JP2002035675A - Painting method - Google Patents

Abstract

(57) [Summary] (Modifications required) [Problem] It is easy to install in a painting factory, shortening the construction period, saving capital investment costs, preventing paint from adhering to the transfer line side, and Prevents deterioration of coating efficiency due to color change of coating without deteriorating environment. A transport line (10) capable of moving a work (K) along a rail and a coating module (20) arranged adjacent to the transport line (10) are provided.
Painting casing 21 forming a coating chamber 25 and having an opening
Using the coating system 1 including the coating device 22 disposed in the coating room 25 and the coating work transfer device, the work on the transfer line 10 is guided into the coating room 25 through the opening by the coating work transfer device. Medium work painting equipment 2
In a state where the work K is sprayed onto the work K by the coating device 22 while holding the work K in the vicinity, the work K in the coating chamber 25 is opened by the coating work transfer device through the opening in the transfer line 1.
Return to 0.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a coating method.

[0002]

2. Description of the Related Art For example, there is a single spare part of a bicycle, a motorcycle, a motor vehicle, an electric device, a musical instrument, furniture and the like, or a part thereof, and a part or the whole of the spare part is painted.

In the conventional coating, for example, as shown in FIG. 18, in a factory building 99, a work transfer device is provided, the conveyor 100 is moved along the track of a transfer line provided on the ceiling side, and hangs down from the conveyor 100. The work K is held by a hanger-type work holder 101, and the work K is applied by a coating device 104 in a coating room 103 provided so as to surround the conveyor 100 by a coating casing 102.

[0004] The inlet 102a and the outlet 1 of the coating chamber 103
02b has openings 105 through which the work K can pass.
a and 105b are provided.

[0005]

As described above, the factory building 9
9, the coating room 10 surrounds the conveyor 100.
Because of the provision of 3, there is a need to carry out the installation work of the transport line in the painting factory, and then to carry out the construction of the painting equipment, resulting in a problem that the construction period is lengthened and the capital investment cost is increased.

Further, since the work K is coated by the coating device 104 in the coating room 103 through which the conveyor 100 passes, the paint adheres to the conveyor 100 and the work holder 101, and the large-scale conveyor 100 and the work holding member are held. It is necessary to clean the entire tool 101, which makes maintenance work cumbersome and costly.

Further, a conveyor 100 is provided in the coating room 103.
Openings 105a and 10 which are always open and serve as passage portions
5b, the paint blown out from the coating apparatus 103 during coating may collide with the work surface or other objects and scatter and may flow out into the factory building 99 from the openings 105a and 105b. When the paint scatters in the factory building 99, it collides with another thing and becomes fine and mist-like, floats in the factory building 99, and the solvent component is volatilized from the paint, thereby deteriorating the environment in the factory building 99. was there.

Further, in the prior art, the distance from the coating device 104 to the openings 105a and 105b is increased, and an exhaust device 106 for directly discharging the air in the coating room 103 to the outside of the factory building 99 is provided with a coating casing 10.
2 was provided. As a result, the paint blown out of the coating apparatus 103 collides with the surface of the work or other objects and becomes fine and becomes a fine mist, and floats in the paint chamber 103. The volatile solvent whose concentration in 103 increases increases tends to flow out into the factory building 99 from the openings 105a and 105b which are always open, but these can be discharged out of the factory building 99,
The environment in the factory building 99 can be prevented from deteriorating.

[0009] However, the opening 1
Since the work holder 101 was positioned four or more except for the nearest work holder 101 before 05b, when the paint was changed to perform a color change for painting a different color, The opening of the work that is completely painted in color is 10
Until it goes out of the coating room 103 through 5b, it cannot be coated with another color paint. That is, four or more workpiece holders 101 located between the coating device 104 and the opening 105b except for the nearest workpiece holder 101.
In such a case, it is necessary to make the product in a stockout state without a work, and there is a problem that the efficiency of the coating is reduced due to the color change.

Further, in the factory building 99, a work transfer device of a transfer line is formed as described above, and dust falling from a conveyor moving on the ceiling side may be a work which is not completely dried during or after painting. If you fall on it, the painted surface will be rough. Also, when painting the work held on the hanger type work holder that is located above the work, the liquid paint adhering to the work holder will fall on the work, or the solidified paint will peel off due to vibration etc. If it falls on the workpiece, the painted surface will be roughened as well. For this reason, it is necessary to remove the paint adhering to the work holder, and the maintenance and inspection work is troublesome and the cost increases.

Further, in the transfer device provided in the factory building 99, even if a work K of a different shape flows, the work holder 101 only rotates at a constant speed, for example, the position of the coating nozzle of the coating device 104. Or, even if the posture is variable, it may be difficult to efficiently paint a wide range of the work K in accordance with the shape of the work.

The present invention has been made in view of such circumstances, and a first object is to facilitate installation in a coating factory, shorten the construction period, and reduce capital investment costs. The third object is not to deteriorate the environment inside the factory building, and the fourth object is to change the color of the coating. The fifth object is to prevent the coating surface of the work from being roughened by dust or extra paint, and the sixth object is to perform maintenance and inspection of the work transfer device. The seventh object is to simplify a wide range of the work in accordance with the shape of the work, and furthermore, to simplify the work.
An eighth object is to easily cope with a change in the shape of a workpiece flowing on a transport line.

[0013]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

According to a first aspect of the present invention, there is provided a transfer line that enables a work to move along a rail, and a coating module disposed adjacent to the transfer line. Using a coating system consisting of a coating casing formed and having an opening, a coating device arranged in the coating room, and a work transfer device for coating, the work on the transfer line is guided into the coating room through the opening by the work transfer device for coating, The paint is sprayed on the workpiece by the painter while the workpiece is being held near the painter during painting.
A coating method, wherein a work in a coating chamber is returned to a transfer line through an opening by a coating work transfer device. ].

According to the first aspect of the present invention, during the construction of the transfer line, the installation work of the coating module can be performed in parallel, the construction can be shortened, and the capital investment cost can be reduced.
Also, the transport line will be located outside the coating room,
Since the transport line is separated from the coating equipment and there is an opening between them, even if the paint sprayed from the coating equipment collides with the workpiece and scatters, the scattered paint hardly reaches the main transport line, and the paint adheres. Can be difficult.

According to a second aspect of the invention, there is provided the coating system, wherein the opening is provided with an opening / closing door made of an air curtain or a movable wall, and the opening / closing door is closed for a part or all of the period during coating. The coating method according to claim 1, wherein the coating is performed. ].

According to the second aspect of the present invention, even if the paint sprayed from the coating device collides with the work or the like and scatters, the opening / closing door is closed for a part or all of the time during the coating. In addition, paint can be hardly adhered to the transfer line side.

According to a third aspect of the present invention, there is provided the coating system, wherein the coating system includes a ventilator for guiding outside air into the coating chamber by operating an air fan and discharging the air in the coating chamber to the atmosphere. The coating method according to claim 1 or 2, wherein a ventilation device is operated during or for a certain period after completion of the coating to ventilate the coating room. ].

According to the third aspect of the present invention, there is provided a transfer casing forming a storage chamber for storing a transfer line,
Equipped with a ventilator that discharges the air in the storage chamber to the atmosphere, it can easily and reliably treat the solvent that evaporates during coating and the fine paint mist that scatters and floats in the storage chamber. Is possible.

According to a fourth aspect of the present invention, there is provided a method according to any one of the first to third aspects, wherein only one work is guided to the coating room by the coating work transfer device to perform coating. Or the coating method according to item 1. ].

According to the fourth aspect of the present invention, since the coating completion standby position is not provided, it is not necessary to create a stockout state for changing colors, and it is possible to more reliably prevent a reduction in coating efficiency due to changing colors. Can be.

According to a fifth aspect of the present invention, there is provided a method as described above, wherein the painting work transfer device has a plurality of work holding members, and when one work holding member is located near the coating device, another work holding member is painted. 5. The method according to claim 1, wherein the work is exchanged between a work holder outside the coating casing and the transfer line during coating, wherein the work is replaced outside the coating casing. The coating method according to item 1. ].

According to the fifth aspect of the present invention, the painting can be performed in a short time by setting the work replacement position outside the coating casing and performing the coating and the replacement simultaneously.

According to a sixth aspect of the present invention, a support device for holding a work located at a position above the transfer line from below is provided on the transfer line.
A work holding device that holds the work at the upper position from below is arranged, and the work held above by the support device is
Place it above the work holding device and guide it to the painting room to paint it.
2. The coating method according to claim 1, wherein the painted work is held above the work holding device and placed above the supporting device. ].

According to the sixth aspect of the present invention, even if dust is dropped from the work transfer device on the transfer line and the work transfer device for moving the work on the transfer line to the vicinity of the coating device, the work being coated or the paint is not applied. After that, the paint does not completely fall on the work which has not been dried, so that the painted surface of the work does not become rough.

According to a seventh aspect of the present invention, there is provided the above-mentioned coating system, wherein a sliding-type or a rotary-type opening / closing door is provided in the opening, and the movable opening-and-closing door has a supporting portion except for a portion above the opening. Or arranged below, the opening and closing drive member of the opening and closing door is arranged so that it becomes a position that is lateral or below except for above the opening in a state where the opening is open, a part or all of the period during painting, The coating method according to claim 2, wherein the opening and closing door is closed. 』
It is.

According to the seventh aspect of the present invention, even when dust is dropped from one of the support portion of the opening and closing door and the opening and closing driving member when the work having been painted is passed through the opening, the painting is completely completed after the painting. Since it does not fall on a work that has not dried, the painted surface of the work does not become rough.

[0028] The invention described in claim 8 is that the work is made of metal and is made of an electrodeposition coating for applying a high voltage difference between the paint and the work in the coating apparatus. The holding jig is provided with a downwardly extending leg, the painting work transfer device is provided with an upwardly extending metal column, and the distal end of the leg is formed in a pipe shape with the upper part closed and the lower part opened. The tip of the rod is made into a rod or pipe shape that can be stored in the pipe, the support is provided on the column in the pipe, and at the time of painting, the tip of the column is stored in the pipe and a part of the column is used. 8. The coating method according to claim 6, wherein the feet are supported in contact. ].

According to the eighth aspect of the present invention, since the electrodeposition coating is used, the coating material is less likely to scatter other than the work. In addition, since the electrically conductive part between the work transfer device for painting and the work is covered with a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive part. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

According to a ninth aspect of the present invention, there is provided a work transfer device for coating, comprising: a work holding device for holding a work in the vicinity of the coating device; and a work holding actuator for driving the work holding device. The coating method according to claim 1, wherein the holding actuator is drive-controlled to change the holding state of the work. ].

According to the ninth aspect of the present invention, the work holding actuator during painting is drive-controlled to change the holding state of the work, so that a wide range of work can be coated.

According to a tenth aspect of the present invention, there is provided a coating apparatus having an on-off valve for a paint spray nozzle and a spray nozzle actuator for changing the position or attitude of the paint spray nozzle. 10. The coating method according to claim 9, wherein the position of the paint spray nozzle and the attitude of the paint spray nozzle are made variable by controlling the driving of the paint spray nozzle. ].

According to the tenth aspect of the present invention, the spray position or posture of the paint spray nozzle is made variable while changing the holding state of the work, so that a wider range of work can be coated.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the coating method of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to these embodiments.

First, an embodiment of the coating method will be described with reference to FIGS. Figure 1 is a perspective view of the coating system,
FIG. 2 is a schematic configuration diagram of the work holding device, FIG. 3 is a schematic configuration diagram showing the operation of the coating system, and FIG. 4 is a timing chart of the operation of the coating system.

The coating system 1 includes a work transfer device on a transfer line 10, and a coating module 20 is disposed adjacent to the transfer line 10. Transport line 1
0 indicates that the work K can be moved along the trajectory. A work for exchanging the work K on the transfer line 10 that enables the work K to move along the trajectory and the work K painted by the coating device 22 disposed in the coating module 20 disposed adjacent to the transfer line 10. A moving device A is provided.

In this embodiment, the conveyor 11 can be moved along a track, and the conveyor 11
2 is placed. The work K is supported by the support device 12, and the support device 12
From below. The support device 12 may be fixed to the conveyor 11 or may be detachable. In addition, the transport line 10 may be one in which the independent support device 12 moves by itself or pushed along the track without depending on the conveyor 11.

The transfer line 10 is accommodated in a storage chamber 14 constituted by a transfer casing 13.
4 is provided with a ventilation device 15. Ventilation device 15
Has an exhaust duct 15a, an exhaust fan 15b, and a processing device 15c, and the accommodation chamber 1 is driven by the exhaust fan 15b.
Air in the exhaust duct 15a through the processing device 15c.
Exhausted from outside. The processing device 15c is provided with a filter 15d that captures and separates an organic solvent that is a thinning solution of the paint. Since the outflow of the organic solvent can be reduced as described below, the installation of the processing device 15c may be cancelled.

A plurality of coating modules 20 are arranged adjacent to and along the transport line 10. In the coating module 20, the upstream side of the transport line 10 is used for undercoating, and the downstream side is used for topcoating.

The coating module 20 is provided with a coating casing 21, a coating device 22, a work holding device 23 constituting a part of the work moving device A, and a cleaning device described below. Transfer line 1 with painted casing 21
A coating room 25 is provided independently of the coating room 25. In the coating room 25, a coating device 22, a work holding device 23, and a cleaning device are arranged.

Further, a ventilation device 26 is provided on a floor member 21 a described below of the coating casing 21.
5 and independently. The ventilation device 26 has an exhaust duct 26a, an exhaust fan 26b, and a processing device 26c. The air in the coating chamber 25 is driven from the exhaust port 26e provided on the floor by the driving of the exhaust fan 26b to the exhaust duct 26a via the processing device 26c. It is exhausted more outdoors. The processing device 26c is provided with a filter 26d for capturing and separating the organic solvent.

By ventilating the coating room 25 with the ventilation device 26, the ventilation device 15 of the storage room 14 can reduce the amount of mist-like paint leaking from the coating casing 21 through the opening 28 described below. Clogging due to the organic solvent can be prevented, and it can be used up to the original organic solvent adsorption capacity. Note that the amount of the organic solvent leaking through the opening 28 can be reduced.

The coating device 22 is disposed in a coating room 25, and applies a coating material to a work K held by a work holding device 23 located at a coating position by a coating robot 22a.

The work holding device 23 and the exchange moving device 3
0, the work moving device A is configured to move the work K from the support device 12 to the vicinity of the coating device 22;
The upper work K is held from below.

The work holding device 23 includes the coating casing 2
As shown in FIGS. 1 and 2, the work holding device 23 is mounted on the first floor member 21a and grounded.
3f, the main arm 23a, the sub-arms 23b and 23c, and the work holders 23b1 and 23, which constitute a column extending upward.
c1. The driving section 23f includes a main arm 23a.
Are rotatable or rotatable about axes separated from the work holders 23b1 and 23c1. Secondary arm 23
The b and 23c are connected to the main arm 23a so as to be rotatable or rotatable around an axis. Work holder 23b
1, 23c1 includes a main arm 23a and sub-arms 23b, 2
The sub-arms 23b and 23c are provided at positions separated from the connection center axis with the sub-arm 3c, and the work K is detachable.

The driving section 23f is provided with a main motor M1 for driving the main arm 23a, and the main motor M1 causes the main arm 23a to rotate or rotate about the support shaft 23g as a fulcrum. At both ends of the main arm 23a, independently of the main motor M1, first sub-motors M2 for driving the sub-arms 23b and 23c are arranged. This first sub motor M2
, The sub-arms 23b and 23c can be freely operated with the support shaft 23h as a fulcrum without being restricted by the rotation or rotation of the main arm 23a.

At both ends of the main arm 23a, independent of the main motor M1 for driving the main arm 23a, a second sub motor M for driving the work holders 23b1 and 23c1 is provided.
3 are arranged. The work holders 23b1 and 23c1 can be freely operated via the belts 23i and 23j without being restricted by the rotation or rotation of the main arm 23a by the driving of the second sub motor M3.

The work holders 23b1, 23c1
Can be rotated or rotatable around the axis of the support shaft 23h with respect to the sub-arms 23b and 23c.
, And by rotating or rotating the work holders 23b1 and 23c1, the outer periphery of the work can be easily and reliably painted.

The work holding device 23 is provided with the main arm 2.
The sub-arms 23b, 23c are pivotally or rotatably connected to the support arm 23h around the support shaft 23h, and the sub-arms 23b, 23c are located at positions separated from the connection center axis of the main arm 23a and the sub-arms 23b, 23c. 23c, a workpiece holder 23b, 2 on which the workpiece is detachable.
3c, when the main arm 23a rotates or rotates,
By rotating and placing the sub-arms 23b and 23c near the main rotation center axis, the inertial mass around the main rotation center axis can be reduced, so that the rotation or the start and stop of the main arm 23a are promptly performed. be able to.

The main arm 23a has work holders 23b1 and 23c1 at a plurality of positions on the same circumference from the rotation center axis, and can hold a plurality of works on the main arm 23a. The amount of work stored on the line 10 can be reduced. Also, if the work K is 1
Since the paint is successively guided into the paint casing 21, the color change can be immediately performed.

The coating casing 21 is provided with an opening / closing door 27 for dividing the coating chamber 25 and the transfer line 10.
8 is closed.

The exchange moving device 30 is a robot, and the outdoor turntable 31 having the loaders 31a and 31b is turned by 90 degrees so that the work at the work change position and the work on the transfer line can be exchanged.

Next, the operation of the coating system according to this embodiment will be described with reference to FIGS.

In FIG. 3A, the coating casing 21
The opening 28 is closed by the opening / closing door 27, the coating device 22 is driven in the coating room 25, and the coating robot 22a holds the sub-arm 23c of the work holding device 23 to apply the coating material to the work K3 located at the coating position P1. Start painting to apply. The coating is performed by rotating the work K3 by 90 degrees by the work holder 23c1 of the sub arm 23c at a predetermined timing, and applying the paint to the entire work K3.

On the other hand, the outdoor turntable 31 of the exchange moving device having the loaders 31a and 31b is turned by 90 degrees, and the work reloading position P2 outside the closed door 27 is closed.
Work K of the work holder 23b1 located at
1, the loader 31b extends and lifts (lifts up) and engages (hanger chuck), while the loader 31b extends and rises to the unpainted work K2 held by the support device (pallet) 12 on the transport line 10. Lift up) and engage (hanger chuck).

Thereafter, the outdoor rotating table 31 of the exchange moving device 30
Is rotated by 180 degrees, and the unpainted work K2 on the work holder 23b1 located at the work change position P2 is lowered (lifted down) by the loader 31b and disengaged (hanger unchuck) from the loader 31b. On the other hand, the work K1 painted on the support device (pallet) 12 is similarly delivered from the loader 31a. Further, after this, the outdoor rotary table 31 turns 90 degrees, and the state shown in FIG.

In FIG. 3B, the painted work K
The supporting device (pallet) 12 holding 1 is moved in the direction of the next process section (pallet positioning release and pallet feed), the opening and closing door 27 is opened, and the painting continued from FIG. Complete.

The supporting device (pallet) 12 holding the unpainted work K2 is sent from the pre-process section to a predetermined position (pallet positioning), and the state shown in FIG. In FIG. 3C, the sub arm (sub arm) 23b holding the unpainted work K2 is turned by 90 degrees, and the unpainted work K2 held by the work holder 23b1 passes through the opening 28 and is placed on the work. It moves from the replacement position P2 to the intermediate position P3, and the state shown in FIG.

In FIG. 3D, the main arm (index) 23a rotates by 180 degrees, and the positions of the sub arm 23b holding the unpainted work K2 and the sub arm 23c holding the painted work K3 are switched. That is, the painted work K3 moves to the painting position P3, and the unpainted work K2 moves to the painting position P1, and the state shown in FIG.

In FIG. 3E, the sub arm 23c is
After turning 80 degrees, the painted work K3 moves from the middle position P3 to the work replacement position P2.
7 is closed, painting is started, and the state returns to the state shown in FIG.

The work holder 23b1 or the work holder 23c1 to be located at the painting position P1.
Has 9 workpieces, each of which is turned three times during painting.
Rotate by 0 degrees. As a result, the work can be divided into four times, and the entire circumference of 360 degrees can be painted through the painting on four sides at 90 degrees. Paint, swirl, paint, swirl, paint, swirl,
After the coating of the entire circumference is completed by the coating, a sub arm (sub arm) for moving the unpainted work K2 shown in FIG. 3C from the work replacement position P2 to the intermediate position P3 through the opening 28. The work holder 23c1 of the other sub-arm (sub-arm) 23c is also rotated 90 degrees simultaneously with the 90-degree rotation of 23b or the 180-degree rotation of the work holding device 23.
Rotated by degrees.

The timing chart of FIG. 4 illustrates the above contents. The work K2 before painting on the transport line 10 is moved to the painting position P1 via the work replacement position P2 and the intermediate position P3, and the completed work K3 at the painting position P1 is moved to the intermediate position P3 and the work replacement position P2.
And moves onto the transport line 10 via the. In the timing chart, the painting of the fourth side of the work K is completed.
The opening operation of the opening and closing door 27 is started two seconds before, and the opening and closing door 27 is fully opened almost at the same time as the end of the painting. This makes it possible to reduce the cycle time even if a slightly mist of paint flows out of the opening 28.

As described above, the work moving device A moves the work holder 23b between the painting position P1 and the work replacement position P2 at which the work can be detached from the work holder.
A work holding device 23 having a main arm 23b that is rotatable or rotatable around an axis separated from the first and second 23c1
And a replacement moving device 30 that enables the work at the work transfer position P2 to be replaced with the work on the transfer line 10. By simply rotating or rotating the main arm 23a, the work is moved to the painting position P1. Since the work can be moved to and from the work change position P2 where the work can be detached from the work holding device, quick movement is possible.

Further, the work moving device A is
Since the work K is moved from the position to the vicinity of the coating device 22 and the work K at the upper position is held from below, the work transfer device of the transfer line 10 or the work moving device for moving the work K of the transfer line 10 to the vicinity of the coating device 22 Even if garbage or paint falls from A, work K during painting or work K whose paint has not completely dried after painting
The surface of the workpiece K is not roughened. Further, even when the work K is painted, the paint does not easily adhere to the work transfer device itself on the transfer line 10, so that maintenance and inspection of the work transfer device A can be simplified.

The coating casing 2 having the opening 28
The work moving device A moves the work K from the support device 12 to the vicinity of the coating device 22 and the movement from the vicinity of the coating device 22 to the support device 12 through the opening 28. As a result, the transport line 10 is located outside the coating chamber 25, and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, so that the paint sprayed from the coating device 22 collides with the workpiece K or the like. Even if the paint scatters, the scattered paint is less likely to reach the transport line 10 and the paint is less likely to adhere.

During the construction of the transfer line 10, the coating casing 21, the coating device 22, and the work moving device A
Installation work is possible, construction work can be shortened, and capital investment costs can be saved.

Next, an embodiment of the cleaning device and the ventilation device in the first embodiment of the coating system will be described.
FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

The coating system 1 of this embodiment is similar to the coating system shown in FIG.
4 are denoted by the same reference numerals as those in FIG.

The coating casing 21 is provided with a coating chamber 22 which forms a part of a coating chamber 25 by a partition wall 21b.
0 is formed, and the coating device 22 is disposed in the coating device housing chamber 220. The painting robot 22a of the painting device 22 is moved from the small robot opening 21b1 of the partition wall 21b to the painting room 2
5, and the work K is painted. A high-voltage generator 221 is provided outside the coating casing 21. The high-voltage generator 221 is connected to a tip of the coating robot 22a via a high-voltage insulating wire 222 for applying a negative charge, and a paint in the tip is provided. Is given a negative charge.
The work K is made of metal and grounded, and is an electrodeposition coating that gives a high voltage difference between the paint in the coating device 22 and the work K, so that the paint does not easily scatter other than the work K.

The coating system 1 is provided with a cleaning device 24. The cleaning device 24 allows the cleaning water to flow down along the inner wall surfaces of the three side walls 21c and the inner wall surface of the partition wall 21b of the coating casing 21. Washing water that flows down like a waterfall,
It is collected in the discharge groove 24b formed in the floor member 21a.
The discharge groove 24b is formed on the lower side of the coating casing 21,
The washing water collected in the discharge groove 24b is guided to the separation tank 24d via the discharge pipe 24c. The washing water accumulated in the separation tank 24d is sent from the supply pipe 24f to the upper part of the side wall 21c of the coating casing 21 by driving of the circulation pump 24e, overflows from the sump weir 24g, and the inner wall surface and the partition wall of the three side walls 21c. Wash water is caused to flow down along the inner wall surface of 21b. The mist-like paint sprayed from the painting device 22 and reaching the inner walls on the four sides is washed away with the washing water.

A dispersant 90 is added to the separation tank 24d, and the dispersant 90 makes the paint in the washing water non-adhesive and dispersed. The washing water in the separation tank 24d is driven by a separation pump 91 via a circulating pipe 92 to drive the centrifuge 9
3, and the paint residue 94 is separated by the centrifugal separator 93.

The coating system 1 includes a ventilation device 26.
The outside air is taken in from outside through the outside air intake 26i, and the temperature and humidity of the outside air taken in by the air conditioner 26j are set to desired values and sent to the ventilation room 261 through the duct 26k. The outside air is supplied from the ventilation room 261 to the coating room 25 and the coating device accommodating room 22 through the ventilation air outlet 21d1 formed on the ceiling 21d of the coating casing 21.
Flow into 0. The air that has flowed into the coating apparatus storage chamber 220 flows to the lower part of the coating chamber 25 through the small robot opening 21b1. The floor member 21a is provided with an exhaust port 26e connected to the discharge groove 24b, and ventilation air flows into the gas-liquid separation chamber 26l from the discharge groove 24b of the floor member 21a from above. A water draining plate 26h is arranged in the gas-liquid separation chamber 26l to prevent moisture from entering the exhaust duct 26a by driving the exhaust fan 26b. The air conditioner 26j may include an air fan inside, or may include only the exhaust fan 26b.

In the discharge groove 24b, air for ventilation, washing water,
If the paint mist is discharged and only the painting robot 22a is kept clean, the paint mist and dust easily flow downward and are discharged. Further, since the flow direction of the cleaning water coincides with the flow direction of the air, the cleaning water and the paint mist can be more reliably discharged.

Next, the structure of the door will be described with reference to FIGS.

In the embodiment of the opening and closing door of FIG. 6 used in the first embodiment of the coating system, the coating casing 2
An opening 28 is formed in a base plate 270 provided in the apparatus 1, and a sliding-type opening / closing door 27 is provided in the opening 28. Rails 2 above and below the base plate 270
71 and 272 are fixed. Rails 271, 27
The two tip portions 271a and 272a are arranged so as not to extend to the position where the opening 28 is formed.

The opening / closing door 27 for opening and closing the opening 28 is provided integrally with arms 276 and 277 having sliders 274 and 275 on the upper and lower sides of the door body 273.
The arms 276 and 277 of the door body 273 are
The doors 273 are slidably provided on the rails 271 and 272 via the rails 74 and 275, and the door body 273 is slidable with the cantilever, and the leading ends 271 a and 272 a of the rails 271 and 272 are provided.
Are not arranged above the opening 28. In particular, the sliding portions of the sliders 274 and 275 are prevented from being located above the opening 28 even by the sliding movement.

An opening / closing cylinder 280 serving as an opening / closing drive member is mounted below the base plate 270, and a piston rod 281 of the opening / closing cylinder 280 is attached to the door body 2
73 is attached below. Piston rod 28
The door body 273 opens and closes the opening 28 by the expansion and contraction of 1, the closed door body 273 shows a closed state, and the two-dot chain line door body 273 shows an open state.

The rails 271 and 272 are connected to the rail cover 2.
82, 283 and the arms 276, 277 to prevent paint from adhering.
4,275 can open and close the opening and closing door 27 smoothly without being affected by paint adhesion.

In the second embodiment of the door shown in FIG. 7, a rotary door 27 is provided in an opening 28 of the coating casing 21. The door body 290 of the opening / closing door 27 is
Paint casing 2 via upper and lower hinges 291 and 292
The first side wall is supported to be openable and closable.

A base of an opening / closing cylinder 293 serving as an opening / closing drive member is attached to the outer wall surface of the side wall 21 c of the coating casing 21, and a tip end of a piston rod 294 of the opening / closing cylinder 293 is attached above the door body 290. I have. Door body 2 by expansion and contraction of piston rod 294
90 opens and closes the opening 28.

The hinges 291 and 292 of the door body 290, the opening / closing cylinder 293, and the piston rod 294 are connected to the opening 28.
, And is arranged on the side of the opening 28 so that the opening / closing cylinder 293 and the piston rod 294 are located outside the door main body 290.

In the embodiment shown in FIG. 6, a sliding door 27 is provided in the opening 28, and in the embodiment shown in FIG. This movable door 2
7 is disposed on the side except for above the opening 28 in the embodiment of FIG. 6, and on the side in the embodiment of FIG. 7, and the opening / closing drive member of the door 27 is opened and closed. In the state
It is arranged so as to be located on the side except for above the opening 28. Therefore, when the painted work K passes through the opening 28, even if dust falls from either the support portion of the opening / closing door 27 or the opening / closing drive member, it falls onto the work K whose painting is not completely dried after painting. The painted surface of the work K will not be roughened. The support portion of the opening and closing door 27 and the opening and closing driving member may be arranged below the opening 28 in a state where the opening 28 is opened.

Next, the construction of the work holders 23b1 and 23c1 will be described in detail.
Since c1 has the same configuration, the work holder 23b1 will be described with reference to FIG.

The sub-arm 23b of the work holding device 23 is provided with a mounting portion 233, and a pin portion 233a of the mounting portion 233 is provided with a column 230 extending upward. The support 230 includes the mounting plate 234 and the pipe 23.
5 and is integrally fixed by welding 236 through a welding hole 237 in a state where the mounting plate 234 and the pipe 235 are mounted on the pin portion 233a.

Metal holding jig 3 to which work K is fixed
00 is provided with a foot 301 extending downward,
01, a cap 302 is fixed by welding 303,
A cap 302 is provided at the tip of the foot portion 301 to form a pipe-shaped portion whose upper part is closed and whose lower part is opened. The stopper 304 is located above the cap 302.
Are fixed to the feet 301 by welding.

On the other hand, the tip of the support 230 is connected to the pipe 30.
2 and a supporting portion for supporting the foot portion 301 in the pipe 235 is supported by the support portion 230.
Is provided. The support part 230 is made of metal,
3, sub arm 23b, main arm 23a, and drive unit 23f
Are grounded via the internal electrical conduction path.

Next, the support device 12 for the conveyor 11 is
It will be described based on. The pipe 401 of the support part 400 is fixed to the attachment part 11 a of the conveyor 11 by welding 402. The support portion 400 is provided with a second support portion 500 extending upward. The second support portion 500 is made of metal, and a cap 502 is welded to a lower portion of the pipe 501.
04, a pipe-like portion is formed in which the upper end is closed and the lower end is opened at the end of the second support portion 500. The foot 503 is fixed to the inside of the pipe 501 by welding 504 so as to protrude downward. Foot 503 to pipe 40
1, and the cap 502 is inserted outside the pipe 401. The pipe 501, the cap 502, and the foot 503 are integrally fixed by welding 504 via a welding hole 505. Note that a stopper 516 is fixed to the pipe 501 by welding at a position above the cap 502.

On the other hand, the distal end of the second support 500 is formed in a pipe shape that can be stored in the cap 302 of the holding jig 300, and the supporting portion that contacts and supports the foot 301 of the holding jig 300 in the pipe 501. Are provided on the second support 500.

As described above, the shape of the tip of the support portion 400 and the shape of the tip of the second support 500 are formed in the same manner as the shape of the tip of the support 230 of the work moving device A. I have.

On one side of the loader 31a or 31b of the exchange moving device 30, a foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the supporting device 12
The holding jig 300 is removed from the second support 500
By inserting the tip of the foot 301 of the holding jig 300 into the pipe 235 of the strut 230 of the work moving device A, the tip of the strut 230 is moved to the foot 3 of the holding jig 300.
The unpainted work K can be moved from the support device 12 to the work moving device A by placing the holding jig 300 on the work moving device A so as to be housed in the cap 302 provided at the distal end of the work 01. Become.

Similarly, the loader 31 of the exchange moving device 30
a or 31b, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the holding jig 300 is grasped and removed from the support 230 of the work moving device A. By inserting the tip of the foot 301 of the holding jig 300 into the pipe 501 of the support 500, the tip of the second support 500 is attached to the cap 302 of the tip of the foot 301 of the holding jig 300. The work moving device A for the painted work K by placing the holding jig 300 on the support device 12 so as to be stored in
From the support device 12 to the support device 12 becomes possible.

The loader 31a of the exchange moving device 30
Alternatively, while holding the pipe 501 between the stopper 516 of the second support 500 and the cap 502,
The work K is detached from the support part 400 integrally with the second support part 500 and the holding jig 300 and is moved to the work moving device A, and the other of the loaders 31a or 31b is used for the second work.
The pipe 501 between the stopper 516 of the support 500 and the cap 502 is grasped, and the workpiece moving device A receives the workpiece K.
May be removed integrally with the second support 500 and the holding jig 300 and moved to the support 400.

FIG. 10 is a diagram showing the details of the connection between the column and the foot.

The support device 12 is provided with positioning in the circumferential direction between the support portion and the foot portion. As shown in FIG. 10B, the foot portion 301 of the holding jig 300 is made of metal. Mounting pin 305 penetrates the cap 302 and the foot 301, and both ends are fixed to the cap 302 by welding 306.

Similarly, as shown in FIG. 10C, the metal mounting pins 50 are attached to the feet 503 of the second support 500.
6 penetrates the cap 502 and the foot 503, and both ends are fixed to the cap 502 by welding 507.

As shown in the sectional view of FIG. 10D and the view seen from the direction of arrow A in FIG. 14D of FIG. 10E, the pipe 235 of the support portion 230 of the work holders 23b1 and 23c1 is formed. At the upper end, a pair of V-shaped notches 235a are formed at symmetric positions, and a positioning notch 235b is formed at an intermediate position between the V-shaped notches 235a.

The mounting of the pipe 235 and the holding jig 300 is performed by using the mounting pin 3 as shown in the sectional view of FIG.
10 is engaged with the V-shaped notch 235a of the pipe 235 from above, and the circumferential position between the support portion 230 and the foot portion 301 in this mounted state is determined as shown in FIG. Weld 311 projecting inward to cap 302
The positioning pin 310 fixed by the above is engaged with the positioning notch 235b. Positioning notch 235b
Is formed with a tapered portion 235b1 so that it can be easily engaged.

That is, the work holders 23b, 23
The work K is placed on each holding jig 300 at c1. The mounting pin 305 and the V-shaped notch 23 at the upper end of the support 230 are placed.
5a becomes an electric conduction path by making metallic contact with each other, and by applying a high potential difference between the paint and the work K in the coating device 22, electrodeposition coating becomes possible, and the paint scatters in addition to the work K. It becomes difficult to do.

In addition, during the coating, and during the coating, the mounting pins 3
Since the metal contact portion of the V-shaped notch 235 and the V-shaped notch 235a is covered by the cap 302, the paint is less likely to adhere to the metal contact portion. Electrical continuity can be ensured. Also, the mounting pin 30 to the V-shaped notch 235a
5 is fitted and has excellent detachability.

Similarly to the upper end of the column 230, the upper end of the second column 500 is also formed as shown in FIGS. 10D and 10E.
In the case of detaching integrally with the support part 500 and the holding jig 300 and moving to the work moving device A for painting, the mounting pin 506 and the V-shaped notch 235 at the upper end of the support part 230 are used.
a, the mounting pin 305 and the V-shaped notch 501a at the upper end of the second support portion 500 are in metal contact with each other to form an electric conduction path, thereby enabling electrodeposition coating. In addition, since the respective metal contact portions are covered by the cap 502 and the cap 302, the paint is less likely to adhere, and good electrical continuity at the metal contact portion can be ensured for each coating. A positioning pin projecting inward from the cap 502 of the second support portion 500 is also fixed to the cap 502 at the same circumferential position as the cap 302 by welding, so that the positioning in the circumferential direction for each attachment / detachment is performed. Is also easy.

The upper end of the pipe 401 of the support portion 400 is formed as shown in FIGS. 10D and 10E, similarly to the upper end of the column portion 230 and the second column portion 500. The attachment and detachment of the holding jig 300 or the second support portion to and from the support portion can be facilitated, including positioning in the circumferential direction.

Further, the work holder 23b1 shown in FIG.
The positioning in the circumferential direction between the support 230 and the foot 301 of the holding jig 300 is also configured in the same manner, and thus the description thereof is omitted, but the circumferential positioning between the support 230 and the foot 301 is omitted. By providing the positioning, the support 2 of the work moving device A
The holding jig 300 is housed in the cap 302 at the tip of the foot 301 of the holding jig 300.
Since the position in the circumferential direction is determined each time the object is placed on the work moving device A, painting is easy.

As described above, the work K is made of metal, the electrodeposition coating for applying a high voltage difference between the paint in the coating device 22 and the work K, and the metal K to which the work K is fixed is used. Feet 301 extending downward on holding jig 300
A metal support 230 extending upward is provided in the work transfer device for painting, and the tip of the foot 301 is formed in a pipe shape with the upper part closed and the lower part opened. The support portion is provided on the support portion 230 in the pipe 235, and the tip portion of the support portion 230 is attached to the pipe 2 at the time of painting.
The leg portion 301 is accommodated in the supporting member 35 and a part of the support portion 230 supports and supports the foot portion 301. Therefore, since the electrodeposition coating is used, the paint is less likely to scatter other than the work. In addition, since the electrically conductive portion between the work transfer device for painting and the work is covered with a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive portion. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

FIG. 11 is a block diagram showing the configuration of control of the coating system. The paint factory computer 189 is connected to the internal bus 900 of the paint factory.
00, a first painting system computer 902, a second painting system computer 903, and a plurality of painting system computers are connected to each other to exchange information.

This first coating system computer 90
Since a plurality of coating system computers, such as the second and second coating system computers 903, are similarly configured and controlled, only the configuration of the first coating system computer 902 will be described.

A memory 904 is connected to the first coating system computer 902, and controls the transfer line actuator 910. Transfer line actuator 9
Reference numeral 10 controls the movement drive actuator 912 based on the work identification information of the work identification sensor 911 installed on the transport line 10.

Further, the first coating system computer 9
02, a first coating module CPU 920, a second coating module CPU 930, and a plurality of coating modules C
PUs are connected to each other to exchange information.

This first coating module CPU 920,
The plurality of coating module CPUs such as the second coating module CPU 930 are configured in the same manner and perform control, so that the first coating module CPU 9
Only the configuration of No. 20 will be described.

The first coating module CPU 920 is connected to a memory 921 and has a door driving actuator 92
2. Controls the painting robot drive actuator 923, main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 926, and exchange movement device drive actuator 927.

In the control of the coating system, for example, three-dimensional data input of the outer shape for each work type is input to the memory 904 in the first coating system computer 902.

Based on the input data, the data of the injection nozzle operation control, the injection timing and the injection speed control are created by the first software. In addition, each data of the work position and the posture control is created by the second software. Also, the third
From the weight for each work type and the injection timing data according to the first software, data creation of main arm operation control and sub arm operation control, creation of control data of a repositioning robot, and creation of open / close control data of an opening / closing door are performed by software. .
Further, from the paint color data, paint switch valve drive control data creation, cleaning control at the time of paint switch, injection nozzle opening / closing timing, air supply valve opening / closing timing, thinner supply valve opening / closing timing data creation are performed.

The above data is stored in the memory 90 as a storage device.
4 is stored in a setup step before painting.

The position and orientation of the injection nozzle and the holding of the work when the painter skilled in the art actually applies the coating for each work type without using the teaching software such as the first software and the second software. The state (= position, posture) may be measured, and data may be created directly from the measured values.

In the transfer control of the work K, for example, a pallet holding the work K is sequentially supplied to the transfer line 10 based on the coating plan under the control of the transfer line actuator 910. The identification of the work K is recognized assuming that the work K flows in an order based on the painting plan, or the identification data attached to the pallet is read in the middle of the transport line 10 to recognize the identification of the work K. Corresponding to the identification of the work K, corresponding to each data in the storage device, the opening / closing door drive actuator 922, the painting robot drive actuator 92
3. Main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 92
6. Drive and control each actuator of the exchange moving device drive actuator 927.

Each coating system computer operates each coating module CPU 920 during the operation day of the coating line, and drives the actuator of each coating module at a predetermined timing.

Each work is held by the work holder to which the identification label is attached, and the transfer line CPU takes in the upstream work into the work holder on the transfer line by the moving drive actuator based on the coating schedule, and transfers the work to the work holder. Move up. The intermediate identification label is inspected and detected by the workpiece identification sensor 911, and each coating module CPU 920 is detected.
To be compared with the coating plan table data. If they do not match, the coating is performed based on the specification of the identification label, and is written in the coating result table data. In the setup process before coating is performed in the memory 904, various types of coating based on the specification of the identification label can be easily performed only by storing various types of coating specification data.

FIG. 12 is a view showing paint spraying by the painting robot. FIG. 12 (A) is a side view and FIG. 12 (B) is a plan view. In the work moving device A, the work K rotates around the Z axis, and the paint is sprayed from the paint spray nozzle 22a1 of the painting robot 22a.

The tip of the paint spray nozzle 22a1 has the coordinates P
_N (Px, Py, Pz) and the paint spray nozzle 22a
The injection direction of 1 is However, l, m, and n are the direction cosine with respect to the x-axis, the y-axis, and the z-axis, respectively.

In this embodiment, the work K is rotated about the Z-axis as a support shaft, and the paint jet nozzle 22 of the painting robot 22a is rotated.
The control for moving the position a1 is performed, and the paint is sprayed to paint the entire work K.

FIG. 13 is a diagram showing changes in the paint spray timing of the painting robot, the tip position of the paint spray nozzle, the spray direction, and the work holding state of the work holding device. The paint spray nozzle 22a1 opens and changes the position of the spraying direction in a certain period, paints, closes and stops the coating in a certain period, rotates the work, and changes the position of the spraying direction in a certain period to paint. Painting is performed by repeating this.

In this embodiment, the work K is rotated from 0 ° to 90 ° about the Z-axis as a fulcrum, and a certain period t1 during this rotation.
Does not perform the paint spraying, and performs the paint spraying while changing the position of the spraying direction during the period t2, which is the rotation angle α rotated by 90 degrees. Similarly, the work K is rotated from 90 degrees to 180 degrees around the Z axis.
The paint is not sprayed during a certain period t1 during this rotation, and paint is sprayed while changing the position of the spray direction during the rotation angle α rotated by 180 degrees. Similarly, the work K is rotated from 180 degrees to 270 degrees around the Z axis, and during a certain period t1 during which the work K is not sprayed, the work K is rotated by 270 degrees.
During the period of the rotation angle α rotated by degrees, the paint spraying is performed by changing the position of the spraying direction. Similarly, the work K rotates from 270 degrees to 360 degrees about the Z axis as a fulcrum, and a certain period t during this rotation.
No. 1 does not perform paint spraying, and changes the position of the spraying direction during the period of the rotation angle α rotated 360 degrees to perform paint spraying to complete the painting. Incidentally, the injection direction is the time and _{function, l = f l (t)} , m = f m (t), the _n = f n (t).

In each of the embodiments shown in FIGS. 12 and 13, the work holder 23b1 or 23c1 serving as a work holding device is stopped during the painting by the painting robot 22a, but the position of the work K in addition to the painting robot 22a is stopped. And the posture may be changed. Thereby, the relative speed between the coating robot 22a and the workpiece K where the coating film is desired to be thickened is decreased, and the relative speed of the portion where the coating film is desired to be thinned is increased, so that a free coating skill can be implemented.

FIG. 14 is a view showing a work holding device according to another embodiment. In this embodiment, the work moving device A can rotate the Z axis around the Y axis, and the work K has two degrees of freedom, the Z axis and the X axis. The paint is sprayed while changing the posture of the work K.

As described above, the work transfer device for painting has the work holder for holding the work K in the vicinity of the coating device 22 and the work holding actuator for driving the work holder. The work holding state is variable. Therefore, the work holding actuator is driven and controlled during the painting to make the holding state of the work variable, so that a wide range of work can be painted.

FIGS. 15 and 16 are configuration diagrams showing the paint spraying of the painting robot. The paint spray nozzle 22a1 of the paint robot 22a is provided with a spray on-off valve 22a2,
Opening / closing is controlled by a painting robot drive actuator (not shown). The paint injection nozzle 22a1 has a hose 22a
3 is connected, and the paint supply device 2 is connected through a hose 22a3.
The paint corresponding to the specification required for the work K is supplied from 2a4. The high voltage generator 221 gives the paint in the paint spray nozzle 22a1 a charge having a high negative value.

As shown in FIG. 16, the paint color changing valves V1 to Vn, which form part of the paint supply device 22a4,
Each of the supply hoses 22a41 is connected, and each of the paint tanks T1 is driven by the drive of each of the injection pumps P10.
Is supplied via the supply hose 22a41, that is, it corresponds to the color changing valves V1 to Vn, and n colors can be changed.

When the color is changed, air is supplied from the cleaning device 22a5 to the paint spray nozzle 22a1 by operating the valve Va, and thinner is supplied by operating the valve Vb.
The supply of the air and thinner cleans the inside of the paint spray nozzle 22a1 from the hose 22a3.

In this embodiment, the paint switching valves V1 to Vn are used, and the color change and cleaning are performed as shown in Table 1.

In Table 1, ○ indicates the valve opening,
Indicates that the valve is closed. In addition, A ... is washed B. Painted in the color 1 (for example, black) C ... Painted in the color 2 (for example, red) d ... Painted in the color of n (for example, blue) When the color of the paint is changed, air is supplied by the operation of the valve Va, thinner is supplied by the operation of the valve Vb, and the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3 by the supply of the air and the thinner. Change the color of the paint.

FIG. 17 is a diagram showing a painting operation for one day.
For example, a small, small-capacity paint tank unit is used to paint black, red, white, and blue in the morning, and the work is stopped during lunch break. In the afternoon, the blue paint is continued, and black, red, and white paints are performed using a large-capacity paint tank unit.

In this embodiment, there is provided a transfer line 10 that enables the workpiece K to move along the rail, and a coating module 20 disposed adjacent to the transfer line 10. The coating system 21 includes a coating casing 21 having an opening 28, a coating device 22 disposed in a coating chamber 25, and a coating work transfer device. Is introduced into the coating room 25 through the opening 28, and while the work K is being held in the vicinity of the coating device 22, paint is sprayed on the work K by the coating device 22. The work K is returned onto the transport line 10 through the opening 28. Therefore, during the construction of the transfer line 10, the painting module 20 can be installed in parallel, and the construction can be shortened.
Capital investment costs can be saved. In addition, since the transport line 10 is located outside the coating chamber 25 and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, the paint sprayed from the coating device 22 collides with a work or the like. Even if the paint is scattered, the scattered paint is less likely to reach the main transport line 10 and the paint is less likely to adhere.

In the coating system 1, an opening / closing door 27 made of an air curtain or a movable wall is provided in the opening 28, and the opening / closing door 2 is provided for a part or all of the coating period.
Close 7. Therefore, even if the paint sprayed from the painting device 22 collides with the work or the like and scatters, the opening / closing door is closed for a part or all of the time during the painting, so that the paint hardly adheres to the transport line 10 side. it can.

Further, the coating system 1 guides outside air into the coating room 25 by operating an air fan,
5 is provided with a ventilator 26 for exhausting the air into the atmosphere, and the ventilator 26 is operated at least for a certain period of time during or after painting to perform ventilation in the painting room 25. Therefore, by providing the transfer casing 13 that forms the storage chamber 14 that stores the transfer line 10 and by providing the ventilation device 15 that discharges the air in the storage chamber 14 to the atmosphere, the solvent generated by volatilization during coating can be removed. The minute paint mist scattered and floating in the storage chamber can be easily and reliably treated, and the inside of the transfer casing 13 can be cleaned.

Further, since only one work K is guided into the coating room 25 by the work transfer device for coating and the coating completion standby position is not provided, there is no need to create a stockout state for changing colors, so that the color can be eliminated. A decrease in the coating efficiency due to the change can be more reliably prevented.

The work transfer device for painting has a plurality of work holders 23b1 and 23c1. When one work holder is located near the coating device 22, another work holder is moved out of the coating casing 21. During the painting, the work is exchanged between the work holder outside the painting casing 21 and the transfer line 10, and the work replacement position is set outside the painting casing 21, and the painting is performed. By performing the replacement at the same time, the coating can be performed in a short time.

A support device 1 for holding the work K located above the transfer line 10 from below on the transfer line 10.
2, a work holding device for holding the work K in the upper position from below is arranged on the work transfer device for coating, and the work K held by the support device 12 is placed above the work holding device. The work K after painting is guided to the coating room 25, and the coated work K is held above the work holding device and placed above the support device 12. Therefore, even if dust falls from the work transfer device on the transfer line 10 and the work moving device A that moves the work K on the transfer line 10 to the vicinity of the coating device 22, the work K being coated or the coating is completely dried after coating. The coated surface of the work K does not become rough because it does not fall on the work K which has not been worked.

In the coating system 1, a sliding or rotating door 27 is provided in the opening 28, and the supporting portion of the movable opening and closing door 27 is arranged on the side or below except for above the opening 28. The opening / closing drive member of the opening / closing door 27 is disposed so as to be located at a position laterally or below the opening 28 except for above the opening 28 when the opening 28 is opened, and the opening / closing door is partially or entirely during the coating. Close 27.
Therefore, when the painted work K passes through the opening 28, even if dust falls from either the support portion of the opening / closing door 27 or the opening / closing drive member, it falls onto the work K whose painting is not completely dried after painting. The painted surface of the work K will not be roughened.

The coating apparatus 22 has an opening / closing valve for the paint spray nozzle and a spray nozzle actuator for changing the position or the attitude of the paint spray nozzle. The position or posture is variable. Accordingly, the spray position or the posture of the paint spray nozzle is made variable while the holding state of the work K is changed, so that a wider range of the work K can be coated.

[0139]

As described above, according to the first aspect of the present invention, the installation work of the coating module can be performed in parallel during the construction of the transfer line, the construction can be shortened, and the capital investment cost can be reduced. . In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the main transport line, and the paint is less likely to adhere.

According to the second aspect of the present invention, even if the paint sprayed from the coating apparatus collides with a work or the like and scatters,
Since the opening / closing door is closed during a part or the entire period during the coating, the paint can be hardly adhered to the transport line side.

According to the third aspect of the present invention, by providing a transfer casing forming a storage chamber for storing a transfer line, and by providing a ventilation device for discharging the air in the storage chamber to the atmosphere.
Solvents generated by volatilization during coating and fine paint mist scattered and floating in the storage chamber can be easily and reliably treated, and the inside of the transfer casing can be cleaned.

According to the fourth aspect of the present invention, since the coating completion standby position is not provided, it is not necessary to create a stockout state for changing colors, and it is possible to more reliably prevent a reduction in coating efficiency due to changing colors. .

According to the fifth aspect of the present invention, the work can be replaced in a short time by setting the work replacement position outside the coating casing and performing the coating and the replacement at the same time.

According to the sixth aspect of the present invention, even if dust is dropped from the work transfer device on the transfer line and the work moving device for moving the work on the transfer line to the vicinity of the coating device, the work being coated or completely removed after the coating is completed. The painted surface of the work does not become rough because the paint does not fall on the work which has not dried yet.

In the invention according to the seventh aspect, when the work having been painted is passed through the opening, the paint is completely dried after the painting even if dust is dropped from either the support portion of the opening / closing door or the opening / closing drive member. The painted surface of the work does not become rough because it does not fall on the work that is not present.

According to the eighth aspect of the present invention, since the electrodeposition coating is used, the coating material is less likely to be scattered except for the work. Also,
Since the electrically conductive portion between the painting work transfer device and the work is covered by a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive portion. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

According to the ninth aspect of the present invention, it is possible to control the drive of the work holding actuator during painting to make the holding state of the work variable and to coat a wide range of the work.

According to the tenth aspect of the present invention, the spray position or posture of the paint spray nozzle is made variable while changing the holding state of the work, so that a wider range of work can be coated.

[Brief description of the drawings]

FIG. 1 is a perspective view of a coating system.

FIG. 2 is a schematic configuration diagram of a work holding device.

FIG. 3 is a schematic configuration diagram showing an operation of the coating system.

FIG. 4 is a timing chart of the operation of the coating system.

FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

FIG. 6 illustrates the structure of a sliding door.

FIG. 7 illustrates the structure of a pivotable door.

FIG. 8 is a sectional view showing a configuration of a work holder.

FIG. 9 is a cross-sectional view showing a configuration of a conveyor support device.

FIG. 10 is a view showing details of a connection portion between a support portion and a foot portion.

FIG. 11 is a block diagram showing a configuration of control of a coating system.

FIG. 12 is a view showing paint spraying of a painting robot.

FIG. 13 is a diagram showing changes in the paint ejection timing of the painting robot, the tip position of the paint ejection nozzle, the ejection direction, and the work holding state of the work holding device.

FIG. 14 is a diagram illustrating a work holding device according to another embodiment.

FIG. 15 is a configuration diagram showing paint spraying of a painting robot.

FIG. 16 is a configuration diagram showing paint spraying of a painting robot.

FIG. 17 is a view showing a painting operation of one day.

FIG. 18 is a schematic configuration diagram of a conventional coating system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coating system 10 Transport line 12 Support device 20 Coating module 22 Coating device 23 Work holding device 25 Coating room 28 Opening 30 Exchange moving device A Work moving device K Work

[Procedure amendment]

[Submission date] December 12, 2000 (200.12.
12)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Painting method

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a coating method.

[0002]

2. Description of the Related Art For example, there is a single spare part of a bicycle, a motorcycle, a motor vehicle, an electric device, a musical instrument, furniture and the like, or a part thereof, and a part or the whole of the spare part is painted.

In the conventional coating, for example, as shown in FIG. 18, in a factory building 99, a work transfer device is provided, the conveyor 100 is moved along the track of a transfer line provided on the ceiling side, and hangs down from the conveyor 100. The work K is held by a hanger-type work holder 101, and the work K is applied by a coating device 104 in a coating room 103 provided so as to surround the conveyor 100 by a coating casing 102.

[0004] The inlet 102a and the outlet 1 of the coating chamber 103
02b has openings 105 through which the work K can pass.
a and 105b are provided.

[0005]

As described above, the factory building 9
9, the coating room 10 surrounds the conveyor 100.
Because of the provision of 3, there is a need to carry out the installation work of the transport line in the painting factory, and then to carry out the construction of the painting equipment, resulting in a problem that the construction period is lengthened and the capital investment cost is increased.

Further, since the work K is coated by the coating device 104 in the coating room 103 through which the conveyor 100 passes, the paint adheres to the conveyor 100 and the work holder 101, and the large-scale conveyor 100 and the work holding member are held. It is necessary to clean the entire tool 101, which makes maintenance work cumbersome and costly.

Further, a conveyor 100 is provided in the coating room 103.
Openings 105a and 10 which are always open and serve as passage portions
5b, the paint blown out from the coating apparatus 103 during coating may collide with the work surface or other objects and scatter and may flow out into the factory building 99 from the openings 105a and 105b. When the paint scatters in the factory building 99, it collides with another thing and becomes fine and mist-like, floats in the factory building 99, and the solvent component is volatilized from the paint, thereby deteriorating the environment in the factory building 99. was there.

Further, in the prior art, the distance from the coating device 104 to the openings 105a and 105b is increased, and an exhaust device 106 for directly discharging the air in the coating room 103 to the outside of the factory building 99 is provided with a coating casing 10.
2 was provided. As a result, the paint blown out of the coating apparatus 103 collides with the surface of the work or other objects and becomes fine and becomes a fine mist, and floats in the paint chamber 103. The volatile solvent whose concentration in 103 increases increases tends to flow out into the factory building 99 from the openings 105a and 105b which are always open, but these can be discharged out of the factory building 99,
The environment in the factory building 99 can be prevented from deteriorating.

[0009] However, the opening 1
Since the work holder 101 was positioned four or more except for the nearest work holder 101 before 05b, when the paint was changed to perform a color change for painting a different color, The opening of the work that is completely painted in color is 10
Until it goes out of the coating room 103 through 5b, it cannot be coated with another color paint. That is, four or more workpiece holders 101 located between the coating device 104 and the opening 105b except for the nearest workpiece holder 101.
It is necessary to make the product in a stockout state without a work, and there is a problem that the efficiency of the coating is reduced due to the color change.

Further, in the factory building 99, a work transfer device of a transfer line is formed as described above, and dust falling from a conveyor moving on the ceiling side may be a work which is not completely dried during or after painting. If you fall on it, the painted surface will be rough. Also, when painting the work held on the hanger type work holder that is located above the work, the liquid paint adhering to the work holder will fall on the work, or the solidified paint will peel off due to vibration etc. If it falls on the workpiece, the painted surface will be roughened as well. For this reason, it is necessary to remove the paint adhering to the work holder, and the maintenance and inspection work is troublesome and the cost increases.

Further, in the transfer device provided in the factory building 99, even if a work K of a different shape flows, the work holder 101 only rotates at a constant speed, for example, the position of the coating nozzle of the coating device 104. Or, even if the posture is variable, it may be difficult to efficiently paint a wide range of the work K in accordance with the shape of the work.

The present invention has been made in view of such circumstances, and a first object is to facilitate installation in a coating factory, shorten the construction period, and reduce capital investment costs. The third object is not to deteriorate the environment inside the factory building, and the fourth object is to prevent the paint from adhering to the transfer line side. The fifth object is to prevent the coating surface of the work from being roughened by dust or extra paint, and the sixth object is to perform maintenance and inspection of the work transfer device. The seventh object is to simplify a wide range of the work in accordance with the shape of the work, and furthermore, to simplify the work.
An eighth object is to easily cope with a change in the shape of a workpiece flowing on a transport line.

[0013]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

According to a first aspect of the present invention, there is provided a transfer line which enables a workpiece to move along a track, and a coating module disposed adjacent to the transfer line, wherein the coating module forms a coating chamber. Using a coating system consisting of a coating casing with an opening, a coating device placed in the coating room, and a work transfer device for coating, the work on the transfer line is guided into the coating room through the opening by the work transfer device for coating, and the coating is performed. The paint is sprayed on the workpiece by the painter while holding the medium workpiece near the painter, and then
A coating method, wherein a work in a coating chamber is returned to a transfer line through an opening by a coating work transfer device. ].

According to the first aspect of the present invention, during the construction of the transfer line, the installation work of the coating module can be performed in parallel, the construction can be shortened, and the capital investment cost can be reduced.
Also, the transport line will be located outside the coating room,
Since the transport line is separated from the coating equipment and there is an opening between them, even if the paint sprayed from the coating equipment collides with the workpiece and scatters, the scattered paint hardly reaches the main transport line, and the paint adheres. Can be difficult.

According to a second aspect of the invention, there is provided the coating system, wherein the opening is provided with an opening / closing door made of an air curtain or a movable wall, and the opening / closing door is closed for a part or all of the period during coating. The coating method according to claim 1, wherein the coating is performed. ].

According to the second aspect of the present invention, even if the paint sprayed from the coating device collides with the work or the like and scatters, the opening / closing door is closed for a part or all of the time during the coating. In addition, paint can be hardly adhered to the transfer line side.

According to a third aspect of the present invention, there is provided the coating system, wherein the coating system includes a ventilator for guiding outside air into the coating chamber by operating an air fan and discharging the air in the coating chamber to the atmosphere. The coating method according to claim 1 or 2, wherein a ventilation device is operated during or for a certain period after completion of the coating to ventilate the coating room. ].

According to the third aspect of the present invention, there is provided a transfer casing forming a storage chamber for storing a transfer line,
Equipped with a ventilator that discharges the air in the storage chamber to the atmosphere, it can easily and reliably treat the solvent that evaporates during coating and the fine paint mist that scatters and floats in the storage chamber. Is possible.

According to a fourth aspect of the present invention, there is provided a method according to any one of the first to third aspects, wherein only one work is guided to the coating room by the coating work transfer device to perform coating. Or the coating method according to item 1. ].

According to the fourth aspect of the present invention, since the coating completion standby position is not provided, it is not necessary to create a stockout state for color change, and it is possible to more reliably prevent a reduction in coating efficiency due to color change. Can be.

According to a fifth aspect of the present invention, there is provided a method as described above, wherein the painting work transfer device has a plurality of work holding members, and when one work holding member is located near the coating device, another work holding member is painted. 5. The method according to claim 1, wherein the work is exchanged between a work holder outside the coating casing and the transfer line during coating, wherein the work is replaced outside the coating casing. The coating method according to item 1. ].

According to the fifth aspect of the present invention, the painting can be performed in a short time by setting the work replacement position outside the coating casing and performing the coating and the replacement simultaneously.

According to a sixth aspect of the present invention, a support device for holding a work located at a position above the transfer line from below is provided on the transfer line.
A work holding device that holds the work at the upper position from below is arranged, and the work held above by the support device is
Place it above the work holding device and guide it to the painting room to paint it.
2. The coating method according to claim 1, wherein the painted work is held above the work holding device and placed above the supporting device. ].

According to the sixth aspect of the present invention, even if dust is dropped from the work transfer device on the transfer line and the work transfer device for moving the work on the transfer line to the vicinity of the coating device, the work being coated or the paint is not applied. After that, the paint does not completely fall on the work which has not been dried, so that the painted surface of the work does not become rough.

According to a seventh aspect of the present invention, there is provided the above-mentioned coating system, wherein a sliding-type or a rotary-type opening / closing door is provided in the opening, and the movable opening-and-closing door has a supporting portion except for a portion above the opening. Or arranged below, the opening and closing drive member of the opening and closing door is arranged so that it becomes a position that is lateral or below except for above the opening in a state where the opening is open, a part or all of the period during painting, The coating method according to claim 2, wherein the opening and closing door is closed. 』
It is.

According to the seventh aspect of the present invention, even when dust is dropped from one of the support portion of the opening and closing door and the opening and closing driving member when the work having been painted is passed through the opening, the painting is completely completed after the painting. Since it does not fall on a work that has not dried, the painted surface of the work does not become rough.

[0028] The invention according to claim 8 is based on the invention that "the work is made of metal, and the work is made of a metal to which the work is fixed by electrostatic painting which gives a high voltage difference between the paint and the work in the coating apparatus. The holding jig is provided with a downwardly extending leg, the painting work transfer device is provided with an upwardly extending metal column, and the distal end of the leg is formed in a pipe shape with the upper part closed and the lower part opened. The tip of the rod is made into a rod or pipe shape that can be stored in the pipe, the support is provided on the column in the pipe, and at the time of painting, the tip of the column is stored in the pipe and a part of the column is used. 8. The coating method according to claim 6, wherein the feet are supported in contact. ].

According to the eighth aspect of the present invention, since the electrostatic coating is used, the coating material is less likely to scatter other than the work. In addition, since the electrically conductive portion between the work transfer device for painting and the work is covered with a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive portion. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

According to a ninth aspect of the present invention, there is provided a work transfer device for coating, comprising: a work holding device for holding a work in the vicinity of the coating device; and a work holding actuator for driving the work holding device. The coating method according to claim 1, wherein the holding actuator is drive-controlled to change the holding state of the work. ].

According to the ninth aspect of the present invention, the work holding actuator during painting is drive-controlled to change the holding state of the work, so that a wide range of work can be coated.

According to a tenth aspect of the present invention, there is provided a coating apparatus having an on-off valve for a paint spray nozzle and a spray nozzle actuator for changing the position or attitude of the paint spray nozzle. 10. The coating method according to claim 9, wherein the position of the paint spray nozzle and the attitude of the paint spray nozzle are made variable by controlling the driving of the paint spray nozzle. ].

According to the tenth aspect of the present invention, the spray position or posture of the paint spray nozzle is made variable while changing the holding state of the work, so that a wider range of work can be coated.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the coating method of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to these embodiments.

First, an embodiment of the coating method will be described with reference to FIGS. Figure 1 is a perspective view of the coating system,
FIG. 2 is a schematic configuration diagram of the work holding device, FIG. 3 is a schematic configuration diagram showing the operation of the coating system, and FIG. 4 is a timing chart of the operation of the coating system.

The coating system 1 includes a work transfer device on a transfer line 10, and a coating module 20 is disposed adjacent to the transfer line 10. Transport line 1
0 indicates that the work K can be moved along the trajectory. A work for exchanging the work K on the transfer line 10 that enables the work K to move along the trajectory and the work K painted by the coating device 22 disposed in the coating module 20 disposed adjacent to the transfer line 10. A moving device A is provided.

In this embodiment, the conveyor 11 can be moved along a track, and the conveyor 11
2 is placed. The work K is supported by the support device 12, and the support device 12
From below. The support device 12 may be fixed to the conveyor 11 or may be detachable. In addition, the transport line 10 may be one in which the independent support device 12 moves by itself or pushed along the track without depending on the conveyor 11.

The transfer line 10 is accommodated in a storage chamber 14 constituted by a transfer casing 13.
4 is provided with a ventilation device 15. Ventilation device 15
Has an exhaust duct 15a, an exhaust fan 15b, and a processing device 15c, and the accommodation chamber 1 is driven by the exhaust fan 15b.
Air in the exhaust duct 15a through the processing device 15c.
Exhausted from outside. The processing device 15c is provided with a filter 15d that captures and separates an organic solvent that is a thinning solution of the paint. Since the outflow of the organic solvent can be reduced as described below, the installation of the processing device 15c may be cancelled.

A plurality of coating modules 20 are arranged adjacent to and along the transport line 10. In the coating module 20, the upstream side of the transport line 10 is used for undercoating, and the downstream side is used for topcoating.

The coating module 20 is provided with a coating casing 21, a coating device 22, a work holding device 23 constituting a part of the work moving device A, and a cleaning device described below. Transfer line 1 with painted casing 21
A coating room 25 is provided independently of the coating room 25. In the coating room 25, a coating device 22, a work holding device 23, and a cleaning device are arranged.

Further, a ventilation device 26 is provided on a floor member 21 a described below of the coating casing 21.
5 and independently. The ventilation device 26 has an exhaust duct 26a, an exhaust fan 26b, and a processing device 26c. The air in the coating chamber 25 is driven from the exhaust port 26e provided on the floor by the driving of the exhaust fan 26b to the exhaust duct 26a via the processing device 26c. It is exhausted more outdoors. The processing device 26c is provided with a filter 26d for capturing and separating the organic solvent.

By ventilating the coating room 25 with the ventilation device 26, the ventilation device 15 of the storage room 14 can reduce the amount of mist-like paint leaking from the coating casing 21 through the opening 28 described below. Clogging due to the organic solvent can be prevented, and it can be used up to the original organic solvent adsorption capacity. Note that the amount of the organic solvent leaking through the opening 28 can be reduced.

The coating device 22 is disposed in a coating room 25, and applies a coating material to a work K held by a work holding device 23 located at a coating position by a coating robot 22a.

The work holding device 23 and the exchange moving device 3
0, the work moving device A is configured to move the work K from the support device 12 to the vicinity of the coating device 22;
The upper work K is held from below.

The work holding device 23 includes the coating casing 2
As shown in FIGS. 1 and 2, the work holding device 23 is mounted on the first floor member 21a and grounded.
3f, the main arm 23a, the sub-arms 23b and 23c, and the work holders 23b1 and 23, which constitute a column extending upward.
c1. The driving section 23f includes a main arm 23a.
Are rotatable or rotatable about axes separated from the work holders 23b1 and 23c1. Secondary arm 23
The b and 23c are connected to the main arm 23a so as to be rotatable or rotatable around an axis. Work holder 23b
1, 23c1 includes a main arm 23a and sub-arms 23b, 2
The sub-arms 23b and 23c are provided at positions separated from the connection center axis with the sub-arm 3c, and the work K is detachable.

The driving section 23f is provided with a main motor M1 for driving the main arm 23a, and the main motor M1 causes the main arm 23a to rotate or rotate about the support shaft 23g as a fulcrum. At both ends of the main arm 23a, independently of the main motor M1, first sub-motors M2 for driving the sub-arms 23b and 23c are arranged. This first sub motor M2
, The sub-arms 23b and 23c can be freely operated with the support shaft 23h as a fulcrum without being restricted by the rotation or rotation of the main arm 23a.

At both ends of the main arm 23a, independent of the main motor M1 for driving the main arm 23a, a second sub motor M for driving the work holders 23b1 and 23c1 is provided.
3 are arranged. The work holders 23b1 and 23c1 can be freely operated via the belts 23i and 23j without being restricted by the rotation or rotation of the main arm 23a by the driving of the second sub motor M3.

The work holders 23b1, 23c1
Can be rotated or rotatable around the axis of the support shaft 23h with respect to the sub-arms 23b and 23c.
, And by rotating or rotating the work holders 23b1 and 23c1, the outer periphery of the work can be easily and reliably painted.

The work holding device 23 is provided with the main arm 2.
The sub-arms 23b, 23c are pivotally or rotatably connected to the support arm 23h around the support shaft 23h, and the sub-arms 23b, 23c are located at positions separated from the connection center axis of the main arm 23a and the sub-arms 23b, 23c. 23c1, a workpiece holder 23b1, which is provided on the
When the main arm 23a is turned or rotated, the sub-arms 23b and 23c are turned around the main rotation center axis so that the inertial mass around the main rotation center axis can be reduced. The rotation or rotation of the main arm 23a can be started and stopped.

The main arm 23a has work holders 23b1 and 23c1 at a plurality of positions on the same circumference from the rotation center axis, and can hold a plurality of works on the main arm 23a. The amount of work stored on the line 10 can be reduced. Also, if the work K is 1
Since the paint is successively guided into the paint casing 21, the color change can be immediately performed.

The coating casing 21 is provided with an opening / closing door 27 for dividing the coating chamber 25 and the transfer line 10.
8 is closed.

The exchange moving device 30 is a robot, and the outdoor turntable 31 having the loaders 31a and 31b is turned by 90 degrees so that the work at the work change position and the work on the transfer line can be exchanged.

Next, the operation of the coating system according to this embodiment will be described with reference to FIGS.

In FIG. 3A, the coating casing 21
The opening 28 is closed by the opening / closing door 27, the coating device 22 is driven in the coating room 25, and the coating robot 22a holds the sub-arm 23c of the work holding device 23 to apply the coating material to the work K3 located at the coating position P1. Start painting to apply. The coating is performed by rotating the work K3 by 90 degrees by the work holder 23c1 of the sub arm 23c at a predetermined timing, and applying the paint to the entire work K3.

On the other hand, the outdoor turntable 31 of the exchange moving device having the loaders 31a and 31b is turned by 90 degrees, and the work reloading position P2 outside the closed door 27 is closed.
Work K of the work holder 23b1 located at
1, the loader 31b extends and lifts (lifts up) and engages (hanger chuck), while the loader 31b extends and rises to the unpainted work K2 held by the support device (pallet) 12 on the transport line 10. Lift up) and engage (hanger chuck).

Thereafter, the outdoor rotating table 31 of the exchange moving device 30
Is rotated by 180 degrees, and the unpainted work K2 on the work holder 23b1 located at the work change position P2 is lowered (lifted down) by the loader 31b and disengaged (hanger unchuck) from the loader 31b. On the other hand, the work K1 painted on the support device (pallet) 12 is similarly delivered from the loader 31a. Further, after this, the outdoor rotary table 31 turns 90 degrees, and the state shown in FIG.

In FIG. 3B, the painted work K
The supporting device (pallet) 12 holding 1 is moved in the direction of the next process section (pallet positioning release and pallet feed), the opening and closing door 27 is opened, and the painting continued from FIG. Complete.

The supporting device (pallet) 12 holding the unpainted work K2 is sent from the pre-process section to a predetermined position (pallet positioning), and the state shown in FIG. In FIG. 3C, the sub arm (sub arm) 23b holding the unpainted work K2 is turned by 90 degrees, and the unpainted work K2 held by the work holder 23b1 passes through the opening 28 and is placed on the work. It moves from the replacement position P2 to the intermediate position P3, and the state shown in FIG.

In FIG. 3D, the main arm (index) 23a rotates by 180 degrees, and the positions of the sub arm 23b holding the unpainted work K2 and the sub arm 23c holding the painted work K3 are switched. That is, the painted work K3 moves to the painting position P3, and the unpainted work K2 moves to the painting position P1, and the state shown in FIG.

In FIG. 3E, the sub arm 23c is
After turning 80 degrees, the painted work K3 moves from the middle position P3 to the work replacement position P2.
7 is closed, painting is started, and the state returns to the state shown in FIG.

The work holder 23b1 or the work holder 23c1 to be located at the painting position P1.
Has 9 workpieces, each of which is turned three times during painting.
Rotate by 0 degrees. As a result, the work can be divided into four times, and the entire circumference of 360 degrees can be painted through the painting on four sides at 90 degrees. Paint, swirl, paint, swirl, paint, swirl,
After the coating of the entire circumference is completed by painting, a sub-arm (sub-arm) 23b for moving the unpainted work K2 shown in FIG. 3C from the work transfer position P2 to the intermediate position P3 through the opening 28. The work holder 23c1 of the other sub-arm (sub-arm) 23c is also rotated 90 degrees simultaneously with the 90-degree rotation of the work holding device 23 or during the 180-degree rotation of the work holding device 23.
Rotated by degrees.

The timing chart of FIG. 4 illustrates the above contents. The work K2 before painting on the transport line 10 is moved to the painting position P1 via the work replacement position P2 and the intermediate position P3, and the completed work K3 at the painting position P1 is moved to the intermediate position P3 and the work replacement position P2.
And moves onto the transport line 10 via the. In the timing chart, the painting of the fourth side of the work K is completed.
The opening operation of the opening and closing door 27 is started two seconds before, and the opening and closing door 27 is fully opened almost at the same time as the end of the painting. This makes it possible to reduce the cycle time even if a slightly mist of paint flows out of the opening 28.

As described above, the work moving device A moves the work holder 23b between the painting position P1 and the work replacement position P2 at which the work can be detached from the work holder.
A work holding device 23 having a main arm 23b that is rotatable or rotatable around an axis separated from the first and second 23c1
And a replacement moving device 30 that enables the work at the work transfer position P2 to be replaced with the work on the transfer line 10. By simply rotating or rotating the main arm 23a, the work is moved to the painting position P1. Since the work can be moved to and from the work change position P2 where the work can be detached from the work holding device, quick movement is possible.

Further, the work moving device A is
Since the work K is moved from the position to the vicinity of the coating device 22 and the work K at the upper position is held from below, the work transfer device of the transfer line 10 or the work moving device for moving the work K of the transfer line 10 to the vicinity of the coating device 22 Even if garbage or paint falls from A, work K during painting or work K whose paint has not completely dried after painting
The surface of the workpiece K is not roughened. Further, even when the work K is painted, the paint does not easily adhere to the work transfer device itself on the transfer line 10, so that maintenance and inspection of the work transfer device A can be simplified.

The coating casing 2 having the opening 28
The work moving device A moves the work K from the support device 12 to the vicinity of the coating device 22 and the movement from the vicinity of the coating device 22 to the support device 12 through the opening 28. As a result, the transport line 10 is located outside the coating chamber 25, and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, so that the paint sprayed from the coating device 22 collides with the workpiece K or the like. Even if the paint scatters, the scattered paint is less likely to reach the transport line 10 and the paint is less likely to adhere.

During the construction of the transfer line 10, the coating casing 21, the coating device 22, and the work moving device A
Installation work is possible, construction work can be shortened, and capital investment costs can be saved.

Next, an embodiment of the cleaning device and the ventilation device in the first embodiment of the coating system will be described.
FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

The coating system 1 of this embodiment is similar to the coating system shown in FIG.
4 are denoted by the same reference numerals as those in FIG.

The coating casing 21 is provided with a coating chamber 22 which forms a part of a coating chamber 25 by a partition wall 21b.
0 is formed, and the coating device 22 is disposed in the coating device housing chamber 220. The painting robot 22a of the painting device 22 is moved from the small robot opening 21b1 of the partition wall 21b to the painting room 2
5, and the work K is painted. A high-voltage generator 221 is provided outside the coating casing 21. The high-voltage generator 221 is connected to a tip of the coating robot 22a via a high-voltage insulating wire 222 for applying a negative charge, and a paint in the tip is provided. Is given a negative charge.
The work K is made of metal and grounded, and is an electrostatic coating that applies a high voltage difference between the paint in the coating device 22 and the work K, so that the paint does not easily scatter outside the work K.

The coating system 1 is provided with a cleaning device 24. The cleaning device 24 allows the cleaning water to flow down along the inner wall surfaces of the three side walls 21c and the inner wall surface of the partition wall 21b of the coating casing 21. Washing water that flows down like a waterfall,
It is collected in the discharge groove 24b formed in the floor member 21a.
The discharge groove 24b is formed on the lower side of the coating casing 21,
The washing water collected in the discharge groove 24b is guided to the separation tank 24d via the discharge pipe 24c. The washing water accumulated in the separation tank 24d is sent from the supply pipe 24f to the upper part of the side wall 21c of the coating casing 21 by driving of the circulation pump 24e, overflows from the sump weir 24g, and the inner wall surface and the partition wall of the three side walls 21c. Wash water is caused to flow down along the inner wall surface of 21b. The mist-like paint sprayed from the painting device 22 and reaching the inner walls on the four sides is washed away with the washing water.

A dispersant 90 is added to the separation tank 24d, and the dispersant 90 makes the paint in the washing water non-adhesive and dispersed. The washing water in the separation tank 24d is driven by a separation pump 91 via a circulating pipe 92 to drive the centrifuge 9
3, and the paint residue 94 is separated by the centrifugal separator 93.

The coating system 1 includes a ventilation device 26.
The outside air is taken in from outside through the outside air intake 26i, and the temperature and humidity of the outside air taken in by the air conditioner 26j are set to desired values and sent to the ventilation room 261 through the duct 26k. The outside air is supplied from the ventilation room 261 to the coating room 25 and the coating device accommodating room 22 through the ventilation air outlet 21d1 formed on the ceiling 21d of the coating casing 21.
Flow into 0. The air that has flowed into the coating apparatus storage chamber 220 flows to the lower part of the coating chamber 25 through the small robot opening 21b1. The floor member 21a is formed with an exhaust port 26e connected to the discharge groove 24b, and ventilation air flows from above from the discharge groove 24b of the floor member 21a into the gas-liquid separation chamber 26l. A water draining plate 26h is arranged in the gas-liquid separation chamber 26l to prevent moisture from entering the exhaust duct 26a by driving the exhaust fan 26b. The air conditioner 26j may include an air fan inside, or may include only the exhaust fan 26b.

In the discharge groove 24b, air for ventilation, washing water,
If the paint mist is discharged and only the painting robot 22a is kept clean, the paint mist and dust easily flow downward and are discharged. Further, since the flow direction of the cleaning water coincides with the flow direction of the air, the cleaning water and the paint mist can be more reliably discharged.

Next, the structure of the door will be described with reference to FIGS.

In the embodiment of the opening and closing door of FIG. 6 used in the first embodiment of the coating system, the coating casing 2
An opening 28 is formed in a base plate 270 provided in the apparatus 1, and a sliding-type opening / closing door 27 is provided in the opening 28. Rails 2 above and below the base plate 270
71 and 272 are fixed. Rails 271, 27
The two tip portions 271a and 272a are arranged so as not to extend to the position where the opening 28 is formed.

The opening / closing door 27 for opening and closing the opening 28 is provided integrally with arms 276 and 277 having sliders 274 and 275 on the upper and lower sides of the door body 273.
The arms 276 and 277 of the door body 273 are
The doors 273 are slidably provided on the rails 271 and 272 via the rails 74 and 275, and the door body 273 is slidable with the cantilever, and the leading ends 271 a and 272 a of the rails 271 and 272 are provided.
Are not arranged above the opening 28. In particular, the sliding portions of the sliders 274 and 275 are prevented from being located above the opening 28 even by the sliding movement.

An opening / closing cylinder 280 serving as an opening / closing drive member is mounted below the base plate 270, and a piston rod 281 of the opening / closing cylinder 280 is attached to the door body 2
73 is attached below. Piston rod 28
The door body 273 opens and closes the opening 28 by the expansion and contraction of 1, the closed door body 273 shows a closed state, and the two-dot chain line door body 273 shows an open state.

The rails 271 and 272 are connected to the rail cover 2.
82, 283 and the arms 276, 277 to prevent paint from adhering.
4,275 can open and close the opening and closing door 27 smoothly without being affected by paint adhesion.

In the second embodiment of the door shown in FIG. 7, a rotary door 27 is provided in an opening 28 of the coating casing 21. The door body 290 of the opening / closing door 27 is
Paint casing 2 via upper and lower hinges 291 and 292
The first side wall is supported to be openable and closable.

A base of an opening / closing cylinder 293 serving as an opening / closing drive member is attached to the outer wall surface of the side wall 21 c of the coating casing 21, and a tip end of a piston rod 294 of the opening / closing cylinder 293 is attached above the door body 290. I have. Door body 2 by expansion and contraction of piston rod 294
90 opens and closes the opening 28.

The hinges 291 and 292 of the door body 290, the opening / closing cylinder 293, and the piston rod 294 are connected to the opening 28.
, And is arranged on the side of the opening 28 so that the opening / closing cylinder 293 and the piston rod 294 are located outside the door main body 290.

In the embodiment shown in FIG. 6, a sliding door 27 is provided in the opening 28, and in the embodiment shown in FIG. This movable door 2
7 is disposed on the side except for above the opening 28 in the embodiment of FIG. 6, and on the side in the embodiment of FIG. 7, and the opening / closing drive member of the door 27 is opened and closed. In the state
It is arranged so as to be located on the side except for above the opening 28. Therefore, when the painted work K passes through the opening 28, even if dust falls from either the support portion of the opening / closing door 27 or the opening / closing drive member, it falls onto the work K whose painting is not completely dried after painting. The painted surface of the work K will not be roughened. The support portion of the opening and closing door 27 and the opening and closing driving member may be arranged below the opening 28 in a state where the opening 28 is opened.

Next, the construction of the work holders 23b1 and 23c1 will be described in detail.
Since c1 has the same configuration, the work holder 23b1 will be described with reference to FIG.

The sub-arm 23b of the work holding device 23 is provided with a mounting portion 233, and a pin portion 233a of the mounting portion 233 is provided with a column 230 extending upward. The support 230 includes the mounting plate 234 and the pipe 23.
5 and is integrally fixed by welding 236 through a welding hole 237 in a state where the mounting plate 234 and the pipe 235 are mounted on the pin portion 233a.

Metal holding jig 3 to which work K is fixed
00 is provided with a foot 301 extending downward,
01, a cap 302 is fixed by welding 303,
A cap 302 is provided at the tip of the foot portion 301 to form a pipe-shaped portion whose upper part is closed and whose lower part is opened. The stopper 304 is located above the cap 302.
Are fixed to the foot 301 by welding 507.

On the other hand, the tip of the support 230 is
02, and a supporting portion for supporting the foot portion 301 in the pipe 235 is supported by the support portion 23.
0. The support part 230 is made of metal,
3, sub arm 23b, main arm 23a, and drive unit 23f
Are grounded via the internal electrical conduction path.

Next, the support device 12 for the conveyor 11 is
It will be described based on. The pipe 401 of the support part 400 is fixed to the attachment part 11 a of the conveyor 11 by welding 402. The support portion 400 is provided with a second support portion 500 extending upward. The second support portion 500 is made of metal, and a cap 502 is welded to a lower portion of the pipe 501.
04, a pipe-like portion is formed in which the upper end is closed and the lower end is opened at the end of the second support portion 500. The foot 503 is fixed to the inside of the pipe 501 by welding 504 so as to protrude downward. Foot 503 to pipe 40
1, and the cap 502 is inserted outside the pipe 401. The pipe 501, the cap 502, and the foot 503 are integrally fixed by welding 504 via a welding hole 505. Note that a stopper 516 is fixed to the pipe 501 by welding at a position above the cap 502.

On the other hand, the distal end of the second support 500 is formed in a pipe shape that can be stored in the cap 302 of the holding jig 300, and the supporting portion that contacts and supports the foot 301 of the holding jig 300 in the pipe 501. Are provided on the second support 500.

As described above, the shape of the tip of the support portion 400 and the shape of the tip of the second support 500 are formed in the same manner as the shape of the tip of the support 230 of the work moving device A. I have.

On one side of the loader 31a or 31b of the exchange moving device 30, a foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the supporting device 12
The holding jig 300 is removed from the second support 500
By inserting the tip of the foot 301 of the holding jig 300 into the pipe 235 of the strut 230 of the work moving device A, the tip of the strut 230 is moved to the foot 3 of the holding jig 300.
The unpainted work K can be moved from the support device 12 to the work moving device A by placing the holding jig 300 on the work moving device A so as to be housed in the cap 302 provided at the distal end of the work 01. Become.

Similarly, the loader 31 of the exchange moving device 30
a or 31b, the foot 301 between the stopper 304 of the holding jig 300 and the cap 302 is grasped, and the holding jig 300 is grasped and removed from the support 230 of the work moving device A. By inserting the tip of the foot 301 of the holding jig 300 into the pipe 501 of the support 500, the tip of the second support 500 is attached to the cap 302 of the tip of the foot 301 of the holding jig 300. The work moving device A for the painted work K by placing the holding jig 300 on the support device 12 so as to be stored in
From the support device 12 to the support device 12 becomes possible.

The loader 31a of the exchange moving device 30
Alternatively, while holding the pipe 501 between the stopper 516 of the second support 500 and the cap 502,
The work K is detached from the support part 400 integrally with the second support part 500 and the holding jig 300 and is moved to the work moving device A, and the other of the loaders 31a or 31b is used for the second work.
The pipe 501 between the stopper 516 of the support 500 and the cap 502 is grasped, and the workpiece moving device A receives the workpiece K.
May be removed integrally with the second support 500 and the holding jig 300 and moved to the support 400.

FIG. 10 is a diagram showing the details of the connection between the column and the foot.

The support device 12 is provided with positioning in the circumferential direction between the support portion and the foot portion. As shown in FIG. 10B, the foot portion 301 of the holding jig 300 is made of metal. Mounting pin 305 penetrates the cap 302 and the foot 301, and both ends are fixed to the cap 302 by welding 306.

Similarly, as shown in FIG. 10C, the metal mounting pins 50 are attached to the feet 503 of the second support 500.
6 penetrates the cap 502 and the foot 503, and both ends are fixed to the cap 502 by welding 507.

As shown in the sectional view of FIG. 10D and the view seen from the direction of arrow A in FIG. 14D of FIG. 10E, the pipe 235 At the upper end, a pair of V-shaped notches 235a are formed at symmetric positions, and a positioning notch 235b is formed at an intermediate position between the V-shaped notches 235a.

The mounting of the pipe 235 and the holding jig 300 is performed by using the mounting pin 3 as shown in the sectional view of FIG.
10 is engaged with the V-shaped notch 235a of the pipe 235 from above, and the circumferential position between the support portion 230 and the foot portion 301 in this mounted state is determined as shown in FIG. Weld 311 projecting inward to cap 302
The positioning pin 310 fixed by the above is engaged with the positioning notch 235b. Positioning notch 235b
Is formed with a tapered portion 235b1 so that it can be easily engaged.

That is, the work holders 23b, 23
The work K is placed on each holding jig 300 at c1. The mounting pin 305 and the V-shaped notch 23 at the upper end of the support 230 are placed.
5a are in electrical contact with each other by metal contact, and serve as an electric conduction path. By applying a high-voltage potential difference between the paint and the work K in the coating device 22, electrostatic painting becomes possible, and the paint scatters in addition to the work K. It becomes difficult to do.

In addition, during the coating, and during the coating, the mounting pins 3
Since the metal contact portion of the V-shaped notch 235 and the V-shaped notch 235a is covered by the cap 302, the paint is less likely to adhere to the metal contact portion. Electrical continuity can be ensured. Also, the mounting pin 30 to the V-shaped notch 235a
5 is fitted and has excellent detachability.

Similarly to the upper end of the column 230, the upper end of the second column 500 is formed as shown by reference numerals corresponding to FIGS. 10D and 10E. Is removed integrally with the second support part 500 and the holding jig 300, and is moved to the work moving device A for painting, the mounting pin 506, the V-shaped notch 235a at the upper end of the support part 230, and the mounting pin 305 2nd support part 5
The V-shaped notches 501a at the upper end of 00 are in metal contact with each other to form an electric conduction path, thereby enabling electrostatic coating.
In addition, since each metal contact portion is covered by the cap 502 and the cap 302, it is difficult for the paint to adhere thereto,
Good electrical continuity at the metal contact can be ensured for each coating. Further, the cap 502 of the second support 500
The positioning pins protruding inward are also welded to the cap 502 at the same circumferential position as the cap 302.
Also, positioning in the circumferential direction for each attachment / detachment is easy.

The upper end of the pipe 401 of the support portion 400 is formed as shown by the reference numerals corresponding to FIGS. 10D and 10E, similarly to the upper ends of the support portion 230 and the second support portion 500. The attachment and detachment of the holding jig 300 or the second support portion to and from the support portion can be facilitated, including positioning in the circumferential direction.

Further, the work holder 23b1 shown in FIG.
The positioning in the circumferential direction between the support 230 and the foot 301 of the holding jig 300 is also configured in the same manner, and thus the description thereof is omitted, but the circumferential positioning between the support 230 and the foot 301 is omitted. By providing the positioning, the support 2 of the work moving device A
The holding jig 300 is housed in the cap 302 at the tip of the foot 301 of the holding jig 300.
Since the position in the circumferential direction is determined each time the object is placed on the work moving device A, painting is easy.

As described above, the work K is made of metal, the electrostatic coating for applying a high voltage difference between the paint in the coating device 22 and the work K, and the metal K to which the work K is fixed is applied. Feet 301 extending downward on holding jig 300
A metal support 230 extending upward is provided in the work transfer device for painting, and the tip of the foot 301 is formed in a pipe shape with the upper part closed and the lower part opened. The support portion is provided on the support portion 230 in the pipe 235, and the tip portion of the support portion 230 is attached to the pipe 2 at the time of painting.
The leg portion 301 is accommodated in the supporting member 35 and a part of the support portion 230 supports and supports the foot portion 301. Therefore, since the electrostatic coating is used, the paint is less likely to scatter other than the work. In addition, since the electrically conductive portion between the work transfer device for painting and the work is covered with a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive portion. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

FIG. 11 is a block diagram showing the configuration of control of the coating system. The paint factory computer 189 is connected to the internal bus 900 of the paint factory.
00, a first painting system computer 902, a second painting system computer 903, and a plurality of painting system computers are connected to each other to exchange information.

This first coating system computer 90
Since a plurality of coating system computers, such as the second and second coating system computers 903, are similarly configured and controlled, only the configuration of the first coating system computer 902 will be described.

A memory 904 is connected to the first coating system computer 902, and controls the transfer line actuator 910. Transfer line actuator 9
Reference numeral 10 controls the movement drive actuator 912 based on the work identification information of the work identification sensor 911 installed on the transport line 10.

Further, the first coating system computer 9
02, a first coating module CPU 920, a second coating module CPU 930, and a plurality of coating modules C
PUs are connected to each other to exchange information.

This first coating module CPU 920,
The plurality of coating module CPUs such as the second coating module CPU 930 are configured in the same manner and perform control, so that the first coating module CPU 9
Only the configuration of No. 20 will be described.

The first coating module CPU 920 is connected to a memory 921 and has a door driving actuator 92
2. Controls the painting robot drive actuator 923, main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 926, and exchange movement device drive actuator 927.

In the control of the coating system, for example, three-dimensional data input of the outer shape for each work type is input to the memory 904 in the first coating system computer 902.

Based on the input data, the data of the injection nozzle operation control, the injection timing and the injection speed control are created by the first software. In addition, each data of the work position and the posture control is created by the second software. Also, the third
From the weight for each work type and the injection timing data according to the first software, data creation of main arm operation control and sub arm operation control, creation of control data of a repositioning robot, and creation of open / close control data of an opening / closing door are performed by software. .
Further, from the paint color data, paint switch valve drive control data creation, cleaning control at the time of paint switch, injection nozzle opening / closing timing, air supply valve opening / closing timing, thinner supply valve opening / closing timing data creation are performed.

The above data is stored in the memory 90 as a storage device.
4 is stored in a setup step before painting.

The position and orientation of the injection nozzle and the holding of the work when the painter skilled in the art actually applies the coating for each work type without using the teaching software such as the first software and the second software. The state (= position, posture) may be measured, and data may be created directly from the measured values.

In the transfer control of the work K, for example, a pallet holding the work K is sequentially supplied to the transfer line 10 based on the coating plan under the control of the transfer line actuator 910. The identification of the work K is recognized assuming that the work K flows in an order based on the painting plan, or the identification data attached to the pallet is read in the middle of the transport line 10 to recognize the identification of the work K. Corresponding to the identification of the work K, corresponding to each data in the storage device, the opening / closing door drive actuator 922, the painting robot drive actuator 92
3. Main arm drive actuator 924, sub arm drive actuator 925, holder drive actuator 92
6. Drive and control each actuator of the exchange moving device drive actuator 927.

Each coating system computer operates each coating module CPU 920 during the operation day of the coating line, and drives the actuator of each coating module at a predetermined timing.

Each work is held by the work holder to which the identification label is attached, and the transfer line CPU takes in the upstream work into the work holder on the transfer line by the moving drive actuator based on the coating schedule, and transfers the work to the work holder. Move up. The intermediate identification label is inspected and detected by the workpiece identification sensor 911, and each coating module CPU 920 is detected.
To be compared with the coating plan table data. If they do not match, the coating is performed based on the specification of the identification label, and is written in the coating result table data. In the setup process before coating is performed in the memory 904, various types of coating based on the specification of the identification label can be easily performed only by storing various types of coating specification data.

FIG. 12 is a view showing paint spraying by the painting robot. FIG. 12 (A) is a side view and FIG. 12 (B) is a plan view. In the work moving device A, the work K rotates around the Z axis, and the paint is sprayed from the paint spray nozzle 22a1 of the painting robot 22a.

The tip of the paint spray nozzle 22a1 has the coordinates P
_N (Px, Py, Pz) and the paint spray nozzle 22a
The injection direction of 1 is However, l, m, and n are the direction cosine with respect to the x-axis, the y-axis, and the z-axis, respectively.

In this embodiment, the work K is rotated about the Z-axis as a support shaft, and the paint jet nozzle 22 of the painting robot 22a is rotated.
The control for moving the position a1 is performed, and the paint is sprayed to paint the entire work K.

FIG. 13 is a diagram showing changes in the paint spray timing of the painting robot, the tip position of the paint spray nozzle, the spray direction, and the work holding state of the work holding device. The paint spray nozzle 22a1 opens and changes the position of the spraying direction in a certain period, paints, closes and stops the coating in a certain period, rotates the work, and changes the position of the spraying direction in a certain period to paint. Painting is performed by repeating this.

In this embodiment, the work K is rotated from 0 ° to 90 ° about the Z-axis as a fulcrum, and a certain period t1 during this rotation.
Does not perform the paint spraying, and performs the paint spraying while changing the position of the spraying direction during the period t2, which is the rotation angle α rotated by 90 degrees. Similarly, the work K is rotated from 90 degrees to 180 degrees around the Z axis.
The paint is not sprayed during a certain period t1 during this rotation, and paint is sprayed while changing the position of the spray direction during the rotation angle α rotated by 180 degrees. Similarly, the work K is rotated from 180 degrees to 270 degrees around the Z axis, and during a certain period t1 during which the work K is not sprayed, the work K is rotated by 270 degrees.
During the period of the rotation angle α rotated by degrees, the paint spraying is performed by changing the position of the spraying direction. Similarly, the work K rotates from 270 degrees to 360 degrees about the Z axis as a fulcrum, and a certain period t during this rotation.
No. 1 does not perform paint spraying, and changes the position of the spraying direction during the period of the rotation angle α rotated 360 degrees to perform paint spraying to complete the painting. Incidentally, the injection direction is the time and _{function, l = f l (t)} , m = f m (t), the _n = f n (t).

In each of the embodiments shown in FIGS. 12 and 13, the work holder 23b1 or 23c1 serving as a work holding device is stopped during the painting by the painting robot 22a, but the position of the work K in addition to the painting robot 22a is stopped. And the posture may be changed. Thereby, the relative speed between the coating robot 22a and the workpiece K where the coating film is desired to be thickened is decreased, and the relative speed of the portion where the coating film is desired to be thinned is increased, so that a free coating skill can be implemented.

FIG. 14 is a view showing a work holding device according to another embodiment. In this embodiment, the work moving device A can rotate the Z axis around the Y axis, and the work K has two degrees of freedom, the Z axis and the X axis. The paint is sprayed while changing the posture of the work K.

As described above, the work transfer device for painting has the work holder for holding the work K in the vicinity of the coating device 22 and the work holding actuator for driving the work holder. The work holding state is variable. Therefore, the work holding actuator is driven and controlled during the painting to make the holding state of the work variable, so that a wide range of work can be painted.

FIGS. 15 and 16 are configuration diagrams showing the paint spraying of the painting robot. The paint spray nozzle 22a1 of the paint robot 22a is provided with a spray on-off valve 22a2,
Opening / closing is controlled by a painting robot drive actuator (not shown). The paint injection nozzle 22a1 has a hose 22a
3 is connected, and the paint supply device 2 is connected through a hose 22a3.
The paint corresponding to the specification required for the work K is supplied from 2a4. The high voltage generator 221 gives the paint in the paint spray nozzle 22a1 a charge having a high negative value.

As shown in FIG. 16, the paint color changing valves V1 to Vn, which form part of the paint supply device 22a4,
Each of the supply hoses 22a41 is connected, and each of the paint tanks T1 is driven by the drive of each of the injection pumps P10.
Is supplied via the supply hose 22a41, that is, n colors can be changed corresponding to the color changing valves V1 to Vn.

When the color is changed, air is supplied from the cleaning device 22a5 to the paint spray nozzle 22a1 by operating the valve Va, and thinner is supplied by operating the valve Vs.
The supply of the air and thinner cleans the inside of the paint spray nozzle 22a1 from the hose 22a3.

In this embodiment, the paint switching valves V1 to Vn are used, and the color change and cleaning are performed as shown in Table 1.

In Table 1, ○ indicates the valve opening,
Indicates that the valve is closed. In addition, A ... is washed B. Painted in the color 1 (for example, black) C ... Painted in the color 2 (for example, red) d ... Painted in the color of n (for example, blue) When the color of the paint is changed, air is supplied by the operation of the valve Va, thinner is supplied by the operation of the valve Vs, and the inside of the paint spray nozzle 22a1 is cleaned from the hose 22a3 by the supply of the air and the thinner. Change the color of the paint.

FIG. 17 is a diagram showing a painting operation for one day.
For example, a small, small-capacity paint tank unit is used to paint black, red, white, and blue in the morning, and the work is stopped during lunch break. In the afternoon, the blue paint is continued, and black, red, and white paints are performed using a large-capacity paint tank unit.

In this embodiment, there is provided a transfer line 10 for moving the work K along the trajectory, and a coating module 20 disposed adjacent to the transfer line 10. Using a coating system 1 including a coating casing 21 formed and having an opening 28, a coating device 22 disposed in a coating chamber 25, and a coating work transfer device, the work K on the transfer line 10 is transferred by the coating work transfer device. The paint is sprayed onto the work K by the coating device 22 while the work K is being held in the vicinity of the coating device 22 while the work K is being held near the coating device 22 through the opening 28, and then the work in the coating room 25 is transferred by the coating work transfer device. K is returned to the transport line 10 through the opening 28. Therefore, during the construction of the transfer line 10, the painting module 20 can be installed in parallel, and the construction can be shortened.
Capital investment costs can be saved. In addition, since the transport line 10 is located outside the coating chamber 25 and the transport line 10 is separated from the coating device 22 and has an opening 28 therebetween, the paint sprayed from the coating device 22 collides with a work or the like. Even if the paint is scattered, the scattered paint is less likely to reach the main transport line 10 and the paint is less likely to adhere.

In the coating system 1, an opening / closing door 27 made of an air curtain or a movable wall is provided in the opening 28, and the opening / closing door 2 is provided for a part or all of the coating period.
Close 7. Therefore, even if the paint sprayed from the painting device 22 collides with the work or the like and scatters, the opening / closing door is closed for a part or all of the time during the painting, so that the paint hardly adheres to the transport line 10 side. it can.

Further, the coating system 1 guides outside air into the coating room 25 by operating an air fan,
5 is provided with a ventilator 26 for exhausting the air into the atmosphere, and the ventilator 26 is operated at least for a certain period of time during or after painting to perform ventilation in the painting room 25. Therefore, by providing the transfer casing 13 that forms the storage chamber 14 that stores the transfer line 10 and by providing the ventilation device 15 that discharges the air in the storage chamber 14 to the atmosphere, the solvent generated by volatilization during coating can be removed. The minute paint mist scattered and floating in the storage chamber can be easily and reliably treated, and the inside of the transfer casing 13 can be cleaned.

Further, since only one work K is guided into the coating room 25 by the coating work transfer device and the coating is not performed and the coating completion standby position is not provided, it is not necessary to create a stockout state for color change, and the color can be reduced. It is possible to more reliably prevent a decrease in coating efficiency due to the replacement.

The work transfer device for painting has a plurality of work holders 23b1 and 23c1. When one work holder is located near the coating device 22, another work holder is moved out of the coating casing 21. During the painting, the work is exchanged between the work holder outside the painting casing 21 and the transfer line 10, and the work replacement position is set outside the painting casing 21, and the painting is performed. By performing the replacement at the same time, the coating can be performed in a short time.

A support device 1 for holding the work K located above the transfer line 10 from below on the transfer line 10.
2, a work holding device for holding the work K in the upper position from below is arranged on the work transfer device for coating, and the work K held by the support device 12 is placed above the work holding device. The work K after painting is guided to the coating room 25, and the coated work K is held above the work holding device and placed above the support device 12. Therefore, even if dust falls from the work transfer device on the transfer line 10 and the work moving device A that moves the work K on the transfer line 10 to the vicinity of the coating device 22, the work K being coated or the coating is completely dried after coating. The coated surface of the work K does not become rough because it does not fall on the work K which has not been worked.

In the coating system 1, a sliding or rotating door 27 is provided in the opening 28, and the supporting portion of the movable opening and closing door 27 is arranged on the side or below except for above the opening 28. The opening / closing drive member of the opening / closing door 27 is disposed so as to be located at a position laterally or below the opening 28 except for above the opening 28 when the opening 28 is opened, and the opening / closing door is partially or entirely during the coating. Close 27.
Therefore, when the painted work K passes through the opening 28, even if dust falls from either the support portion of the opening / closing door 27 or the opening / closing drive member, it falls onto the work K whose painting is not completely dried after painting. The painted surface of the work K will not be roughened.

The coating apparatus 22 has an opening / closing valve for the paint spray nozzle and a spray nozzle actuator for changing the position or the attitude of the paint spray nozzle. The position or posture is variable. Accordingly, the spray position or the posture of the paint spray nozzle is made variable while the holding state of the work K is changed, so that a wider range of the work K can be coated.

[0139]

As described above, according to the first aspect of the present invention, the installation work of the coating module can be performed in parallel during the construction of the transfer line, the construction can be shortened, and the capital investment cost can be reduced. . In addition, since the transport line will be located outside the coating room, and the transport line is separated from the coating device and there is an opening therebetween, even if the paint sprayed from the coating device collides with the work or the like and scatters, The scattered paint is less likely to reach the main transport line, and the paint is less likely to adhere.

According to the second aspect of the present invention, even if the paint sprayed from the coating apparatus collides with a work or the like and scatters,
Since the opening / closing door is closed during a part or the entire period during the coating, the paint can be hardly adhered to the transport line side.

According to the third aspect of the present invention, by providing a transfer casing forming a storage chamber for storing a transfer line, and by providing a ventilation device for discharging the air in the storage chamber to the atmosphere.
Solvents generated by volatilization during coating and fine paint mist scattered and floating in the storage chamber can be easily and reliably treated, and the inside of the transfer casing can be cleaned.

According to the fourth aspect of the present invention, since the coating completion standby position is not provided, it is not necessary to create a stockout state for color change, and it is possible to more reliably prevent a reduction in coating efficiency due to color change. .

According to the fifth aspect of the present invention, the work can be replaced in a short time by setting the work replacement position outside the coating casing and performing the coating and the replacement at the same time.

According to the sixth aspect of the present invention, even if dust is dropped from the work transfer device on the transfer line and the work moving device for moving the work on the transfer line to the vicinity of the coating device, the work being coated or completely removed after the coating is completed. The painted surface of the work does not become rough because the paint does not fall on the work which has not dried yet.

In the invention according to the seventh aspect, when the work having been painted is passed through the opening, the paint is completely dried after the painting even if dust is dropped from either the support portion of the opening / closing door or the opening / closing drive member. The painted surface of the work does not become rough because it does not fall on the work that is not present.

According to the eighth aspect of the present invention, since the electrostatic coating is used, the paint is less likely to be scattered except for the work. Also,
Since the electrically conductive portion between the painting work transfer device and the work is covered by a pipe whose upper part is closed, paint is less likely to adhere to the electrically conductive portion. Further, even if a large number of workpieces are painted, there is no trouble in the painting apparatus.

According to the ninth aspect of the present invention, it is possible to control the drive of the work holding actuator during painting to make the holding state of the work variable and to coat a wide range of the work.

According to the tenth aspect of the present invention, the spray position or posture of the paint spray nozzle is made variable while changing the holding state of the work, so that a wider range of work can be coated.

[Brief description of the drawings]

FIG. 1 is a perspective view of a coating system.

FIG. 2 is a schematic configuration diagram of a work holding device.

FIG. 3 is a schematic configuration diagram showing an operation of the coating system.

FIG. 4 is a timing chart of the operation of the coating system.

FIG. 5 is a schematic configuration diagram of a cleaning device and a ventilation device of the coating system.

FIG. 6 illustrates the structure of a sliding door.

FIG. 7 illustrates the structure of a pivotable door.

FIG. 8 is a sectional view showing a configuration of a work holder.

FIG. 9 is a cross-sectional view showing a configuration of a conveyor support device.

FIG. 10 is a view showing details of a connection portion between a support portion and a foot portion.

FIG. 11 is a block diagram showing a configuration of control of a coating system.

FIG. 12 is a view showing paint spraying of a painting robot.

FIG. 13 is a diagram showing changes in the paint ejection timing of the painting robot, the tip position of the paint ejection nozzle, the ejection direction, and the work holding state of the work holding device.

FIG. 14 is a diagram illustrating a work holding device according to another embodiment.

FIG. 15 is a configuration diagram showing paint spraying of a painting robot.

FIG. 16 is a configuration diagram showing paint spraying of a painting robot.

FIG. 17 is a view showing a painting operation of one day.

FIG. 18 is a schematic configuration diagram of a conventional coating system.

[Description of Signs] 1 coating system 10 transport line 12 support device 20 coating module 22 coating device 23 work holding device 25 coating room 28 opening 30 exchange moving device A work moving device K work

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] Figure 2

[Correction method] Change

[Correction contents]

FIG. 2

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] Figure 3

[Correction method] Change

[Correction contents]

FIG. 3

[Procedure amendment 4]

[Document name to be amended] Drawing

[Correction target item name] Fig. 9

[Correction method] Change

[Correction contents]

FIG. 9

[Procedure amendment 5]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 11

[Procedure amendment 6]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

Claims (10)

[Claims] 1. A transfer line for moving a work along a rail, and a coating module disposed adjacent to the transfer line, wherein the coating module forms a coating chamber and has an opening. Using a coating system consisting of a coating device placed in the coating room and a work transfer device for coating, the work on the transfer line is guided into the coating room through the opening by the work transfer device for coating, and the work being coated is placed near the coating device. A coating method comprising: spraying a paint on a workpiece by a coating apparatus while holding the workpiece; and then returning the workpiece in the coating chamber to a transport line through an opening by a workpiece transport apparatus for coating. 2. The coating system, wherein the opening is provided with an opening / closing door made of an air curtain or a movable wall,
The coating method according to claim 1, wherein the opening and closing door is closed during a part or all of the period during the coating. 3. The coating system according to claim 1, further comprising a ventilation device for guiding outside air into the coating chamber by operating an air fan and discharging the air in the coating chamber to the atmosphere, and for at least a certain period of time during coating or after completion of coating. 3. The coating method according to claim 1, wherein a ventilation device is operated to ventilate the interior of the coating room. 4. The coating method according to claim 1, wherein only one work is guided into the coating room by the coating work transfer device to perform coating. . 5. The work transfer device for painting has a plurality of work holders, and when one work holder is located near the coating device, another work holder is located outside the coating casing. The coating method according to any one of claims 1 to 4, wherein the work is exchanged between a work holder outside the coating casing and the transfer line during the coating. 6. A support device for holding a work at an upper position of the transfer line from below is provided on the transfer line, and a work holding device for holding a work at an upper position from below is provided to the work transfer device for coating. The work placed above and held by the support device is placed above the work holding device, guided to the coating chamber and painted, and the painted work is held above the work holding device, and is placed above the support device. The coating method according to claim 1, wherein the coating method is carried. 7. The coating system, wherein a sliding or rotating door is provided in the opening, and a supporting portion of the movable door is arranged on the side or below except above the opening. The opening / closing drive member is disposed so as to be located at a side or lower position except for the upper side of the opening in a state where the opening is open, and closes the opening / closing door for a part or the entire period during painting. The coating method according to claim 2, wherein: 8. The work is made of metal, is an electrodeposition coating for applying a high voltage difference between the paint and the work in the coating apparatus, and a foot extending downward on a metal holding jig to which the work is fixed. A metal support that extends upward is provided on the painting work transfer device, and the tip of the foot is formed as a pipe with the top closed and the bottom open, and the tip of the support is stored in the pipe. The support part is provided on the pillar part in the pipe, and the tip part of the pillar part is stored in the pipe and the foot part is supported by the part of the pillar part at the time of painting. The coating method according to claim 6, wherein the coating method is performed. 9. The coating work transfer device has a work holding device for holding a work in the vicinity of the coating device, and a work holding actuator for driving the work holding device. The coating method according to claim 1, wherein the holding state is variable. 10. The coating apparatus has an opening / closing valve for a paint spray nozzle, and a spray nozzle actuator for changing the position or attitude of the paint spray nozzle. 10. The coating method according to claim 9, wherein the position or the posture of the coating is variable.