WO2009133606A1 - 自動塗装装置 - Google Patents
自動塗装装置 Download PDFInfo
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- WO2009133606A1 WO2009133606A1 PCT/JP2008/058272 JP2008058272W WO2009133606A1 WO 2009133606 A1 WO2009133606 A1 WO 2009133606A1 JP 2008058272 W JP2008058272 W JP 2008058272W WO 2009133606 A1 WO2009133606 A1 WO 2009133606A1
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- WIPO (PCT)
- Prior art keywords
- spray
- coating
- moving
- conveying
- movement
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
Definitions
- the present invention relates to an automatic coating apparatus for uniformly coating an object to be painted such as steel used for ship building materials in one line direction.
- an automatic coating apparatus This is a device that automatically recognizes the shape of the object to be transported and automatically turns the spray gun on and off according to the shape of the object to be transported.
- a detection device in which a large number of sensors are arranged in a transverse direction across the conveying device, a coating device having a spray gun, and a control device that processes information from the detection device and generates a coating signal for turning the spray gun on and off. It is to be prepared.
- the spray gun is reciprocated in a direction perpendicular to the conveying direction while moving the object to be coated in the conveying direction of the conveying apparatus, so that the amount of paint discharged from the spray gun is reduced.
- the coating film thickness is set according to the conveying speed and the moving speed of the spray gun.
- the present invention is an example of a problem to deal with such a problem. That is, in automatic painting, if the transport device malfunctions during painting work, the coating can be stopped immediately, and uniform coating can be continued by a normal restart of the transport device, which enables automatic painting with high work efficiency. It is an object of the present invention to be able to
- the automatic coating value according to the present invention comprises at least the configuration according to the following independent claims.
- a coating object detection means for detecting the position of the coating object conveyed by the conveyance means, a conveyance state detection means for detecting an operating state of the conveyance means, the coating object detection means, and the conveyance state detection means.
- the control means On the basis of the detected output, and at least the control means for controlling the operation of the spray moving means, the control means, Immediately after detecting the abnormal operation of the feeding means, the spray means and the spray moving means are stopped, and when the spray means is performing a painting operation on the object to be coated before the abnormal operation is detected, the spray moving means is The spraying means is set to a set moving speed by causing the spraying means to stand by at a position returned by a distance required for acceleration to reach a set moving speed, and to operate the spray moving means when restarting after stopping the conveying means. The operation of the spray means is resumed after reaching the point.
- FIG. 1 is an explanatory view illustrating the basic configuration of an automatic coating apparatus according to an embodiment of the present invention.
- the automatic coating apparatus according to the embodiment of the present invention includes at least a transport unit 10, a spray unit 20, a spray moving unit 30, a coating object detection unit 40, a transport state detection unit 44, and a control unit 50.
- the conveyance means 10 can be constituted by, for example, a roller conveyor provided with a conveyance roller 11, a roller drive connecting chain 12, and a roller conveyor drive motor 13, and the conveyance object W is set in one line direction. It is transported at a speed x.
- the conveyance speed x can be set by the rotation speed of the conveyor drive motor 13.
- an inverter motor can be used and driven via a frequency control device.
- the spray unit 20 includes, for example, a spray gun 21 equipped with a replaceable spray tip 21A, a hose 22 for supplying paint and air, a paint jetting unit 23, and the like. Then, the paint is sprayed with the set pattern width P along the line direction.
- the paint jetting means 23 includes ancillary equipment such as a paint tank, an airless pump, a solenoid valve, a high-pressure compressor, and a control device for controlling the jet of paint.
- the setting pattern width P can be set with respect to the selected paint viscosity characteristic, coating pressure, and the like, depending on the tip count of the spray gun 21 and the distance between the spray gun 21 and the surface to be coated in the coating object W.
- the paint is sprayed by turning high-pressure air on and off with an electromagnetic valve and spraying the paint sent by an airless pump.
- the spray moving means 30 includes, for example, a spray moving chain device 31, a spray moving motor 32, and the like, and spray means at a set moving speed y in a direction (for example, an orthogonal direction) intersecting the line direction of the conveying means 10.
- (Spray gun 21) is reciprocated.
- the movement speed y can be set by the rotation speed of the spray movement motor 32, and the position (movement start position and movement stop position) of the spray gun 21 can be controlled by the rotation position control of the spray movement motor 32.
- As the spray movement motor 32 a servo motor can be adopted, and according to this, accurate and high-speed positioning control of the spray gun 21 can be performed.
- the coating object detection unit 40 is installed at an upstream position in the line direction away from the installation position of the spray moving unit 30 with respect to the transport unit 10, for example, at a predetermined interval in a direction intersecting the line direction (for example, an orthogonal direction).
- a plurality of sensors 41 are arranged on the surface to detect the position of the coating object W conveyed by the conveying means 10 and the two-dimensional shape as necessary.
- a proximity sensor is used when the steel material is the coating object W.
- a sensor driving device 42 that reciprocates the support portion of the sensor 41 along the arrangement direction of the sensors 41 within the sensor interval, and a sensor position detection device 43 that detects the position of the sensor 41 during the reciprocating motion. Can be added.
- An air cylinder or the like can be used as the sensor driving device 42, and the sensor position detection device 43 can be formed by an encoder or the like incorporated in a wheel portion provided on a support portion of the sensor 41. According to this, the distance moved by the air cylinder can be calculated from the signal from the encoder, and the current position of the sensor 41 that has detected the coating object W can be determined.
- the coating object detection means 40 can output the position orthogonal to the line direction of the coating object W conveyed across the sensor 41 by the sensor 41 according to the progress of the conveyance. Moreover, the position of the coating object W in the line direction after crossing the sensor 41 can be output by performing the operation detection of the conveying unit 10 by detecting the rotation of the conveying roller 11 together. Thereby, the coating object detection means 40 can detect the two-dimensional shape of the coating object W and the position on the line.
- the conveyance state detection unit 44 detects an operation state of the conveyance unit 10 and detects, for example, an encoder pulse by an encoder provided in the conveyance roller 11, the roller drive connection chain 12, or the roller conveyor drive motor 13. It is possible to employ a device that can transmit to the control means and detect the operation speed of the conveying means 10 or the conveying speed at the time of operation.
- the control means 50 controls at least the operation of the spray means 20 and the spray moving means 30 based on the detection outputs of the coating object detection means 40 and the conveyance state detection means 44.
- the operation of the conveying means 10 and the operation of the sensor driving means 42 can be controlled as necessary, and the accuracy of the detection output of the coating object detection means 40 is improved based on the detection output of the sensor position detection device 43. You can also.
- control means 50 receives detection signals from the coating object detection means 40 and the conveyance state detection means 44 including the sensor position detection means 43, and the paint ejection means 23, the spray movement motor 32, the conveyor An operation control signal for the drive motor 13 is output.
- the conveyance speed x can be arbitrarily set and controlled according to the type of the painting object W, and the two-dimensional of the painting object W detected by the painting object detection means 40 including the sensor position detection means 43.
- the movement width of the spray moving means 21, the moving speed y, the movement start or stop timing, the spray start or stop timing of the spray means 20, and the like can be arbitrarily set and controlled.
- control means 50 controls the spray start / stop timing in the spray means 20 based on the detection result of the position of the coating object W conveyed at the set conveyance speed x, spray movement.
- the main function is to control movement start / stop timing and position in the means 30 or to change the setting of the movement speed y.
- the spray means 20 and the spray moving means 30 are stopped immediately after detecting the abnormal operation of the transport means 10, and the spray means 20 is applied to the coating object W before the detection of the abnormal operation.
- the spray means 20 is put on standby at a position returned by the distance required for acceleration for the spray movement means 30 to reach the set movement speed, and the spray movement means 30 is activated when the conveying means 10 is normally restarted.
- the spray moving means 30 reaches the set moving speed, the operation of the spray means 20 is resumed.
- control means 50 is for executing a homogeneous coating with no over-coating and no unrecognized coating determined by the set moving speed of the spray moving means 30, the set conveying speed of the conveying means 10 and the set pattern width of the spray means 20.
- the moving range of the spray moving means is set by the reciprocating distance.
- control means 50 sets the movement width of the spray movement means 30 corresponding to the width of the painting object W detected by the painting object detection means 40, and executes homogeneous coating without excessive overcoating and without any remaining paint.
- the operation timing of the spray means 20 and the spray moving means 30 is controlled.
- FIG. 2 is a block diagram showing a functional configuration for the control means 50 to perform such control.
- the control unit 50 includes a transport operation recognition unit 51 that recognizes the operation state of the transport unit 10, an emergency stop unit 52 that stops the spray unit 20 and the spray moving unit 30 in an emergency when the transport unit 10 stops, and a coating object W.
- a painting operation confirmation means 53 for confirming whether or not painting is being performed, a movement start position setting means 54 for setting a movement start position of the spray movement means 30, and a movement of the spray movement means 30.
- control unit 50 sets the conveyance speed x of the conveyance unit 10 and the movement speed y of the spray moving unit 30 and receives the change information of the set pattern width P of the spray unit 20 so that the uniform coating with the set film thickness is performed.
- the movement width is set according to the movement start position and movement stop position of the spray movement means 30, the painting condition setting means 56 for setting the conditions for performing the painting, the painting object recognition means 57 for recognizing the two-dimensional shape and position of the painting object W. It has a movement condition setting means 58.
- the conveyance operation recognition unit 51 is a function for recognizing a normal conveyance operation, a stop, or an abnormal operation of the conveyance unit 10 based on a detection signal from the conveyance state detection unit 44. For example, when a state of operating at a constant speed at the transport speed set by the encoder pulse output from the transport state detection unit 44 is recognized, it is recognized as a normal transport operation, and no pulse output can be obtained. When the state is recognized as a stopped state and a state operating at a non-constant speed is recognized, it is recognized as an abnormal operation. The conveyance speed can be actually measured by the encoder pulse from the conveyance state detection means 44, and thereby the feedback control of the conveyance speed x becomes possible.
- the emergency stop means 52 is a function that immediately stops the operation of the spray means 20 and the spray moving means 30 when the conveyance operation recognition means 51 confirms that the conveyance means 10 is stopped.
- the spray means 20 is preferably provided with a shutter means for preventing dripping or the like. The shutter means is immediately closed by a command from the emergency stop means 52, whereby the occurrence of defective film formation can be prevented. Since the spray moving means 30 is operated by the spray moving motor 32, the spray moving motor 32 is immediately stopped by a command from the emergency stop means 52, and the stop position is set by the pal count of the spray moving motor 32 composed of a pulse motor, for example. recognize.
- the painting operation confirmation means 53 detects, for example, a state in which the coating object W conveyed by the conveyance means 10 is present within the set pattern width P of the spray means 20 and confirms that the painting operation is being performed. More specifically, based on the state in which the spray moving means 30 is operating when the coating object W is present within the set pattern width P of the spray means 20 (the spray moving means 30 is not in a standby state). Make sure that painting is in progress.
- the movement start position setting means 54 sets the movement start position of the spray movement means 30 according to the position and width of the coating object W, and also stops the operation of the spray movement means 30 in response to a command from the emergency stop means 52 Set the re-moving position of.
- the spray means 20 is put on standby at a position returned by a distance required for acceleration for the spray movement means 30 to reach the set movement speed.
- the operation timing setting means 55 is restarted when the movement timing setting means 55A for setting the movement start timing of the spray movement means 30, the spray timing setting means 55B for setting the ON timing of the spray means 20, and the conveying means 10 are stopped.
- Conveyance restart timing setting means 55C for setting the timing, and at the time of restart after stopping the spray means 20 and the spray moving means 30 due to the stop of the transport means 10, the transport means 10, the spray moving means 30 and the spray.
- the operation timing of the means 20 is set appropriately. For example, after the spray moving means 30 is stopped, the spray moving means 30 is first actuated from a state where the spray moving means 30 waits at a position where the spray moving means 30 has returned by a distance required for acceleration to reach the set moving speed. When the moving means 30 is accelerated and reaches a set moving speed, the conveying means 10 is activated and the spray means 20 is activated when passing through the stop point.
- the spray moving means 30 When considering the acceleration of the conveying means 10, after returning the distance required for the acceleration for the conveying means 10 to reach the set conveying speed once the conveying means 10 is restarted, the spray moving means 30 is accelerated to move the setting.
- the conveying means 10 is actuated before reaching the speed and passing through the stop.
- the time when the spray moving means 30 reaches the set moving speed, the time when the conveying means 10 reaches the set conveying speed, and the time when the discharge paint of the spray means 20 reaches the coating object W are matched, and the time is stopped at the coincidence. Set the operation timing to pass through the location.
- FIG. 3 is an explanatory diagram for explaining homogeneous coating using the automatic coating apparatus according to the embodiment of the present invention. If uniform coating without uneven coating is to be performed with an automatic coating apparatus, there is a certain relationship among the transport speed x of the transport means 10, the travel speed y of the spray moving means 30, and the pattern width P of the spray means 20. I need it.
- FIG. 3 shows a coating pattern in which a coating object is transported by the transporting means 10 and sprayed while being moved twice and a half in the direction intersecting the line direction by the spraying means 20 having a pattern width P along the line direction. Is shown.
- the figure (a) shows the case where spray coating is performed twice during both reciprocations, and the figure (b) shows the case where spray coating is performed only once in one way during reciprocation. ing.
- the one-way travel distance of the spray moving means 30 is L.
- the relationship of the following formula (1) is required.
- a uniform double coating can be performed within the double slanted range S1 shown in FIG. 5A, and a uniform single coating can be performed within the slanted range S2 in FIG. It can be performed.
- the relationship of the formula (1) is broken, for example, when the synchronization of the conveyance speed x and the reciprocating movement speed y is broken without changing L and P, and y> L ⁇ x / P, As shown in FIG. 3C, excessive overcoating (coating unevenness) locations S3 (three times application location) and S4 (four times application location) for the second application are generated.
- the conveyance speed x is a parameter that affects the work speed of the painting operation, and the coating film thickness is determined by the conveyance speed x and the reciprocating movement speed y.
- the spray pattern width P is set by the tip count of the spray gun and the distance between the gun and the surface to be coated in consideration of the paint viscosity characteristics, the coating pressure, and the like. As described above, when the conveyance speed x, the movement speed y, and the spray pattern width P are set according to the coating conditions, in order to perform the above-described uniform coating without uneven coating, the spray moving means 30 moves once and again. The distance L is naturally determined.
- FIG. 4 is an explanatory diagram showing an operation control flow including a case where an abnormal operation of the conveying means 10 is detected while performing the homogeneous coating shown in FIG. 3A or 3B during normal operation.
- the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S01). Thereafter, the apparatus enters a standby state in this state, and waits for the coating object W to enter a predetermined spray area (step S02: “NO”).
- step S02 When it is recognized that the painting object W is present in the spray area by the painting operation confirmation means 53 and the painting object recognition means 57 (step S02: “YES”), the conveyance means 10 is normally operated by the conveyance operation recognition means 51. (Step S03), and if it is operating normally (step S03: “YES”), the spray movement is performed under the painting conditions set by the painting condition setting means 56 and the movement condition setting means 58.
- the means 30 is operated to start spray movement (step S04), the spray means 20 is turned on and spraying is started (step S05). Thereafter, the reciprocating movement of the spray moving means 30 and the spraying operation of the spray means 20 are continued until the spray position reaches the line direction end of the object to be coated W.
- step S02 “NO”
- step S06 the spray movement is stopped (step S07), and the initial standby state is restored again (step S01).
- step S02 when it is recognized that the painting object W exists in the spray area by the painting work confirmation means 53 and the painting object recognition means 57 and it is confirmed that the painting work is being performed (step S02: “YES”).
- step S03: “NO” When the transport operation recognizing unit 51 detects an abnormal operation of the transport unit 10 (step S03: “NO”), the emergency stop unit 52 immediately turns off the spray unit 20 and stops the spray (step S03). S09), the spray moving means 30 is stopped (step S10), and the stopped state is continued until the conveying means 10 can be normally operated (step S11: “NO”).
- step S11 “YES”
- step S12 the movement start position setting means 54 moves the spray moving means 30 in the reverse direction, and the spray means 20 Is returned to a re-sprayable position and waited (step S12). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position.
- the conveying means 10 is reversely moved by a distance required to accelerate from the stop state to the set conveying speed, and the conveying means 10 is put on standby at that position.
- the spray movement means 30 reaches the set movement speed at the spray stop position and the conveyance means 10 is set.
- the spray movement resumption timing and the conveyance means reactivation timing are set so as to reach the conveyance speed, the spray movement is resumed (step S13) and the conveyance means reactivation (step S14), and the spray means 20 is sprayed at the spray stop position.
- the spray operation is started at a timing when the operation can be resumed (step S15).
- FIG. 5 is an explanatory diagram for explaining another example of the operation of the control means 50 in the automatic coating apparatus according to the embodiment of the present invention.
- the uniform two-time coating is executed in accordance with the width of the object to be coated W (the double hatched portion indicates the coating range of the uniform two-time coating).
- the coating conditions such as the conveyance speed x, the movement speed y, and the pattern width P are set and input to the coating condition setting means 56 based on the film thickness and the operation speed. Is done.
- L (y / x) of the homogeneous coating pattern S L based on virtual reciprocating distance L obtained as a ⁇ P virtually Set.
- the coating object recognition means 57 detects the two-dimensional shape and position of the coating object W on the transport means 10. Recognize As for the position of the coating object W on the transport unit 10, a position perpendicular to the line direction is detected by the sensor 41, and a position in the line direction is detected by detecting the operation of the transport unit 10. Specifically, the recognition of the two-dimensional shape data and the position of the painting object W is performed by the painting object W scheduled to pass through the painting range while the spray moving means 30 virtually moves one way with the virtual reciprocation distance L. Recognize the maximum width of. Thereby, the movement width of the spray moving means 30 can be set so as to include the maximum width.
- the movement condition setting means 58 sets a position Y 0 and a position Y 1 that are the movement width of the spray movement means 30 according to the two-dimensional shape and position of the painting object W recognized by the painting object recognition means 57. . This setting can be performed for each one-way movement of the spray moving means 30 or for each reciprocation. As illustrated, the position Y 0 and the position Y 1 are set so as to include the recognized width Wy of the painting object W. The position Y 0 and the position Y 1 is the target value in the position control of the spray moving motor 32 (servomotor).
- the position Y 0 and the position Y 1 as the movement width of the spray moving means 30 are set to be wider than the recognized width Wy of the coating object W, and the spray movement is performed.
- the acceleration distance movement until the means 30 is moved at a constant speed at the set speed y from the stop state is prevented from being applied to the width Wy of the coating object W. That is, as the movement width of the spray moving means 30, the spray moving means 40 moves from the stop state to the width Wy of the coating object W detected by the painting object detection means 40 until it moves at a constant speed of the set moving speed y.
- the minimum width is set by adding the acceleration (deceleration) distance.
- the movement timing setting means 55A starts the movement of the spray movement means 30 when the coating object W approaches the spray position where the spray gun 21 is installed by a predetermined distance.
- the initial position of the spray gun 21 is arbitrary (for example, a reference position in consideration of maintenance), but the movement is started when the coating object W approaches a distance with a margin.
- the movement of the spray moving means 30 is started when the coating object W enters the spray region 2 ⁇ / b> P while the spray gun 21 at an arbitrary position makes one round trip at the virtual set distance L. Then, first, where it is stopped by operating the spray moving means 30 to move the spray gun 21 to the position Y 1 corresponding to the width end of the coated object W.
- the moving direction is reversed and the spray moving means 30 is moved at the moving speed y.
- the movement timing setting means 55A repeats this operation in accordance with the positions Y 0 and Y 1 set for one-way movement or for each reciprocation, and the standby time t1 that matches the virtual reciprocation distance L with the reciprocation at the movement speed y. , T2,..., T6 are set. In the example of FIG.
- the width Wy of the coating object W is shown as an example, the positions Y 0 and Y 1 are fixed. However, when the width Wy is different along the line direction, Y 0 and Y 1 are changed for each movement, and standby times t1, t2,..., T6 are also changed each time.
- the solid line arrow indicates the moving direction and the moving timing at which the spray moving means 30 actually moves the spray gun 21 at the set moving speed y, and the dotted line arrow indicates the length of the standby time.
- the spray timing setting means 55B confirms that the coating object W falls within the set pattern width P of the spray gun 21 within the movement time set by the movement timing setting means 55A. Set the stop timing. Specifically, after the spray moving means 30 starts moving for the first time, the coating object W further approaches the spray position having the set pattern width P by a predetermined distance, and the spray position is the width of the coating object W. Spraying is started when the end position is entered, and spraying is stopped when the opposite end position is removed.
- the spray start timing of the spray means 20 is the movement of the spray movement means 30.
- the spray stop timing of the spray means 20 is set earlier by the amount of the deceleration distance movement from the stop of the movement of the spray moving means 30.
- FIG. 6 is an explanatory diagram for explaining this operation control flow.
- the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S21). Thereafter, the standby time count is stopped, and the standby time counter is reset (step S22). In this state, the apparatus enters a standby state and waits for the coating object W to enter a predetermined spray region (step S23: “NO”).
- step S23: “YES” When it is recognized that the coating object W is present in the spray area (step S23: “YES”), in the case of the initial movement, when the transport means 10 is operating normally (step S24: “YES”), Since the standby time count is stopped in step S22 (step S25: “NO”), the spray moving means 30 immediately starts moving (step S28).
- step S29: “ YES ” the spray gun 21 is turned on to start spraying (step S30), and spraying is continued until the spray position reaches the end of the coating object W (step S32:“ NO ” ⁇ step S23:“ YES ” ⁇ step S24:“ YES ” ⁇ step S25:“ NO ” ⁇ step S28). If it cannot be confirmed that the coating object W is present at the spray position (step S29: “NO”), the spraying is stopped (step S31). After that, since step S32 becomes “YES”, the spray movement is stopped and the standby time count is started (S33).
- step S27 the spray movement direction is reversed (step S27)
- step S22 the standby time counter is reset (S22)
- spray movement is started (step).
- step S23 “NO”
- step S21 the spray moving means 30 is stopped after moving to the spray reference position
- the reciprocating movement distance L for executing uniform coating without excessive overcoating and without unpainted is virtually arbitrarily changed, and the timings of the spray means 20 and the spray movement means 30 are accordingly changed.
- the moving speed y of the spray moving means 30 is set to a high speed with a margin higher than the minimum speed at which the waiting time becomes zero, and the film thickness measured after the trial coating is excessive or insufficient with respect to the target film thickness. Make final adjustments to correct for minutes. For example, when the coating film thickness is insufficient by X%, the moving speed y of the spray moving means 30 is adjusted to an arbitrary target film thickness by decelerating by X%.
- step S23: “YES” when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is being counted (step S24: “YES”) Step S40: “YES”), the standby time count is interrupted (Step S41), and the spray stop state is maintained until the conveying means 10 operates normally (Step S23: “YES” ⁇ Step S24: “NO” ⁇ Step S40). : “YES” ⁇ step S41).
- step S23: “YES” when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is not being counted (step S40: “NO”). Since the spray means 20 and the spray moving means 30 are in operation, the spray stop (step S42) and the spray movement stop (step S43) are immediately performed, and the spray moving means 30 is returned to a resprayable position (step S44). ), The standby state is maintained until the conveying means 10 operates normally (step S23: “YES” ⁇ step S24: “NO” ⁇ step S40: “NO” ⁇ steps S42, S43, S44). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position.
- step S24 When the conveying means 10 operates normally (step S24: “YES”), the flow returns to the normal operation flow, the spray movement is started from the standby position described above (step S28), and the set movement speed is reached. Spraying is resumed when the spray stop position is passed (step s30).
- the reciprocating movement distance of the spray moving means 30 By setting the life of the apparatus can be improved to the minimum, and the movement of the spray gun 21 can be suppressed as much as possible when the spraying is stopped. Therefore, clogging of the spray nozzle due to solidification of the paint can be eliminated. Furthermore, by setting the above-described waiting times t1, t2,..., T6 as appropriate, it is possible to realize uniform coating without any over-coating and without any remaining coating while arbitrarily changing the conveyance speed x and the movement speed y. Can do. Thereby, it is possible to perform homogeneous coating while arbitrarily controlling the coating film thickness.
Landscapes
- Spray Control Apparatus (AREA)
Abstract
Description
塗装対象物を一つのライン方向に向けて設定搬送速度で搬送する搬送手段と、前記搬送手段上の塗装対象物に対して、前記ライン方向に沿った設定パターン幅で塗料をスプレーするスプレー手段と、該スプレー手段を前記ライン方向と交差する方向に設定移動速度で往復移動させるスプレー移動手段と、前記搬送手段に対して、前記スプレー移動手段の設置位置から離れた前記ライン方向上流位置に設置され、前記搬送手段によって搬送される塗装対象物の位置を検知する塗装対象物検知手段と、前記搬送手段の作動状態を検知する搬送状態検知手段と、該塗装対象物検知手段及び前記搬送状態検知手段の検知出力に基づいて、少なくとも前記スプレー手段と前記スプレー移動手段の作動を制御する制御手段とを備え、前記制御手段は、前記搬送手段の異常作動を検知後直ちに前記スプレー手段と前記スプレー移動手段を停止させ、該異常作動の検知前に前記スプレー手段が塗装対象物に対して塗装作業中の場合は、前記スプレー移動手段が設定移動速度になるための加速に要する距離だけ戻った位置に前記スプレー手段を待機させ、前記搬送手段の停止後の再始動時に前記スプレー移動手段を作動させて、前記スプレー移動手段が設定移動速度に到達した後に前記スプレー手段の作動を再開させることを特徴とする。
Claims (3)
- 塗装対象物を一つのライン方向に向けて設定搬送速度で搬送する搬送手段と、
前記搬送手段上の塗装対象物に対して、前記ライン方向に沿った設定パターン幅で塗料をスプレーするスプレー手段と、
該スプレー手段を前記ライン方向と交差する方向に設定移動速度で往復移動させるスプレー移動手段と、
前記搬送手段に対して、前記スプレー移動手段の設置位置から離れた前記ライン方向上流位置に設置され、前記搬送手段によって搬送される塗装対象物の位置を検知する塗装対象物検知手段と、
前記搬送手段の作動状態を検知する搬送状態検知手段と、
該塗装対象物検知手段及び前記搬送状態検知手段の検知出力に基づいて、少なくとも前記スプレー手段と前記スプレー移動手段の作動を制御する制御手段とを備え、
前記制御手段は、前記搬送手段の異常作動を検知後直ちに前記スプレー手段と前記スプレー移動手段を停止させ、該異常作動の検知前に前記スプレー手段が塗装対象物に対して塗装作業中の場合は、前記スプレー移動手段が設定移動速度になるための加速に要する距離だけ戻った位置に前記スプレー手段を待機させ、前記搬送手段の再始動時に前記スプレー移動手段を作動させて、前記スプレー移動手段が設定移動速度に到達した後に前記スプレー手段の作動を再開させることを特徴とする自動塗装装置。 - 前記制御手段は、前記スプレー移動手段の設定移動速度と前記搬送手段の設定搬送速度と前記スプレー手段の設定パターン幅とによって決まる余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するための往復移動距離で、前記スプレー移動手段の移動幅を設定することを特徴とする請求項1に記載された自動塗装装置。
- 前記塗装対象物検知手段は、前記ライン方向と交差する方向に所定間隔毎に複数個のセンサを配置して、塗装対象物の二次元形状を検知し、
前記制御手段は、前記塗装対象物検知手段で検知された塗装対象物の幅に対応して、スプレーを行うための前記スプレー移動手段の移動幅を設定すると共に、余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するように前記スプレー手段及び前記スプレー移動手段の作動タイミングを制御することを特徴とする請求項1に記載された自動塗装装置。
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JP2009526426A JP4562802B2 (ja) | 2008-04-30 | 2008-04-30 | 自動塗装装置 |
PCT/JP2008/058272 WO2009133606A1 (ja) | 2008-04-30 | 2008-04-30 | 自動塗装装置 |
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PCT/JP2008/058272 WO2009133606A1 (ja) | 2008-04-30 | 2008-04-30 | 自動塗装装置 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103286024A (zh) * | 2013-05-16 | 2013-09-11 | 深圳众为兴技术股份有限公司 | 一种精确喷涂方法及系统 |
JP2014200748A (ja) * | 2013-04-05 | 2014-10-27 | 旭サナック株式会社 | 成膜装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS57113865A (en) * | 1980-12-29 | 1982-07-15 | Osame Kogyo:Kk | Paint sprayer |
JPS62278610A (ja) * | 1986-05-28 | 1987-12-03 | Nissan Motor Co Ltd | 作業ロボツトの制御装置 |
JPH0647323A (ja) * | 1992-07-29 | 1994-02-22 | Meiji Kikai Seisakusho:Kk | 自動塗装装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS59222260A (ja) * | 1983-05-30 | 1984-12-13 | Kawasaki Steel Corp | 鋼板自動塗装機における塗料の無駄吹き防止方法 |
JPS6456161A (en) * | 1987-08-25 | 1989-03-03 | Toyota Auto Body Co Ltd | Coating device |
FI86537C (fi) * | 1990-06-08 | 1992-09-10 | Juha Vesa | Anordning foer framstaellning av formkroppar. |
JPH0527825A (ja) * | 1991-07-20 | 1993-02-05 | Tokico Ltd | 工業用ロボツト |
JP4589459B2 (ja) * | 2008-03-25 | 2010-12-01 | 有明スチールセンター株式会社 | 自動塗装装置 |
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2008
- 2008-04-30 WO PCT/JP2008/058272 patent/WO2009133606A1/ja active Application Filing
- 2008-04-30 JP JP2009526426A patent/JP4562802B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS57113865A (en) * | 1980-12-29 | 1982-07-15 | Osame Kogyo:Kk | Paint sprayer |
JPS62278610A (ja) * | 1986-05-28 | 1987-12-03 | Nissan Motor Co Ltd | 作業ロボツトの制御装置 |
JPH0647323A (ja) * | 1992-07-29 | 1994-02-22 | Meiji Kikai Seisakusho:Kk | 自動塗装装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2014200748A (ja) * | 2013-04-05 | 2014-10-27 | 旭サナック株式会社 | 成膜装置 |
CN103286024A (zh) * | 2013-05-16 | 2013-09-11 | 深圳众为兴技术股份有限公司 | 一种精确喷涂方法及系统 |
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JP4562802B2 (ja) | 2010-10-13 |
JPWO2009133606A1 (ja) | 2011-08-25 |
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