WO2015182254A1 - 塗装設備 - Google Patents

塗装設備 Download PDF

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Publication number
WO2015182254A1
WO2015182254A1 PCT/JP2015/060837 JP2015060837W WO2015182254A1 WO 2015182254 A1 WO2015182254 A1 WO 2015182254A1 JP 2015060837 W JP2015060837 W JP 2015060837W WO 2015182254 A1 WO2015182254 A1 WO 2015182254A1
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WO
WIPO (PCT)
Prior art keywords
painting
area
air
paint
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/060837
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
三輪朋孝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taikisha Ltd
Original Assignee
Taikisha Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taikisha Ltd filed Critical Taikisha Ltd
Priority to EP15800010.9A priority Critical patent/EP3150288B1/en
Priority to CN201580027741.1A priority patent/CN106457291B/zh
Priority to US15/313,780 priority patent/US9968956B2/en
Publication of WO2015182254A1 publication Critical patent/WO2015182254A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • B05B14/40—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths
    • B05B14/41—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths by cleaning the walls of the booth
    • B05B14/412—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths by cleaning the walls of the booth wherein the walls of the booth is perforated or porous walls and the walls are cleaned of or prevented from being contacted with excess material by a flow of fluid, e.g. air or water, directed into the booth
    • 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
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • 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
    • B05B13/0431—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 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/70—Arrangements for moving spray heads automatically to or from the working position
    • B05B15/72—Arrangements for moving spray heads automatically to or from the working position using hydraulic or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/60—Ventilation arrangements specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C15/00—Enclosures for apparatus; Booths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • B05B14/40—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths
    • B05B14/43—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths by filtering the air charged with excess material
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/43—Spray painting or coating

Definitions

  • the present invention relates to a painting facility.
  • spraying means for spraying paint downward is disposed at the upper part of the painting area.
  • a robot installation area in which the painting robot is installed is adjacent to the side of the painting area. Then, the object to be coated held from the tip of the arm of the painting robot is displaced with respect to the spraying means below the spraying means by the operation of the painting robot, and the paint is applied to the paint from the spraying means. Paint by spraying.
  • Patent Document 1 The paint is sprayed downward from the spraying means arranged at the top of the painting area.
  • ventilation air is blown downward from above the spray means to the coating area.
  • the paint is sprayed only downward from the spraying means by matching the spraying direction of the paint from the spraying means with the airflow direction of the ventilation air in the painting area.
  • the spray paint spray range is reduced.
  • the coating robot is operated by the operation of the painting robot while the coating object is held at the tip of the arm of the painting robot.
  • the arm is included compared to the method of coating while displacing the spraying means while the object to be coated is substantially fixed.
  • the amount of excess spray paint on the coating robot increases.
  • the main problem of the present invention is to effectively prevent the adhesion of excess spray paint to the coating robot that holds the object to be coated while adopting a method of displacing the object to be sprayed with respect to the spraying means. There is in point to do.
  • the first characteristic configuration of the present invention relates to a painting facility, A spraying means for spraying paint downward is placed at the top of the paint area, The robot installation area where the painting robot is installed is adjacent to the side of the painting area, While the coating object held at the tip of the arm of the painting robot is displaced relative to the spraying means below the spraying means by the operation of the painting robot, the coating object is sprayed by the spraying means from the spraying means.
  • Paint equipment for painting An air supply port for the robot installation area that supplies ventilation air to the robot installation area is provided, By supplying air from the air supply port, the robot installation area is set to a pressure higher than that of the adjacent painting area, and an air flow flowing from the robot installation area into the painting area is formed.
  • the second feature configuration of the present invention specifies an embodiment suitable for the implementation of the first feature configuration.
  • An air supply means for supplying the air for ventilation to the upper part of the paint area, and an air curtain that flows downward in a state along the side wall of the paint area located on the opposite side to the adjacent robot installation area are formed.
  • the air inlet for the air curtain is deployed at the top of the paint area,
  • An exhaust area is formed below the painting area to discharge the air in the painting area downward.
  • the air flow flowing into the painting area from the adjacent robot installation area is supplied to the upper part of the painting area by the painting area air supply means, and the adjacent robot is installed.
  • the air curtain flow that flows downward in a state along the side wall of the painting area located on the opposite side of the area the air is discharged downward from the painting area to the exhaust area.
  • the ventilation air supplied to the upper part of the paint area by the air supply means for the paint area flows downward. Thereby, the excess spray paint by the spray means is quickly discharged downward from the coating area.
  • the coating area can be further reduced in size.
  • the third feature configuration of the present invention specifies an embodiment suitable for the implementation of the second feature configuration.
  • a sock filter that blows out the ventilation air supplied to the inside from the peripheral portion is arranged in the horizontal position on the upper part of the coating area.
  • the fourth feature configuration of the present invention specifies an embodiment suitable for the implementation of the third feature configuration.
  • An air curtain outlet box having an air inlet for the air curtain formed on the lower surface portion is disposed close to the coating chamber side wall and arranged at the upper part of the coating area.
  • the tip of the sock filter is connected to the air curtain blowing box and is opened inside the blowing box.
  • the fifth feature configuration of the present invention specifies an embodiment suitable for the implementation of the fourth feature configuration.
  • the connecting portion of the sock filter with respect to the air curtain blowing box is provided with a throttling mechanism for limiting the amount of air flowing into the air curtain blowing box from the tip of the sock filter.
  • a sock filter as an air supply means for the coating area is used as an air supply duct for the air curtain blowing box. Further, by adjusting the opening degree of the throttle mechanism (for example, the throttle opening and the air volume adjustment damper), the ventilation air supplied from the peripheral part of the sock filter to the upper part of the coating area, and the air from the tip part of the sock filter The air flow ratio with the air flowing into the curtain blowing box (that is, the air forming the air curtain) can be reliably adjusted to the required air flow ratio.
  • the opening degree of the throttle mechanism for example, the throttle opening and the air volume adjustment damper
  • the sixth feature configuration of the present invention specifies an embodiment suitable for the implementation of the second feature configuration.
  • the air curtain air inlet and the spraying means are arranged in a concentric manner in the alignment direction of the painting area and the robot installation area in a plan view of the painting area,
  • the dimension of the air curtain inlet in the painting area width direction is smaller than the dimension of the coating chamber side wall in the painting area width direction.
  • the air curtain air inlet should be made smaller than, for example, providing the air curtain air inlet over the entire width of the paint area side wall. Can do. Thereby, the amount of air blowing from the air curtain inlet can be reduced. Accordingly, the facility cost and the operation cost of the facility can be reduced accordingly.
  • the seventh feature configuration of the present invention specifies an embodiment suitable for the implementation of the second feature configuration.
  • a transition duct for supplying ventilation air to the air curtain inlet is arranged at the upper part of the paint area, As the air supply means for the painting area, the lower wall of the transition duct has a porous structure, and a part of the ventilation air in the transition duct is blown out and supplied to the upper part of the painting area through the porous structure. It is in.
  • a crossover duct for supplying ventilation air to the air curtain inlet is used as an air supply means for the painting area. That is, a part of the ventilation air in the transition duct is blown out and supplied to the upper part of the painting area from the porous structure formed in the lower wall portion of the transition duct. Therefore, the construction of the upper part of the painting area can be simplified as compared with the case where the painting area air supply means for supplying the ventilation air to the upper part of the painting area is provided separately from the above-mentioned crossover duct. Moreover, the height dimension of the coating area can be easily secured.
  • the eighth feature configuration of the present invention specifies an embodiment suitable for the implementation of the second feature configuration.
  • a paint tank installation room having a substantially triangular cross-sectional shape in plan view is disposed at each of the vertical corners of the side wall of the painting area located on the opposite side of the robot installation room,
  • the air curtain air supply port has a trapezoidal shape that is surrounded by a side wall of the coating area and a chamber wall of the paint tank installation chamber.
  • the shape of the air curtain air supply port in plan view (that is, the cross-sectional shape of the air curtain) is trapezoid surrounded by the side wall of the paint area and the room wall of the paint tank installation room. Therefore, it is possible to ensure that the excessive spray paint adheres to the side wall of the paint area. Further, it is possible to reliably prevent the excessive spray paint from adhering to the chamber wall of the paint tank installation chamber.
  • the ninth feature configuration of the present invention specifies an embodiment suitable for the implementation of the first feature configuration.
  • a control means for automatically operating the painting robot according to a preset operation program is provided, The control means is configured to spray the coating object while changing the posture of the coating object in a state in which the surface to be coated at each time point on the coating object is maintained in a posture substantially perpendicular to the direction of spraying the paint from the spraying means. The point is that it is configured to be displaced with respect to the means.
  • the surface to be coated (the surface that receives the paint spray) at each time point on the object is kept in a posture substantially perpendicular to the direction of spraying the paint from the spraying means.
  • the application efficiency of the spray paint with respect to a to-be-coated object can be improved.
  • the coating quality can be improved.
  • the tenth characteristic configuration of the present invention specifies an embodiment suitable for the implementation of the ninth characteristic configuration.
  • a plurality of the paint areas are arranged in a line, and a plurality of the robot installation areas are arranged in a line in the paint area arrangement direction corresponding to the paint areas,
  • the control means is configured such that an object to be coated is sequentially sent to the plurality of coating areas by passing between the painting robots installed in the adjacent robot installation areas.
  • the preceding painting robot in order to deliver the objects to be painted between the painting robots, holds the article to be painted after the preceding painting in the delivery unit, and then the subsequent painting robot is held in the delivery unit.
  • the subsequent painting robot is held in the delivery unit.
  • Either a form in which the object to be coated is received prior to the subsequent painting, or a form in which the preceding painting robot directly hands over the object to be painted to the subsequent painting robot may be employed.
  • the eleventh feature configuration of the present invention specifies an embodiment suitable for the implementation of the first feature configuration.
  • a plurality of the paint areas are arranged in a line, and a plurality of the robot installation areas are arranged in a line in the paint area arrangement direction corresponding to the paint areas,
  • the adjacent paint areas are separated by a partition wall or a hanging wall or an air curtain in the paint area alignment direction,
  • the adjacent robot installation areas are open to each other in the painting area arrangement direction or are partitioned by an air curtain in the painting area arrangement direction.
  • adjacent robot installation areas are opened to each other in the painting area alignment direction.
  • adjacent robot installation areas are partitioned in the painting area alignment direction, they are partitioned by an air curtain. Therefore, the movement of the object to be coated between the adjacent painting areas can be easily performed on the robot installation area side.
  • the twelfth feature configuration of the present invention specifies an embodiment suitable for the implementation of the second feature configuration. Located in the middle of the thickness direction of the air curtain that flows downward in a state along the coating chamber side wall located on the opposite side of the robot installation area, the upper end of the air curtain side relative to the lower end There is an airflow guide surface in an inclined posture close to the point.
  • the thirteenth feature configuration of the present invention specifies an embodiment suitable for the implementation of the first feature configuration.
  • the spraying means is installed in the coating area in a state where it can be lifted and lowered freely.
  • the spraying means is held in the raised position during painting. Thereby, downward spraying of the coating material from the spraying means with respect to a to-be-coated object can be performed appropriately. Further, the spraying means is lowered during maintenance. Thereby, the maintenance with respect to a spraying means can be performed easily.
  • Figure 1 is a front view of the painting booth 2 is a view taken along line II-II in FIG. 3 is a view taken along line III-III in FIG.
  • Fig. 4 is an enlarged view of the holder
  • FIG. 5 is an enlarged cross-sectional view showing the connection structure between the arm tip and the holder
  • FIG. 6 is an enlarged view of a holder showing another embodiment.
  • FIG. 7 is a front view of a painting booth showing another embodiment.
  • 8 is a view taken along line VIII-VIII in FIG. 9 is a view taken along line IX-IX in FIG.
  • FIG. 10 is a front view of a painting booth showing another embodiment.
  • 11 is a view taken along line XI-XI in FIG.
  • FIG. 12 is a view taken along line XII-XII in FIG.
  • FIG. 13 is a front view of a painting booth showing another embodiment.
  • FIG. 14 is a front view of a spraying means support structure showing another embodiment.
  • FIG. 15 is a schematic diagram of an air curtain showing another embodiment.
  • FIG. 1 to 3 show a painting booth 1 for painting an object W (in this example, a bumper of an automobile).
  • primer coating is applied to the workpiece W in the first coating area 2a.
  • No. 1 base coating is given to the to-be-coated article W after primer coating.
  • the No. 2 base coating is applied to the article W after the No. 1 base coating.
  • the spraying means 4 is arranged in a substantially vertical downward position at the top of each painting area 2.
  • the spray means 4 sprays a predetermined paint onto the article W.
  • each painting area 2 On one side of each painting area 2, a robot installation area 5 adjacent to each painting area 2 is arranged in the painting area alignment direction. Each of these robot installation areas 5 is provided with a painting robot 6 for performing painting work in the corresponding painting area 2.
  • Two coating areas 2 adjacent to each other include a preceding coating area 2 ′ located on the upper side in the traveling direction of the article W and a subsequent painting area 2 ′′ located on the lower side in the traveling direction of the article W. Are in a relationship.
  • the first painting area 2a is the preceding painting area 2 '
  • the second painting area 2b is the subsequent painting area 2 "
  • the second painting area 2b is the preceding painting area 2'
  • the third painting area 2c is a subsequent painting area 2 ′′.
  • the third painting area 2c is the preceding painting area 2 '
  • the fourth painting area 2d is the subsequent painting area 2 ".
  • the workpiece W is held by being connected to the tip 7 a of the arm 7 in each coating robot 6 via a branch-shaped holder 8.
  • the holder 8 is provided with a plurality of suction cups 9 for adsorbing to the workpiece W as a fixture / object connection means for connecting the holder 8 to the workpiece W. is there.
  • suction cups 9 are arranged so as to correspond to a plurality of connection target locations in the article W to be coated (in this example, a total of four locations of the back surface locations of both end portions of the bumper front portion and the back surface locations of the bumper both side portions). Is provided on the holder 8.
  • the holder 8 is made of a pipe material.
  • the internal hole (pipe hole) of the pipe material is a suction path 10 for sucking the internal air of the suction cup 9 by suction means (not shown).
  • suction means not shown.
  • the suction path 10 includes a main suction path 10b connected to the suction port 10a connecting the suction means, and a branch suction path 10c branched from the main suction path 10b and opened inside each suction cup 9.
  • a check valve 11 such as a ball type is provided in the main suction passage 10b.
  • This ball type check valve 11 allows an air flow from the inside of each suction cup 9 toward the suction port 10a (that is, air suction by a suction means connected to the suction port 10a).
  • the ball type check valve 11 automatically shuts off the reverse air flow (that is, the air flow from the suction port 10a toward the inside of each suction cup 9).
  • each suction cup 9 is adsorbed to the workpiece W by air suction by a suction means. Thereafter, even when the suction means is separated from the suction port 10a, the check valve 11 prevents backflow of air (in other words, opening of the suction cups 9 to the atmosphere). Therefore, the suction state with respect to the article W of each suction cup 9 is maintained. Thereby, the connection state of the holder 8 and the workpiece W is maintained.
  • the holder 8 is provided with a cover 12 for each suction cup 9.
  • cover 12 when the suction cup 9 is in the non-adsorbed state and extended, the tip suction portion of the suction cup 9 protrudes from the enclosure region of the cover 12. Further, when the suction cup 9 is in the contracted state in the suction state, the tip suction part of the suction cup 9 is retracted to the inside of the enclosed area of the cover 12.
  • this cover 12 it is possible to effectively prevent the excessive spray paint from adhering to the suction cup 9 while allowing the suction cup 9 to adsorb to the workpiece W.
  • a connecting hole 13 is provided in the arm tip 7a of each painting robot 6, as shown in FIG. It is. And the connection convex part 14 inserted and fitted with respect to this connection hole 13 is formed in the holder 8.
  • each arm tip 7a has a straight hole portion 13a having a cylindrical inner peripheral surface, and a tapered inlet portion 13b having a conical tapered inner peripheral surface whose diameter increases toward the hole inlet side. Are formed in a concentric arrangement.
  • the connecting convex portion 14 of the holder 8 has a columnar tip portion 14 a that fits in the straight hole portion 13 a of the connecting hole 13 and a taper that fits in the tapered inlet portion 13 b of the connecting hole 13.
  • the stepped portion 14b is formed in a concentric arrangement.
  • tip part 14a of the convex part 14 for connection is surface-contacted with respect to the cylindrical inner peripheral surface in the straight hole part 13a of the hole 13 for connection.
  • the tapered outer peripheral surface of the tapered step portion 14 b of the connecting convex portion 14 is brought into surface contact with the tapered inner peripheral surface of the tapered inlet portion 13 b of the connecting hole 13. Thereby, the arm tip 7a of each painting robot 6 is reliably connected to the holder 8 with high connection accuracy.
  • suction port 10a of the suction path 10 in the holding tool 8 is opened at the connecting joint surface between the arm tip portion 7a and the holding tool 8 (specifically, the tip surface portion of the connecting convex portion 14).
  • a permanent magnet 15 is provided in the connecting hole 13 of each arm tip 7a.
  • the permanent magnets 15 are attracted to the connecting projections 14 of the holder 8 inserted and fitted into the connecting holes 13.
  • An arm side suction path 16 is opened in the connecting hole 13 of each arm tip 7a. The arm side suction path 16 exerts an air suction force between the connection hole 13 and the connection convex portion 14 inserted and fitted therein.
  • a detection air path 17 is formed in the connection hole 13 of each arm tip 7a separately from the arm side suction path 16 for connecting the holder.
  • the detection air passage 17 opens in the inner surface of the connection hole 13 which is a connection joint surface between the arm tip 7 a and the holder 8. Therefore, the detection air passage 17 is closed by the connection between the arm tip portion 7a and the holder 8 (that is, the connection projection 14 is inserted into the connection hole 13).
  • Each painting robot 6 is equipped with pressure applying means (not shown). This pressure application means applies a predetermined positive pressure to the detection air passage 17 that is closed by the connection between the arm tip 7a and the holder 8 by supplying compressed air. Each painting robot 6 is equipped with pressure detecting means 18. The pressure detection means 18 detects the air pressure in the detection air passage 17.
  • control means 19 executes a predetermined security process such as urgently stopping the operation of each painting robot 6 or issuing an alarm.
  • a ring-shaped sealing material (not shown) surrounding the opening is attached to the opening of the detection air passage 17 on the inner surface of the connection hole 13.
  • the control means 19 automatically operates each painting robot 6 in accordance with a preset operation program.
  • the workpiece W is connected to the arm tip 7a of each coating robot 6 via the holder 8 as described above.
  • the coating object W is applied by downward coating spray from the spraying means 4 while the coating object W is displaced with respect to the spraying means 4 by the automatic operation of the coating robot 6.
  • control means 19 changes the posture of the coating object W in a state in which the surface to be coated at each time point on the coating object W is maintained substantially perpendicular to the paint spraying direction from the spraying means 4.
  • the workpiece W is configured to be displaced with respect to the spraying means 4.
  • a delivery unit 20 is provided between the painting robots 6 at the boundary between adjacent robot installation areas 5.
  • the adjacent painting robots 6 deliver the article W to be coated. That is, the article W to be coated in the preceding painting area 2 ′ is sent to the subsequent painting area 2 ′′ through the delivery unit 20.
  • control means 19 performs the preceding painting robot 6 'and the subsequent painting robot by moving the workpiece W together with the holder 8 together with the holder 8 after the completion of the preceding painting in the preceding painting area 2'. It is held by the delivery section 20 between 6 ′′. Then, the connection between the arm tip portion 7a of the preceding coating robot 6 'and the holding tool 8 is released while the connection between the workpiece W and the holding tool 8 is maintained.
  • the arm tip 7a of the preceding painting robot 6 ' is moved away from the delivery unit 20.
  • the arm 8 of the subsequent painting robot 6 ′′ is held by the delivery unit 20 while being connected to the workpiece W by the operation of the subsequent painting robot 6 ′′. Connect to Then, the process shifts to the subsequent coating in the subsequent coating area 2 ′′.
  • connection release means is configured to release the connection convex portion 14 from the connection hole 13 against the magnetic force of the permanent magnet 15 in a state in which the air suction through the arm connection suction path 16 for connecting the holding tool is stopped. The connection between the tip 7a and the holder 8 is released.
  • control means 19 stops air suction through the arm-side suction path 16 and automatically operates the connection release means, so that the arm tip portion 7a of the preceding painting robot 6 ′ and the holding tool 8 are automatically operated in the delivery section 20. Disconnect from the link.
  • the workpiece W to be carried into the first painting area 2a is held by the carrying section 21 in the vicinity of the first painting area 2a in a state where the holder 8 is connected in advance by an operator or another robot.
  • the arm tip 7a of the painting robot 6 is held in the carry-in portion 21 in a state where the connection with the article W is maintained. Connect to the holder 8. And it transfers to the coating in the 1st coating area 2a.
  • the workpiece W that has finished painting in the final fourth painting area 2d is transported near the fourth painting area 2d by the operation of the painting robot 6 for the fourth painting area 2d together with the holder 8. Placed on. Then, the connection between the arm tip 7a of the painting robot 6 and the holder 8 is released. Thereafter, the workpiece W is sent to the drying furnace 3 together with the holder 8 and the transport carriage 22.
  • a partition wall 24 is provided between each painting area 2 and each corresponding robot installation area 5 corresponding thereto.
  • the partition wall 24 is formed with a work opening 24 a for extending the arm 7 of the painting robot 6 installed in the robot installation area 5 to the corresponding painting area 2.
  • an air supply chamber 26 for the robot installation area is provided in the ceiling pocket of each robot installation area 5.
  • the robot installation area supply chamber 26 receives ventilation air sa supplied from an air conditioner (not shown) through the robot installation area supply passage 25a.
  • An air supply port 27 is provided in the ceiling of each robot installation area 5 that also serves as the lower wall of the air supply chamber 26.
  • the air supply port 27 blows out the ventilation air sa received in the air supply chamber 26 for the robot installation area to each robot installation area 5.
  • an air supply chamber 28 for the painting area is provided in the painting area side portion of the ceiling pocket in each robot installation area 5.
  • the painting area supply chamber 28 receives the ventilation air sb supplied from the air conditioner through the painting area supply passage 25b.
  • fresh ventilation air is supplied to one of the air supply chamber 28 for the painting area and the air supply chamber 26 for the robot installation area, and the other is recycled air in which the exhaust air from the painting area 2 is purified. May be supplied as ventilation air.
  • the painting area air supply path 25b and the robot installation area air supply path 25a are set to 1
  • the painting area supply chamber 28 and the robot installation area supply chamber 26 may be combined into a single combined supply chamber.
  • sock filters 29 (cylindrical filters) extending from the painting area air supply chamber 28 to one side wall 2w of each painting area 2 (the painting area side wall located opposite to the robot installation area 5) are provided. It is. These sock filters 29 are arranged in a state in which the spraying means 4 is located in the center between the sock filters 29 in plan view.
  • the ventilation air sb received in the air supply chamber 28 for the painting area is supplied from these two sock filters 29 to the upper part of each painting area 2.
  • a transition duct 30 is provided above the two sock filters 29 in the upper part of each painting area 2.
  • the crossover duct 30 extends from the painting area supply chamber 28 to the one side wall 2w of each painting area 2 with a duct width over substantially the entire area of each painting area 2 in plan view.
  • An air supply port 31 for an air curtain is formed on the lower surface of the front end portion of the transition duct 30.
  • the air curtain air supply port 31 forms an air curtain fa that flows downward along the one side wall 2 w of each painting area 2.
  • the air curtain air supply port 31 and the spray means 4 are arranged concentrically in the arrangement direction of the painting area 2 and the robot installation area 5 in a plan view.
  • the width d of the air curtain air supply port 31 (in other words, the width of the air curtain fa) is smaller than the width of the coating area one side wall 2w, and is smaller than the distance between the two sock filters 29. The dimensions are also small.
  • An exhaust area 32 is formed below each paint area 2.
  • the exhaust area 32 receives air ea discharged downward from the painting area 2 in accordance with the air supply to the painting area 2 and the air supply to the corresponding robot installation area 5.
  • the air ea received in the exhaust area 32 is exhausted by an exhaust fan (not shown) through the exhaust path 33.
  • a powdery collection auxiliary material is mixed with the discharge air ea in the exhaust area 32. Then, on the downstream side of the exhaust passage 33, the excessive spray paint may be collected by a filter together with the collection auxiliary material.
  • a wet collecting device for the excessive spray paint may be disposed in the exhaust area 32.
  • each robot installation area 5 is kept at a higher pressure than the adjacent painting area 2. From these robot installation areas 5, a lateral or diagonally downward air flow ra flowing into the corresponding painting area 2 is formed through a work opening 24 a formed in the partition wall 24 between the robot and the corresponding painting area 2. By this air flow ra, scattering of excess spray paint toward the robot installation area 5 in each painting area 2 is suppressed.
  • the spraying robot 6 suppresses the spraying of excess spray paint toward the robot installation area 5 by the air flow ra. It is possible to effectively prevent the excessive spray paint from adhering to the main body portion and the excessive spray paint from adhering to the arm 7 of the coating robot 6.
  • the spread width of the excessive spray paint toward the one side wall 2w of the coating area 2 is also suppressed to be small. From this, even if the air curtain fa has a small width dimension d, it is possible to effectively prevent the paint from adhering to the one side wall 2w of each coating area 2.
  • the adjacent paint areas 2 are partitioned by a partition wall 34, a hanging wall or an air curtain. This prevents mutual movement of the excess spray paint between the adjacent paint areas 2 (that is, between the preceding paint area 2 'and the subsequent paint area 2 ").
  • the adjacent robot installation areas 5 are separated from each other in the arrangement direction thereof, or even separated by an air curtain. This facilitates delivery of the workpiece W via the delivery unit 20 between the adjacent painting robots 6 (that is, between the preceding painting robot 6 ′ and the subsequent painting robot 6 ′′).
  • the delivery unit 20 that holds the workpiece W that is connected to the holder 8 is not limited to the one that holds the workpiece W and the holder 8 in a form of placing them.
  • the delivery unit 20 may be one that holds the article W and the holder 8 in a suspended form. That is, in the implementation of the present invention, the holding method of the article W in the delivery unit 20 can be variously changed.
  • the preceding painting robot 6 ′ holds the article W after the preceding painting on the delivery unit 20, and then the subsequent painting robot 6 ′′ delivers the delivery unit 20. It is not limited to the form in which the workpiece W held in the container is received prior to the subsequent painting.
  • the preceding painting robot 6 ' directly hands the workpiece W after the preceding painting to the subsequent painting robot 6 ". May be.
  • the spraying means 4 arranged on the upper part of the coating area 2 is not limited to spraying paint vertically downward.
  • the spraying means 4 may spray the paint obliquely downward. Further, the spray means 4 may change the spray direction of the paint within the downward range.
  • a plurality of spraying means 4 may be provided in the preceding coating area 2 ′ and the subsequent coating area 2 ′′. These plurality of spraying means 4 are selectively used depending on the type of the object W to be coated and the type of spray paint. Used for.
  • the specific shape and structure of the holder 8 used to connect the arm tip 7a of the coating robot 6 and the workpiece W can be variously changed.
  • the specific structure of the arm / holding tool connecting means for connecting the arm tip 7a of the painting robot 6 to the holding tool 8, and the holding tool / workpiece connecting means for connecting the holding tool 8 to the work W is not limited to that shown in the above-described embodiment, and various configuration changes can be made.
  • the suction state of the suction cup 9 with respect to the workpiece W is maintained by blocking the air flow toward the inside of the suction cup 9 by the check valve 11.
  • the opening / closing valve 23 may be interposed in the main suction path 10 b of the holder 8 or the like.
  • the opening / closing valve 23 is closed by a command by a radio signal from the control means 19.
  • the suction cup 9 is sucked by the suction means to suck the suction cup 9 to the workpiece W, or the suction cup 9 is released to the atmosphere to release the suction state of the suction cup 9 to the workpiece W.
  • the opening / closing valve 23 may be opened by a command by a radio signal from the control means 19.
  • the suction means (not shown) is connected to the suction port 10a of the suction passage 10 only when the air inside the suction cup 9 is sucked to suck the suction cup 9 against the workpiece W. .
  • the suction cup 9 is sucked by sucking the air inside the suction cup 9 using the air suction force applied through the arm-side suction path 16 that holds the connection state between the arm tip 7a and the holder 8. You may make it adsorb
  • the air supply structure for each painting area 2 may be configured as shown in FIGS.
  • the air curtain blowing box 35 having the air curtain air supply port 31 formed on the lower surface is disposed on the upper portion of the one side wall 2w in each coating area 2.
  • the two sock filters 29 extending from the air supply chamber 28 for the painting area are brought to the side of the air curtain blowing box 35.
  • the tip portions of the sock filters 29 are opened inside the air curtain blowing box 35 through a throttling mechanism 35a such as a throttling opening or an air volume adjusting damper.
  • each paint zone 2 may be configured as shown in FIGS.
  • the paint tank installation chamber 36 extending over the entire height of the painting area 2 is formed at the corners of both ends of the one side wall 2 w in each painting area 2.
  • the cross-sectional shape of the paint tank installation chamber 36 in plan view is a substantially triangular shape that fits in the corners at both ends of the one side wall 2 w in the painting area 2.
  • the plane shape of the air curtain air supply port 31 (that is, the cross-sectional shape of the air curtain fa in a plan view) is determined by the bottom side of the triangular cross-sectional shape of the paint tank installation chamber 36 and the one side wall 2w of the coating area 2.
  • the trapezoid is surrounded.
  • the air curtain fa prevents the excessive spray paint from adhering to the one side wall 2w of the paint area 2, and also causes the excessive spray paint to adhere to the chamber walls of both paint tank installation chambers 36. Can be prevented.
  • the air supply structure for each paint zone 2 may be configured as shown in FIG.
  • the lower wall 30a of the transition duct 30 provided at the upper part of each painting area 2 is formed into a porous structure formed by a punching plate, a filter or the like.
  • the sock filter 29 is omitted, and the ventilation air sb is blown out and supplied from the lower wall porous structure of the transition duct 30 to the upper part of the painting area 2.
  • the painting robot 6 installed in each robot installation area 5 is not limited to a floor-standing type.
  • the painting robot 6 installed in each robot installation area 5 may be of any installation type such as a wall hanging type or a ceiling hanging type.
  • the spraying means 4 may be arranged in the painting area 2 in a state where it can be lifted and lowered freely. Thereby, you may enable it to perform the maintenance with respect to the spraying means 4 easily.
  • the spray means 4 in a downward posture is attached to the swing end of the parallel link mechanism 37 that can swing up and down.
  • a biasing means 38 such as a weight for biasing the parallel link mechanism 37 to the upward swing side is provided.
  • a limit defining means 39 such as a buffering air cylinder for defining the swing range of the parallel link mechanism 37 is provided.
  • the parallel link mechanism 37 is normally lifted and swung to the rising limit position defined by the limit defining means 39 in this structure.
  • the spraying means 4 can be held at the upper position of the painting area 2 in a downward posture. In this state, the spray means 4 can be sprayed onto the article W to be coated.
  • the parallel link mechanism 37 is lowered and swung to the lower limit position where the parallel link mechanism 37 assumes a vertically downward posture against the urging force of the urging means 38. Accordingly, the urging direction of the urging means 38 is reversed, so that the spraying means 4 is held at the lower position of the painting area 2 in a downward posture. And the maintenance operation
  • the air curtain air current fa flowing downward along the painting area side wall 2w is guided by the air flow guide surface 40, and the low speed air current portion fa1 on the side close to the painting area side wall 2w and the painting are applied. It can be divided into a high-speed air flow part fa2 on the side away from the chamber side wall 2w.
  • the low-speed airflow portion fa1 on the side close to the coating region side wall 2w changes to the high-speed airflow portion fa2 on the side away from the coating chamber side wall 2w. It is possible to generate an airflow component that heads. Accordingly, it is possible to more effectively prevent the paint from adhering to the paint area side wall 2w due to the paint scattering from the inside of the paint area.
  • the thing to be painted in the painting facility of the present invention is not limited to a bumper of an automobile. That is, the painting equipment of the present invention can be used for painting various articles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Spray Control Apparatus (AREA)
PCT/JP2015/060837 2014-05-26 2015-04-07 塗装設備 Ceased WO2015182254A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP15800010.9A EP3150288B1 (en) 2014-05-26 2015-04-07 Painting facility
CN201580027741.1A CN106457291B (zh) 2014-05-26 2015-04-07 涂装设备
US15/313,780 US9968956B2 (en) 2014-05-26 2015-04-07 Painting Facility

Applications Claiming Priority (2)

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JP2014108140A JP6263442B2 (ja) 2014-05-26 2014-05-26 塗装設備
JP2014-108140 2014-05-26

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WO2015182254A1 true WO2015182254A1 (ja) 2015-12-03

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EP (1) EP3150288B1 (enExample)
JP (1) JP6263442B2 (enExample)
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WO (1) WO2015182254A1 (enExample)

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JP7229708B2 (ja) * 2018-09-21 2023-02-28 関西ペイント株式会社 塗装装置
CN111014760B (zh) * 2019-12-14 2020-12-18 河南飞龙(芜湖)汽车零部件有限公司 一种应用于汽车水泵生产线上的钻孔喷涂一体化装置
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JP7392595B2 (ja) * 2020-07-10 2023-12-06 トヨタ自動車株式会社 塗装システムおよび塗装方法
WO2022049718A1 (ja) * 2020-09-04 2022-03-10 アーベーベー・シュバイツ・アーゲー 塗装ロボット
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EP3150288B1 (en) 2018-11-28
EP3150288A4 (en) 2017-07-19
CN106457291A (zh) 2017-02-22
US9968956B2 (en) 2018-05-15
JP6263442B2 (ja) 2018-01-17
EP3150288A1 (en) 2017-04-05
JP2015223533A (ja) 2015-12-14
CN106457291B (zh) 2018-11-27
US20170189927A1 (en) 2017-07-06

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