JPH03181370A - Coating method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a coating method that makes it possible to efficiently and automatically coat each part of an object to be coated under desired coating conditions.

[Prior Art] A method has been adopted in which the object to be painted, for example, an automobile body, is sequentially conveyed via a conveyor, and the painting work is automatically carried out using a painting device that can move forward and backward in the direction of conveyance (Japanese Patent Application Laid-Open No. 1983-1993).
(Refer to Publication No.-88081, etc.).

In this case, when trying to paint the upper part of the car body, in practice,
For bonnets, pillars, roofs, etc., it is necessary to change coating conditions such as the amount of paint discharged and the coating area. For this reason, for example, a pulse generator is attached to the conveyor, the number of pulses from the reference position of the car body being conveyed by this conveyor is counted, and the painting conditions for each painting part of the car body are set according to this number of pulses. Work is being done.

[Problem to be solved by the invention] At that time, after setting the painting conditions by a teaching simulation, simulated painting is performed in accordance with the actual painting work, and painting conditions such as painting speed are determined based on the results. The final decision is often made. However, in the conventional method, if the number of pulses related to the painting conditions of the bonnet changes, for example, all subsequent painting conditions of the roof, trunk, etc. must be changed, which makes it difficult to achieve more efficient painting work. The inconvenience of not being able to do so has been pointed out.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a coating method that allows setting of coating conditions to be carried out easily and accurately, and which enables efficient coating work to be carried out.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides an object to be coated with:
At least a process of dividing into a plurality of parts to be coated along the transport direction and storing the coating conditions of each part to be painted; and a process of relatively moving the coating machine and the object to be coated in the transport direction; a process of detecting a relative position with respect to the painting area; a process of determining which painting area includes this relative position and painting the painting area based on painting conditions set for the painting area. do.

[Function] In the coating method according to the present invention, the relative position between the object to be coated and the coating machine is detected and the coating is performed by determining which part of the coating area includes this relative position. Even if there is a change in the relative conveyance speed between the object to be coated and the coating machine, there is no need to change the coating conditions at each coating site, and the coating work can be carried out efficiently.

[Example] The coating method according to the present invention will be described in detail below by giving an example and referring to the attached drawings.

In FIG. 2, reference numeral 10 indicates an automatic painting line for carrying out the painting method according to this embodiment, and this automatic painting line 10 is provided with a conveying device 12 and a painting device 14.

The conveyor 12 is a conveyor 16 extending in a predetermined direction.
The vehicle body 18 is conveyed by the conveyor 16.

The coating device 14 includes a rail section 20 arranged parallel to the conveyor 16, and a rack member 22 is fixed to the side of the rail section 20 so as to extend in the longitudinal direction of the rail section 20. A casing 24 is disposed on the rail portion 20, and a pinion 28 that meshes with the rack member 22 is pivotally attached to the rotating shaft of a travel motor 26 fixed to the lower part of the casing 24.

A lifting motor 30 is provided in the upper part of the casing 24,
A ball screw 32 connected to the rotating shaft of the lifting motor 30 and extending vertically downward is screwed into the holder 34 . The holder 34 is supported by guide rods 36a to 36d, and a gear 40 is rotatably attached to the rotating shaft of a turning motor 38 fixed to the holder 34.
are engaged with each other, and a pivot shaft 44 that is pivotally attached to this gear 42 is supported by the holder 34 and its end portion is exposed to the outside.

One end of a swing arm 46 is fixed to the swing shaft 44, and the other end of the swing arm 46 extends in the vehicle width direction of the vehicle body 18 (in the direction of arrows E and F). 48a to 48c are mounted so as to be freely displaceable in the directions of arrows E and F via actuators (not shown).

In FIG. 1, a control device for the conveying device 12 and the coating device 14 is shown. The amount of rotation of the travel motor 26, that is, the position of the casing 24 in the direction of arrow Y, is detected by the encoder 200, and the amount of rotation of the lifting motor 30, that is, the position of the casing 24 in the direction of arrow Y is detected.
The position of the holding body 34 in the direction of arrow Z is detected by the encoder 202, and the amount of rotation of the swing motor 38, that is, the angular position of the swing arm 46 in the direction of the arrow B is detected by the encoder 204. The conveyor 16 generates a pulse output as the conveyor 16 moves, and the vehicle body 1
A pulse generator 206 for detecting the position on the conveyor 16 of 8 is provided.

a control circuit 20 supplied with signals from the encoder 200, 202, 204 and the pulse generator 206;
8 is a CPU 210 that substantially executes logical operations, a ROM 212 that records programs for the logical operations, etc.;
RAM 214 for temporarily storing information, the encoders 200 to 204 and the pulse generator 206
The I/O port 216 is provided for taking in the output of the I/O port 216.

The control circuit 208 is connected to a robot controller 218, which controls the conveyor 1.
6. Drive control of the traveling motor 26, the lifting motor 30, and the turning motor 38.

The automatic painting line for carrying out the painting method according to this embodiment is basically constructed as described above, and its operation will be explained next.

First, the vehicle body 18 is divided into a plurality of parts to be painted, and the painting conditions for each part to be painted are set. As shown in FIG. 3, the vehicle body 18 is divided into a plurality of parts in the Y-axis direction and the Z-axis direction, and painting control coordinates are provided. A pattern or the like is set and stored in the ROM 212 of the control circuit 208. Specifically, in FIG. 3, between Y4 and Yl and between Z4 and Z
Between 5 and 5, painting conditions for the roof of the vehicle body 18 are set;
When the painting guns 48a to 48C are present during this period, the painting work will be performed according to predetermined roof painting conditions.

Therefore, the conveyor 16 is driven via the robot controller 218, the vehicle body 18 is conveyed, and the position of the vehicle body 18 is determined by the pulse generator 206 and the control circuit 208.
will be sent to

On the other hand, the positions of the painting guns 48a to 48C are determined by the encoder 20.
0 to 204 to the control circuit 208, which causes the vehicle body 18 and the paint gun 48a to
The relative position with respect to 48C is detected.

When the painting guns 48a to 48C reach the painting control coordinates of the vehicle body 18, between Yl and Y2 and between Z2 and Z3 (
(see FIG. 4), the coating conditions set based on the coordinates are read out from the ROM 212, and the coating device 14 is driven and controlled via the robot controller 218. Therefore, the driving motor 26, the lifting motor 30, and the turning motor 38 are selectively controlled, and the paint guns 48a to 48C reciprocate in the directions of arrows E and F to paint the front surface of the vehicle body 18. Start.

In this way, the relative positions of the painting guns 48a to 48C and the vehicle body 18 are detected, and the relative positions of the painting guns 48a to 48C are detected.
It is determined at which coordinate of the painting control coordinates shown in FIG. 3 exists. Then, the painting conditions corresponding to these coordinates are read out, and the painting conditions for the front part of the vehicle body 18, the bonnet,
The pillars, roof, trunk, etc. will be painted.

In this case, when performing the above-mentioned painting work,
Among the painting parts 8, for example, the painting conditions for the front part may be changed. At that time, in this embodiment, the painting gun 4
The relative positions between 8a to 48c and the vehicle body 18 are detected, and painting work is performed based on painting conditions set corresponding to the relative positions. Therefore, just by changing the coating conditions for the front surface, there is no need to set the coating conditions for other coating parts again. This provides the effect that the vehicle body 18 can be painted efficiently and with high precision.

[Effects of the Invention] As described above, the coating method according to the present invention has the following effects and advantages.

Detects the relative position between the object to be painted and the coating machine, determines which part of the object to be painted includes this relative position, and performs painting under the painting conditions set for that part. Therefore, even if the coating conditions are partially changed, there is no need to change other coating conditions. This makes it easier to set painting conditions and allows efficient painting work to be carried out.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of a control circuit for implementing the painting method according to the present invention, Fig. 2 is an explanatory diagram of an automatic painting line for implementing the aforementioned painting method, and Figure 3 is an explanatory diagram of the object to be coated in the aforementioned painting method. FIG. 4 is an explanatory diagram of coordinates for controlling the coating of objects. FIG. 4 is an explanatory diagram of the operation of the coating device. 10... Automatic painting lie 12... Conveying device 14... Painting device 16... Conveyor 18... Car body 26... Traveling motor 30... Lifting motor 8... Turning motor 8a-48C...Painting gun 00.202.204...Encoder 06...Pulse generator 08...Control circuit 18...Robot controller FIG, 3 2 axes 4 5 7 Y+.

Claims (1)

[Claims] (1) A process in which the object to be painted is divided into a plurality of parts to be painted at least along the transport direction and the coating conditions for each part to be painted are memorized, and a process in which the coating machine and the object to be painted are moved relative to each other in the transport direction. , the process of detecting the relative position between the coating machine and the object to be painted, and the process of determining which painting area this relative position is included in, and painting based on the painting conditions set for that painting area. A painting method characterized by having the following.