive range setting mechanism that sets a drive range in which the trigger engagement portion moves forward and backward while contacting the trigger portion. A horizontal track portion for guiding the spray gun mounting portion in a horizontal direction,
A horizontal track holding unit that holds a curved state of the horizontal track unit,
The automatic coating apparatus according to claim 1, further comprising a horizontal orbit adjusting unit configured to adjust a bending state of the horizontal orbit holding unit. A vertical track part for guiding the spray gun mounting part in a vertical direction,
A vertical orbit holding section for holding a curved state of the vertical orbit section,
The automatic coating apparatus according to claim 1, further comprising a vertical trajectory adjustment unit configured to adjust a bending state of the vertical trajectory holding unit. A rotating unit that rotates the spray direction of the spray gun up and down,
A rotation control track portion in which a curved state is held in correspondence with the vertical curvature of the surface of the workpiece,
A rotation control track holding unit that holds a curved state of the rotation control track unit,
A rotation control trajectory adjuster that adjusts a bending state by the rotation control trajectory,
A rotation control unit configured to detect a bending state of the rotation control track unit in accordance with the vertical movement of the spray gun mounting unit, and to rotate the rotation unit according to the detected bending state. The automatic coating apparatus according to claim 1, wherein: The vertical drive mechanism is disposed along a vertically erected base portion,
The base is disposed at one end of the horizontal drive mechanism,
A vertically erected support is arranged on the other end side of the horizontal drive mechanism,
A work space is formed between the base and the support,
The automatic spraying apparatus according to claim 1, wherein the spray gun is movable up, down, left, and right in the work space. A coating method using the automatic coating device according to any one of claims 1 to 6,
A spray gun mounting step of supporting the spray gun on the spray gun mounting part and engaging the trigger driving part with the trigger part of the spray gun;
The horizontal drive mechanism and the vertical drive mechanism apply a driving force to the trigger section by the trigger drive section while moving the spray gun mounting section in the horizontal direction or the vertical direction, and the paint nozzle applies the driving force to the paint section. A drive control step of injecting a paint onto the object. A coating method using the automatic coating device according to claim 6,
In the working space, an operator grasps the spray gun and places his / her finger on the trigger portion to cause the body movement of the operator to follow the operations of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive section. A coating method characterized by the following.