JP2010137204A - Coating system and coating system operation method - Google Patents

Coating system and coating system operation method Download PDF

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JP2010137204A
JP2010137204A JP2008318682A JP2008318682A JP2010137204A JP 2010137204 A JP2010137204 A JP 2010137204A JP 2008318682 A JP2008318682 A JP 2008318682A JP 2008318682 A JP2008318682 A JP 2008318682A JP 2010137204 A JP2010137204 A JP 2010137204A
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JP5167104B2 (en
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Keiji Manabe
敬二 真鍋
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Taikisha Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To decrease an equipment cost and an operating cost of a coating system, and at the same time to attain effectively an energy-saving and a decrease in carbon dioxide emission. <P>SOLUTION: In an automatic coating by a control means 12, in a state that an coated object W is moved closer to a paint robot La, Lb of one side among painting robots 8 of both sides by a moving means 11, and is moved to a paint position Ls going to one side away from paint robots Ra, Rb of the other sides, a paint process KL going to one side in which each of painting robots 8 of one side and the other side paint-operates to the coated object W is practiced, and thereafter, in a state that the coated object W is moved closer to the paint robot Ra, Rb of the other side by the moving means 11, and is moved to a paint position Rs going to the other side away from the paint robot La, Lb of one side, a paint process KR going to the other side in which each of painting robots 8 of one side and the other side paint-operates to the coated object W is practiced. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は塗装システム及び塗装システム運転方法に関し、特に塗装機を装備したロボットアームを備える塗装ロボットを塗装ブースの内部において被塗物設置部のブース幅方向における両側夫々に設置し、これら塗装ロボットを所定の動作手順で動作させて被塗物を塗装する塗装システム及び塗装システム運転方法に関する。   TECHNICAL FIELD The present invention relates to a painting system and a painting system operation method, and in particular, a painting robot having a robot arm equipped with a painting machine is installed inside each painting booth on both sides in the booth width direction of the article installation unit. The present invention relates to a painting system for painting an object to be coated by operating according to a predetermined operation procedure, and a painting system operating method.

上記の如き塗装システムでは、被塗物設置部の両側夫々に設置した塗装ロボットに個々の被塗物の塗装部位を分担させるが、このような分担を行うにしても被塗物には、両側の塗装ロボットの夫々について、塗装ロボットの動作上の制限などから被塗物と塗装ロボットとの離間距離を大きして塗装する要遠位の塗装部位と、その離間距離を小さくして塗装する要近位の塗装部位とを有する被塗物（例えば自動車ボディなどの大型で複雑な立体形状を有する被塗物）も多く存在する。   In the coating system as described above, the painting robots installed on both sides of the article installation unit share the coating site of each article to be coated. For each of these painting robots, it is necessary to paint with the distance between the object to be coated and the painting robot increased by increasing the separation distance due to restrictions on the operation of the painting robot. There are also many objects to be coated (for example, objects having a large and complicated three-dimensional shape such as an automobile body) having a proximal painted portion.

このため従来、このような被塗物を塗装する塗装システムでは、図６に示す如く、両側の塗装ロボット８の夫々を被塗物設置部における被塗物Ｗから遠い位置に固定設置した遠位塗装用ブース１ｘと、両側の塗装ロボット８の夫々を被塗物設置部における被塗物Ｗに近い位置に固定設置した近位塗装用ブース１ｙとの２種の塗装ブースを、例えば中塗工程とそれに続くベース塗装工程及びクリア塗装工程などの一連の塗装工程の夫々について設け、各塗装工程でこれら２種の塗装ブース１ｘ，１ｙを順次使用して個々の被塗物Ｗを塗装するようにしていた（この従来システムを示す適当な文献が見出せない）。   For this reason, conventionally, in such a coating system for coating an object to be coated, as shown in FIG. 6, each of the painting robots 8 on both sides is fixedly installed at a position far from the object W to be coated in the object installation portion. There are two types of painting booths, a painting booth 1x and a proximal painting booth 1y in which each of the painting robots 8 on both sides is fixedly installed at a position close to the article W to be coated in the article installation section. A series of painting processes such as a base painting process and a clear painting process are provided for each of the subsequent painting processes, and each of the painting objects W is coated in sequence using each of these two painting booths 1x and 1y. (There is no suitable literature showing this conventional system.)

換言すれば、上記の従来システムでは、両側の塗装ロボット８の夫々について遠位塗装用Ｌｘ，Ｒｘと近位塗装用Ｌｙ，Ｒｙとの２種の塗装ロボットを装備（即ち、計４種のロボット設置形態を採用）していた。   In other words, the above-described conventional system is equipped with two types of painting robots for distal painting Lx, Rx and proximal painting Ly, Ry for each of the painting robots 8 on both sides (that is, a total of four types of robots). The installation form was adopted.

しかし、上記の如く各塗装工程について遠位塗装用と近位塗装用との２種の塗装ブース１ｘ，１ｙを設ける従来システムでは、システム全体としての塗装ブースの必要面積（換言すれば必要容積）が相当に大きなものとなり、このため、設備コストが嵩む問題があり、また、塗装ブースの換気、調温、調湿などの空調に要する消費エネルギが大きくて、運転コストも嵩み、さらに省エネルギ面や二酸化炭素排出量の低減面などでも改善の余地があった。   However, in the conventional system in which two kinds of painting booths 1x and 1y for distal painting and for proximal painting are provided for each painting process as described above, the required area (in other words, necessary volume) of the painting booth as a whole system Therefore, there is a problem that the equipment cost increases, and the energy consumption required for air conditioning such as ventilation, temperature control and humidity control of the painting booth is large, the operation cost is also increased, and further energy saving is required. There was also room for improvement in terms of reduction of carbon dioxide emissions.

この実情に鑑み、本発明の主たる課題は、塗装作業形態を合理化することで上記の如き問題を効果的に解消する点にある。   In view of this situation, the main problem of the present invention is to effectively solve the above-described problems by rationalizing the painting work form.

本発明の第１特徴構成は塗装システムに係り、その特徴は、
塗装機を装備したロボットアームを備える塗装ロボットを塗装ブースの内部において被塗物設置部のブース幅方向における両側夫々に設置し、
これら塗装ロボットを所定の動作手順で動作させて被塗物を自動塗装する制御手段を設けた塗装システムであって、
前記被塗物設置部において被塗物をブース幅方向に移動させる移動手段を設け、
前記制御手段は、被塗物を前記移動手段により前記両側の塗装ロボットのうちの一方側の塗装ロボットに近づけて他方側の塗装ロボットから遠ざけた一方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる一方寄り塗装工程を実行し、
この一方寄り塗装工程の実行後、被塗物を前記移動手段により前記他方側の塗装ロボットに近づけて前記一方側の塗装ロボットから遠ざけた他方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる他方寄り塗装工程を実行する構成にしてある点にある。 The first characteristic configuration of the present invention relates to a coating system,
A painting robot equipped with a robot arm equipped with a painting machine is installed on each side of the booth width direction of the object installation section inside the painting booth,
A painting system provided with a control means for automatically painting an object to be coated by operating these painting robots in a predetermined operation procedure,
A moving means for moving the object to be coated in the booth width direction in the object installation unit is provided.
In the state where the control means moves the object to be moved closer to the painting robot on one side of the painting robots on both sides and moved to the one-side painting position away from the painting robot on the other side by the moving means. Execute a one-side painting process that causes the painting robots on the side and the other side to perform painting operations on the object to be coated,
After the one-side painting step, the object to be coated is moved closer to the other-side painting robot by the moving means and moved to the other-side painting position away from the one-side painting robot. The other side painting robot is configured to execute the other side painting process in which each of the painting robots on the other side performs a painting operation on an object to be coated.

つまり、この構成によれば、被塗物がその塗装部位を分担させる両側の塗装ロボットの夫々について、被塗物と塗装ロボットとの離間距離を大きくして塗装する要遠位の塗装部位と、その離間距離を小さくして塗装する要近位の塗装部位とを有するものであることに対し、上記一方寄り塗装工程では、一方側の塗装ロボットをそれが分担する塗装部位のうち一方側塗装ロボットと被塗物との離間距離を小さくして塗装する要近位の塗装部位に対し塗装動作させ、かつ、他方側の塗装ロボットをそれが分担する塗装部位のうち他方側塗装ロボットと被塗物との離間距離を大きくして塗装する要遠位の塗装部位に対し塗装動作させることができる。   In other words, according to this configuration, for each of the painting robots on both sides where the coating object shares its painting site, the distal painting site required for painting with a large separation distance between the coating object and the painting robot, In the above-mentioned one-side painting process, the one-side painting robot among the painting parts shared by the one-side painting robot is provided. The painting operation is performed on the proximal part that needs to be painted with a small distance between the object and the object to be coated, and the other side painting robot and the object to be coated are assigned to the painting robot on the other side. It is possible to perform a painting operation on a distally-needed painting site to be painted by increasing the separation distance from.

また、上記他方寄り塗装工程では、逆に、他方側の塗装ロボットをそれが分担する塗装部位のうち他方側塗装ロボットと被塗物との離間距離を小さくして塗装する要近位の塗装部位に対し塗装動作させ、かつ、一方側の塗装ロボットをそれが分担する塗装部位のうち一方側塗装ロボットと被塗物との離間距離を大きくして塗装する要遠位の塗装部位に対して塗装動作させることができる。   Further, in the above-mentioned other side painting process, conversely, among the painting parts that the other side painting robot is assigned to, the proximal painting part that is to be painted with a small separation distance between the other side painting robot and the object to be coated is applied. The painting operation is applied to the painting site and the painting robot on one side of the painting part is assigned to the painting part at the distal end where painting is performed with a large separation distance between the painting robot on the one side and the object to be coated. It can be operated.

即ち、この構成によれば、一方側の塗装ロボットをそれが分担する塗装部位のうちの要近位の塗装部位に対する塗装と要遠位の塗装部位に対する塗装とに被塗物の位置切り換えにより兼用し、また同様に、他方側の塗装ロボットをそれが分担する塗装部位のうちの要近位の塗装部位に対する塗装と要遠位の塗装部位に対する塗装とに被塗物の位置切り換えにより兼用して、これら計４種の塗装部位に対応することができる。   In other words, according to this configuration, the painting robot on one side can be used by switching the position of the object to be painted between the painting part in the vicinity of the painting part to which it is assigned and the painting in the painting part in the distal direction. Similarly, the painting robot on the other side can also be used for switching the position of the object to be painted between the painting part of the painting part that it shares and the painting of the painting part in the vicinity of the distal part. These four types of coating sites can be handled.

したがって、図６に示す如く両側の塗装ロボット８の夫々を被塗物Ｗから遠い位置に固定設置した遠位塗装用ブース１ｘと、両側の塗装ロボット８の夫々を被塗物Ｗに近い位置に固定設置した近位塗装用ブース１ｙとの２種の塗装ブースを設ける先述の従来システム（即ち、Ｌｘ，Ｌｙ，Ｒｘ，Ｒｙの計４種のロボット設置形態を採る塗装システム）に比べ、遠位塗装用ブース１ｘと近位塗装用ブース１ｙとを兼用の１つの塗装ブースで済ませて、システム全体としての塗装ブースの必要面積を大きく削減することができる。   Therefore, as shown in FIG. 6, the distal painting booth 1x in which the painting robots 8 on both sides are fixedly installed at positions far from the workpiece W, and the painting robots 8 on both sides are placed close to the workpiece W. Compared to the above-described conventional system (that is, a painting system employing a total of four types of robot installation forms of Lx, Ly, Rx, and Ry) in which two types of painting booths are provided with the proximally installed proximal painting booth 1y. The painting booth 1x and the proximal painting booth 1y can be combined into one painting booth, so that the required area of the painting booth as a whole system can be greatly reduced.

そして、このように塗装ブースの必要面積（換言すれば、必要容積）を大きく削減できることで、設備コストを大巾に低減することができ、また、塗装ブースの換気、調温、調湿などの空調に要する消費エネルギも大きく低減することができて、運転コストも大きく低減することができ、さらには省エネルギ化や二酸化炭素排出量の低減なども効果的に達成することができる。   And by reducing the required area (in other words, the required volume) of the painting booth in this way, the equipment cost can be greatly reduced, and the painting booth ventilation, temperature control, humidity control, etc. Energy consumption required for air conditioning can be greatly reduced, operation costs can be greatly reduced, and further, energy saving and reduction of carbon dioxide emission can be effectively achieved.

ちなみに、この種の塗装システムにおいてシステム全体としての塗装ブースの必要面積を削減するには、別方式として図７に示す如く、被塗物Ｗをブース幅方向に移動させるのに代え、塗装ロボット８の方をブース幅方向に移動させる方式、具体的には、図７（Ａ）に示す如く、ブース幅方向で一方側の塗装ロボット８（Ｌ）を被塗物Ｗに近づけた近位置に移動させるとともに、他方側の塗装ロボット８（Ｒ）を被塗物Ｗから遠ざけた遠位置に移動させた状態で、それら一方側及び他方側の塗装ロボット８（Ｌ），８（Ｒ）の夫々を被塗物Ｗに対して塗装動作させるロボット一方寄せ塗装工程を実行し、このロボット一方寄せ塗装工程の後、図７（Ｂ）に示す如く、ブース幅方向で一方側の塗装ロボット８（Ｌ）を被塗物Ｗから遠ざけた遠位置に移動させるとともに、他方側の塗装ロボット８（Ｒ）を被塗物Ｗに近づけた近位置に移動させた状態で、それら一方側及び他方側の塗装ロボット８（Ｌ），８（Ｒ）の夫々を被塗物Ｗに対して塗装動作させるロボット他方寄せ塗装工程を実行する方式も考えられる。   Incidentally, in order to reduce the required area of the painting booth as a whole system in this kind of painting system, as shown in FIG. 7, as an alternative method, instead of moving the workpiece W in the booth width direction, the painting robot 8 7 is moved in the booth width direction. Specifically, as shown in FIG. 7A, the painting robot 8 (L) on one side is moved closer to the workpiece W in the booth width direction. In the state where the painting robot 8 (R) on the other side is moved to a far position away from the article W, each of the painting robots 8 (L) and 8 (R) on the one side and the other side is moved. A robot side-by-side painting process for performing a painting operation on the workpiece W is executed, and after this robot side-by-side painting process, as shown in FIG. 7B, a painting robot 8 (L) on one side in the booth width direction. Distant from the workpiece W And the other side of the painting robot 8 (R), 8 (R) on the one side and the other side of the painting robot 8 (R). A method of performing a robot side-by-side painting process that performs a painting operation on the workpiece W is also conceivable.

しかし、この別方式では、一方側の塗装ロボット８（Ｌ）をそれが分担する塗装部位のうちの要近位の塗装部位に対する塗装と要遠位の塗装部位に対する塗装とにロボット移動により兼用し、また、他方側の塗装ロボット８（Ｒ）をそれが分担する塗装部位のうちの要近位の塗装部位に対する塗装と要遠位の塗装部位に対する塗装とにロボット移動により兼用することができるものの、塗装ロボット８（Ｌ），８（Ｒ）を被塗物Ｗから遠ざけた遠位置に移動させる移動スペースΔｄを一方側と他方側との夫々について確保する必要があることから、塗装ブース１のブース幅については従来システムにおける遠位塗装用ブース１ｘ（図６参照）と同等の大きなブース幅ｄ′を要し、このことが塗装ブースの必要面積を削減することの制限となる。   However, in this alternative method, the painting robot 8 (L) on one side is shared by painting the robot for painting the proximal painting site of the painting site and the painting for the distal painting site. In addition, although the painting robot 8 (R) on the other side can be used for both the painting on the proximal painting site and the painting on the distal painting site of the painting site shared by the robot by moving the robot. Since it is necessary to secure a moving space Δd for moving the painting robots 8 (L) and 8 (R) to a far position away from the article W, the painting booth 1 Regarding the booth width, a large booth width d ′ equivalent to the distal painting booth 1x (see FIG. 6) in the conventional system is required, which is a limitation on reducing the required area of the painting booth.

これに対し、上記構成によれば、被塗物の方をブース幅方向に移動させることにより、一方側の塗装ロボットを要遠位の塗装部位に対して適切に塗装動作させる状態（他方寄り塗装工程）と、他方側の塗装ロボットを要遠位の塗装部位に対して適切に塗装動作させる状態（一方寄り塗装工程）とを選択的に現出するから、塗装ブースの必要ブース幅を従来システムにおける遠位塗装用ブース１ｘのブース幅ｄ′よりもかなり小さくすることができる。   On the other hand, according to the above configuration, by moving the object to be coated in the booth width direction, the state where the painting robot on one side is appropriately applied to the distally required painting site (the other side painting) Process) and a state in which the other side painting robot is properly applied to the distally required painting site (one-side painting process) is selectively displayed. The booth width d 'of the distal painting booth 1x can be made considerably smaller.

即ち、この点で上記構成によれば、上述の別方式に比べても、システム全体としての塗装ブースの必要面積を一層効果的に削減することができて、設備コストや運転コストの低減、並びに、省エネルギ化や二酸化炭素排出量の低減などを一層効果的に達成することができる。   That is, according to the above configuration in this respect, the required area of the coating booth as a whole system can be more effectively reduced compared to the above-described other methods, and the equipment cost and operation cost can be reduced. Further, energy saving and reduction of carbon dioxide emissions can be achieved more effectively.

本発明の第２特徴構成は、第１特徴構成の実施に好適な実施形態を特定するものであり、その特徴は、
前記一方側の塗装ロボットは前記塗装ブースのブース幅方向における前記一方側のブース壁からブース内方に立脚する状態に設置し、前記他方側の塗装ロボットは前記塗装ブースのブース幅方向における前記他方側のブース壁からブース内方に立脚する状態に設置してある点にある。 The second feature configuration of the present invention specifies an embodiment suitable for the implementation of the first feature configuration.
The one-side painting robot is installed so as to stand inward of the booth wall from the one-side booth wall in the booth width direction of the painting booth, and the other-side painting robot is the other side in the booth width direction of the painting booth. It is in the point where it stands in the state where the booth wall on the side stands inside the booth.

つまり、塗装ロボットを床に立脚させる通常のロボット設置形態では塗装ロボットとブース壁との間にロボットアームの屈折動作スペースを確保することが一般に必要となるが、上記の如く塗装ロボットをブース壁からブース内方に立脚する状態に設置すれば、塗装ロボットとブース壁との間にロボットアームの屈折動作スペースを設けずとも塗装ロボットを被塗物に対し塗装動作させることができ、その分、上記構成によれば塗装ブースの必要ブース幅を一層小さくすることができて、システム全体としての塗装ブースの必要面積を一層効果的に削減することができる。   In other words, it is generally necessary to secure a refraction motion space of the robot arm between the painting robot and the booth wall in the normal robot installation form in which the painting robot is standing on the floor. If it is installed in a state where it stands inside the booth, the painting robot can be applied to the object to be coated without providing a refraction action space for the robot arm between the painting robot and the booth wall. According to the configuration, the required booth width of the painting booth can be further reduced, and the required area of the painting booth as the entire system can be further effectively reduced.

本発明の第３特徴構成は、第１又は第２特徴構成の実施に好適な実施形態を特定するものであり、その特徴は、
前記一方側及び他方側の塗装ロボットを被塗物の最高部位よりも高い位置に設置してある点にある。 The third feature configuration of the present invention specifies an embodiment suitable for the implementation of the first or second feature configuration.
The coating robot on the one side and the other side is installed at a position higher than the highest part of the object to be coated.

つまり、塗装ロボットの本体部（即ち、ロボットアームの支持母体）と被塗物との間には必要最小限の離間間隔が必要であるが、上記構成によれば、この離間間隔がブース幅方向について不要になり、そのことで例えば一方側（又は他方側）の塗装ロボットの本体部におけるブース内方側の一部と一方寄り塗装位置（又は他方寄り塗装位置）に移動させた被塗物の一部とが平面視でラップする配置関係にするなどして、塗装ブースの必要ブース幅を一層小さくすることができ、これによりシステム全体としての塗装ブースの必要面積を一層効果的に削減することができる。   In other words, the minimum necessary separation distance is required between the body portion of the painting robot (that is, the support base of the robot arm) and the object to be coated. Therefore, for example, a part of the booth inner side of the main body of the painting robot on one side (or the other side) and the object moved to the one side painting position (or the other side painting position) The required booth width of the painting booth can be further reduced, for example, by arranging the parts so that they overlap with each other in plan view, thereby further reducing the required area of the painting booth as a whole system. Can do.

なお、塗装ロボットをブース壁に立脚させる前記第２特徴構成と塗装ロボットを被塗物の最高部位によりも高い位置に設置する上記第３特徴構成とを併行実施すれば、それらの単独実施に比べ、塗装ブースの必要ブース幅をさらに効果的に小さくすることができる。   If the second feature configuration in which the painting robot is made to stand on the booth wall and the third feature configuration in which the painting robot is installed at a position higher than the highest part of the object to be coated are performed in parallel, they are compared with the single implementation. The required booth width of the painting booth can be reduced more effectively.

本発明の第４特徴構成は、第１〜第３特徴構成のいずれかの実施に好適な実施形態を特定するものであり、その特徴は、
被塗物が自動車ボディであることに対し、この自動車ボディのドアを開閉する開閉手段を設け、
前記制御手段は、前記一方側及び他方側の塗装ロボットに対する制御動作、並びに、前記開閉手段に対する制御動作により、
前記一方寄り塗装工程では自動車ボディの前記一方側のドアを閉じるとともに前記他方側のドアを開いた状態で、前記一方側及び他方側の塗装ロボット夫々を自動車ボディの担当塗装部位に対して塗装動作させ、
かつ、前記他方寄り塗装工程では自動車ボディの前記他方側のドアを閉じるとともに前記一方側のドアを開いた状態で、前記一方側及び他方側の塗装ロボット夫々を自動車ボディの担当塗装部位に対して塗装動作させる構成にしてある点にある。 The fourth characteristic configuration of the present invention specifies an embodiment suitable for the implementation of any of the first to third characteristic configurations,
For the object to be coated being an automobile body, an opening / closing means for opening and closing the door of the automobile body is provided,
The control means includes a control operation for the one and the other side painting robots, and a control operation for the opening and closing means.
In the one-side painting process, the one-side and the other-side painting robots are painted on the assigned painting portion of the automobile body while the one-side door of the automobile body is closed and the other-side door is opened. Let
And in the said other side coating process, the said one side and the other side painting robot are each in the state which the one side and other side painting robots are in the state which closed the said other side door of the motor vehicle body, and opened the said one side door. The point is that it is configured to be painted.

つまり、被塗物が自動車ボディの場合、被塗物設置部の両側の塗装ロボットにより自動車ボディを塗装するには、その場合の特有の条件として自動車ボディのドア（即ち、一方側及び他方側のサイドドア）を開いた状態で塗装を行う部位（例えばドア内面部やドア開放部の周縁など）が存在し、そのような部位を塗装するには、ドアの開き動作スペースを被塗物と塗装ロボットの間に確保するために被塗物と塗装ロボットとの離間距離を大きくとることが必要になる。即ち、被塗物である自動車ボディ各部のうちドアを開いた状態で塗装を行う部位は前記要遠位の塗装部位に該当する。   In other words, when the article to be coated is an automobile body, in order to paint the automobile body by the painting robots on both sides of the article installation portion, as a special condition in that case, the door of the automobile body (that is, one side and the other side) There are parts to be painted with the side doors open (for example, the inner surface of the door or the periphery of the door opening part). To paint such parts, the door opening operation space is painted with the object to be coated. In order to ensure the space between the robots, it is necessary to increase the distance between the object to be coated and the painting robot. That is, the part which paints in the state which opened the door among the vehicle body parts which are to-be-coated objects corresponds to the said distally required painting part.

これに対し、アーム長が限られる塗装ロボットにより自動車ボディのルーフ部中央部位などを適切に塗装するには逆にドアを閉じた状態で塗装ロボットと被塗物との離間距離をつめて塗装ロボットを動作させる必要があり、このような部位は前記要近位の塗装部位に該当する。   On the other hand, in order to properly paint the central part of the roof of the car body with a painting robot with a limited arm length, conversely, with the door closed, the distance between the painting robot and the object to be coated is increased. Such a part corresponds to the proximal painting part.

即ち、この点で自動車ボディの塗装システムは、それ特有の条件から前記第１特徴構成の好適な適用対象であり、したがって、自動車ボディの塗装システムに前記第１特徴構成を適用したものである上記構成によれば、システム全体としての塗装ブースの必要面積を効果的に削減することができて、設備コストや運転コストの低減、並びに、省エネルギ化や二酸化炭素排出量の低減という所期の効果を特に顕著に得ることができる。   That is, in this respect, the automobile body coating system is a suitable application target of the first characteristic configuration because of its unique conditions. Therefore, the first characteristic configuration is applied to the automotive body painting system. According to the configuration, the required area of the painting booth as a whole system can be effectively reduced, and the expected effects of reduction in equipment cost and operation cost, energy saving and reduction of carbon dioxide emissions. Can be obtained particularly remarkably.

そしてまた、自動車ボディの塗装システムでは既述の如く中塗工程やそれに続くベース塗装工程及びクリア塗装工程など複数種の塗装工程が必要なことから、これら複数種の塗装工程で上記構成を採用することにより、設備コストや運転コストの低減、並びに、省エネルギ化や二酸化炭素排出量の低減について極めて大きな実用効果を得ることができる。   In addition, as described above, since the automobile body painting system requires a plurality of types of painting processes such as the intermediate coating process, the base painting process and the clear painting process as described above, the above-described configuration should be adopted in these multiple painting processes. As a result, it is possible to obtain extremely large practical effects in terms of reduction in equipment cost and operation cost, energy saving, and reduction in carbon dioxide emission.

本発明の第５特徴構成は、塗装システム運転方法に係り、その特徴は、
塗装機を装備したロボットアームを備える塗装ロボットを塗装ブースの内部において被塗物設置部のブース幅方向における両側夫々に設置し、これら塗装ロボットを所定の動作手順で動作させて被塗物を塗装する塗装システム運転方法であって、
前記被塗物設置部において被塗物をブース幅方向に移動させる移動手段を設けて、
被塗物を前記移動手段により前記両側の塗装ロボットのうちの一方側の塗装ロボットに近づけて他方側の塗装ロボットから遠ざけた一方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる一方寄り塗装工程を実施し、
この一方寄り塗装工程の実施後、被塗物を前記移動手段により前記他方側の塗装ロボットに近づけて前記一方側の塗装ロボットから遠ざけた他方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる他方寄り塗装工程を実施する点にある。 The fifth characteristic configuration of the present invention relates to a coating system operating method,
A painting robot equipped with a robot arm equipped with a painting machine is installed inside the painting booth on both sides in the booth width direction of the painting object installation section, and these painting robots are operated according to a predetermined operation procedure to paint the painting object. A painting system operating method,
Provide a moving means for moving the object to be coated in the booth width direction in the object to be coated,
In the state where the object to be coated is moved to the one-side painting position away from the painting robot on the other side by moving the means closer to the painting robot on one side of the painting robots on both sides, Implement a one-sided painting process that causes each of the painting robots to perform painting operations on the workpiece.
After the one-side painting process, the object to be coated is moved closer to the other-side painting robot by the moving means and moved to the other-side painting position away from the one-side painting robot. The other side is that the other side painting robot performs the painting operation on the object to be coated on the other side.

つまり、この方法によれば、前記第１特徴構成による塗装システムと実質的に同様の塗装形態で被塗物を塗装することができ、これにより、第１特徴構成による塗装システムと同様、システム全体としての塗装ブースの必要面積を効果的に削減することができて、設備コスト及や運転コストの低減、並びに、省エネルギ化や二酸化炭素排出量の低減などを効果的に達成することができる。   That is, according to this method, an object to be coated can be applied in a coating form that is substantially the same as the coating system according to the first characteristic configuration, and as a result, the entire system is similar to the coating system according to the first characteristic configuration. As a result, the required area of the painting booth can be effectively reduced, and the equipment cost and operation cost can be reduced, and energy saving and carbon dioxide emission reduction can be effectively achieved.

図１は自動車ボディＷを被塗物とする塗装システムの平面構成を示し、被塗物である自動車ボディＷの搬送方向Ｆに並べて中塗用ブース１ａ、それに続くベース塗装用ブース１ｂ及びクリア塗装用ブース１ｃなど複数の塗装ブース１を施設し、これら塗装ブース１（１ａ〜１ｃ）に自動車ボディＷを順次搬送して自動車ボディＷを塗装する。   FIG. 1 shows a plan configuration of a coating system in which an automobile body W is an object to be coated. An intermediate coating booth 1a, a base coating booth 1b, and a clear coating are arranged in the conveying direction F of the automobile body W as an object to be coated. A plurality of painting booths 1 such as a booth 1c are provided, and the automobile body W is sequentially conveyed to these painting booths 1 (1a to 1c) to paint the automobile body W.

図２（Ａ），（Ｂ）に示すように、各塗装ブース１では、温湿度調整した空気Ａを天井部２のほぼ全面から下向きに塗装作業域３に吹き出し供給するとともに、それに伴い塗装作業域３から域内空気Ａを格子構造の床部４を通じて排出し、これにより、後述の塗装機５による被塗物塗装で発生する余剰の浮遊塗料ミストを塗装作業域３から迅速に排出して次の被塗物である自動車ボディＷへの色移りを防止するとともに、塗装作業域３を塗装に適した空調状態に維持する。   As shown in FIGS. 2 (A) and 2 (B), in each painting booth 1, air A adjusted in temperature and humidity is blown out from almost the entire surface of the ceiling portion 2 to the painting work area 3, and the painting work is performed accordingly. The internal air A is discharged from the area 3 through the floor portion 4 of the lattice structure, and thereby, the excess floating paint mist generated in the coating of the object by the coating machine 5 described later is quickly discharged from the painting work area 3 The color transfer to the automobile body W that is the object to be coated is prevented, and the painting work area 3 is maintained in an air-conditioning state suitable for painting.

各塗装ブース１には自動車ボディＷをブース内で移動させるブース内移送装置６を床部４に装備し、また、塗装ブース１どうしの間には被塗物である自動車ボディＷを搬送するブース間搬送装置７を装備してあり、このブース間搬送装置７により各ブース１に搬入する自動車ボディＷをブース内移送装置６により受け取ってブース１内における平面視中央部の被塗物設置部Ｓに位置させ、この被塗物設置部Ｓにおいて自動車ボディＷを塗装した後、その塗装後の自動車ボディＷをブース内移送装置６により次段のブース間搬送装置７に受け渡してブースから搬出し次の工程に送る。   Each painting booth 1 is equipped with an in-booth transfer device 6 for moving the automobile body W in the booth on the floor 4, and the booth that conveys the automobile body W that is an object to be coated between the painting booths 1. The inter-booth transport device 7 is equipped, and the inter-booth transport device 7 receives the automobile body W carried into each booth 1 by the in-booth transfer device 6 to receive the article installation portion S at the center in the plan view in the booth 1. After the automobile body W is painted in the article installation part S, the painted automobile body W is transferred to the next inter-booth transport device 7 by the transfer device 6 in the booth and then taken out from the booth. To the process.

本例では３塔の中塗用ブース１ａと４塔のベース塗装用ブース１ｂと３塔のクリア塗装用ブース１ｃの夫々を並列配置してあり、ブース間搬送装置７によるボディ搬送については、各中塗用ブース１ａで中塗塗装を完了した自動車ボディＷを４塔のベース塗装用ブース１ｂのうち次の自動車ボディＷの受け入れが可能になったベース塗装用ブース１ｂに選択的に搬送し、同様に各ベース塗装用ブース１ｂでベース塗装を完了した自動車ボディＷを３塔のクリア塗装用ブース１ｃのうち次の自動車ボディＷの受け入れが可能になったクリア塗装用ブース１ｃに選択的に搬送するようにしてある。   In this example, three towers for intermediate coating booth 1a, four towers for base coating booth 1b, and three towers for clear coating booth 1c are arranged in parallel. The vehicle body W that has been subjected to intermediate coating at the booth 1a is selectively transported to the base coating booth 1b that can accept the next vehicle body W among the four base coating booths 1b. The vehicle body W that has undergone the base coating in the base coating booth 1b is selectively transported to the clear coating booth 1c that can receive the next vehicle body W among the three clear coating booths 1c. It is.

ブース１内にはブース幅方向（以下、図２（Ｂ）を基準にして左右方向と表現する場合がある）で被塗物設置部Ｓの両側夫々に多関節型の塗装ロボット８を各２基ずつボディ長手方向に並べて設置してあり、ブース内移送装置６により塗装位置である被塗物設置部Ｓに位置させた自動車ボディＷを、これら４基の塗装ロボット８（具体的には左上手機Ｌａ，左下手機Ｌｂ，右上手機Ｒａ，右下手機Ｒｂ）により塗装部位を分担して塗装する。   In the booth 1, two articulated paint robots 8 are provided on both sides of the article installation unit S in the booth width direction (hereinafter sometimes referred to as the left-right direction with reference to FIG. 2B). The vehicle body W, which is placed side by side in the longitudinal direction of the body and is placed on the article installation portion S, which is the painting position by the transfer device 6 in the booth, is connected to these four painting robots 8 (specifically, upper left) The painting parts are shared by the hand machine La, the lower left hand machine Lb, the upper right hand machine Ra, and the lower right hand machine Rb).

塗装ロボット８は、ベース部８ａに対して旋回部８ｂを旋回操作自在に装備し、この旋回部８ｂから延出させた多関節ロボットアーム８ｃの手首部に回転霧化式などの塗装機５を装備したものであり、これら塗装ロボット８のうちブース幅方向で一方側（図２（Ｂ）において左側）の２基８（Ｌａ），８（Ｌｂ）は、被塗物設置部Ｓに位置させた自動車ボディＷの最高部位よりも高い位置で左側ブース壁９Ｌにベース８ａを固定して、旋回部８ｂの旋回軸芯Ｑがボディ長手方向に向く姿勢（即ち、床部４及びブース壁９Ｌ，９Ｒの両方に対してほぼ平行な姿勢）で左側ブース壁９Ｌからブース内方に立脚する状態に設置してある。   The painting robot 8 is equipped with a swivel unit 8b so that the swivel unit 8b can be swung with respect to the base unit 8a, and a rotary atomizing type coating machine 5 is attached to the wrist of the articulated robot arm 8c extended from the swivel unit 8b. The two robots 8 (La) and 8 (Lb) on one side (left side in FIG. 2B) of the painting robot 8 in the booth width direction are positioned in the article installation portion S. The base 8a is fixed to the left booth wall 9L at a position higher than the highest part of the automobile body W, and the turning axis Q of the turning portion 8b is oriented in the body longitudinal direction (that is, the floor portion 4 and the booth wall 9L, 9R) in a state of standing substantially inward of the booth from the left booth wall 9L.

また同様に、これらロボット８のうちブース幅方向で他方側（図２（Ｂ）において右側）の２基８（Ｒａ），８（Ｒｂ）は、被塗物設置部Ｓに位置させた自動車ボディＷの最高部位よりも高い位置で右側ブース壁９Ｒにベース部８ａを固定して、旋回部８ｂの旋回軸芯Ｑがボディ長手方向に向く姿勢で右側ブース壁９Ｒからブース内方に立脚する状態に設置してある。   Similarly, two robots 8 (Ra) and 8 (Rb) on the other side in the booth width direction (right side in FIG. 2B) of these robots 8 are positioned on the article installation portion S. The base portion 8a is fixed to the right booth wall 9R at a position higher than the highest portion of W, and the swing shaft core Q of the turning portion 8b stands inward of the booth from the right booth wall 9R with the posture facing the longitudinal direction of the body. It is installed in.

ブース内移送装置６には図３及び図４に示す如く、ブース内移動させる自動車ボディＷを載置する移動台１０をブース幅方向（左右方向）に移動させる移動装置１１を装備してあり、この移動装置１１により被塗物設置部Ｓにおいて被塗物である自動車ボディＷを、図３に示す如く左右一方側（左側）の塗装ロボット８（Ｌａ，Ｌｂ）に近づけて左右他方側（右側）の塗装ロボット８（Ｒａ，Ｒｂ）から遠ざけた一方寄り塗装位置Ｌｓと、これとは逆に図４に示す如く左右他方側（右側）の塗装ロボット８（Ｒａ，Ｒｂ）に近づけて左右一方側（左側）の塗装ロボット８（Ｌａ，Ｌｂ）から遠ざけた他方寄り塗装位置Ｒｓとにわたって位置切り換え的に横移動させるようにしてある。   As shown in FIGS. 3 and 4, the in-booth transfer device 6 is equipped with a moving device 11 for moving a moving table 10 on which a vehicle body W to be moved in the booth is placed in the booth width direction (left-right direction). As shown in FIG. 3, the vehicle body W, which is the object to be coated, is moved closer to the left and right side (left side) painting robot 8 (La, Lb) by the moving device 11 and the left and right side (right side). ) And the one-sided painting position Ls away from the painting robot 8 (Ra, Rb), and conversely, as shown in FIG. 4, the left and right ones are brought closer to the painting robot 8 (Ra, Rb) on the left and right side (right side). The lateral movement is performed in a position-switching manner over the other side painting position Rs away from the side (left side) painting robot 8 (La, Lb).

また、各塗装ブース１には被塗物である自動車ボディＷの一方側及び他方側のサイドドアＤＬ，ＤＲ並びにエンジンルームのフード（ボンネット）やバックドア等を開閉する簡易ロボット式などの開閉手段（図示を省略）を装備してある。   Each painting booth 1 has a simple robot type opening / closing means for opening and closing the side doors DL and DR on one side and the other side of the automobile body W, which is the object to be coated, and the hood (bonnet) and back door of the engine room. (Not shown) is equipped.

１２はシステムの運転制御を司るシステム制御器であり、このシステム制御器１２は塗装ロボット８、開閉手段、ブース内移送装置６、移動装置１１、ブース間搬送装置７等々に対する制御動作により、ボディ搬送移動との連係下で各塗装ブース１において自動車ボディＷに対する塗装作業を基本的に次の（イ）〜（へ）の如く進めるものにしてある。   Reference numeral 12 denotes a system controller for controlling the operation of the system. The system controller 12 is configured to transfer the body by controlling the coating robot 8, the opening / closing means, the in-booth transfer device 6, the moving device 11, the inter-booth transfer device 7, and the like. Under the linkage with the movement, the painting work for the automobile body W is basically advanced as shown in the following (a) to (f) in each painting booth 1.

（イ）ブース間搬送装置７によりブース内に搬入した自動車ボディＷをブース内移送装置６によりブース内の被塗物設置部Ｓにおける中央のニュートラル位置に位置させる（図２参照）。   (A) The automobile body W carried into the booth by the inter-booth transport device 7 is positioned at the central neutral position in the article installation portion S in the booth by the in-booth transfer device 6 (see FIG. 2).

（ロ）被塗物設置部Ｓの中央ニュートラル位置に位置させた自動車ボディＷを移動装置１１により一方寄り塗装位置Ｌｓ（左側）に移動させる（図３参照）。   (B) The automobile body W positioned at the center neutral position of the article installation portion S is moved to the one-side coating position Ls (left side) by the moving device 11 (see FIG. 3).

（ハ）一方寄り塗装位置Ｌｓ（左側）に移動させた自動車ボディＷの一方側サイドドアＤＬ（左側ドア）は閉じたままで他方側サイドドアＤＲ（右側ドア）を開閉手段により開く。   (C) While the one side door DL (left side door) of the automobile body W moved to the one-side painting position Ls (left side) is closed, the other side door DR (right side door) is opened by the opening / closing means.

そして、この状態で一方寄り塗装工程ＫＬとして（図３参照）、左右一方側（左側）の塗装ロボット８（Ｌａ，Ｌｂ）を、それら一方側ロボットと自動車ボディとの離間間隔を小さくした状態で塗装する一方側要近位の塗装部位（例えば、ルーフ部の左半部など）を含む担当の塗装部位に対して塗装動作させる。   Then, in this state, as the one-side painting process KL (see FIG. 3), the left and right side (left side) painting robots 8 (La, Lb) are in a state in which the distance between the one side robot and the automobile body is reduced. The painting operation is performed with respect to a coating portion in charge including a painting portion (for example, the left half portion of the roof portion) in the vicinity of one side to be painted.

また、これと併行して、左右他方側（右側）の塗装ロボット８（Ｒａ，Ｒｂ）を、それら他方側ロボットと自動車ロボットとの間にサイドドアＤＲ（右側ドア）の開き動作スペースを確保した状態で塗装する他方側要遠位の塗装部位（例えば右側サイドドアＤＲやそれの開口周縁部など）を含む担当の塗装部位に対して塗装動作させる。   In parallel with this, the left and right other side (right side) painting robots 8 (Ra, Rb) have a space for opening the side door DR (right side door) between the other side robot and the automobile robot. The painting operation is performed with respect to the coating portion in charge including the distally necessary painting portion (for example, the right side door DR and the opening peripheral edge thereof) to be painted in the state.

（ニ）上記一方寄り塗装工程ＫＬを終了すると、開閉手段により他方側サイドドアＤＲ（右側ドア）を閉じた上で自動車ボディＷを移動装置１１により一方寄り塗装位置Ｌｓ（左側）から他方寄り塗装位置Ｒｓ（右側）に横移動させる（図４参照）。   (D) When the one-side painting step KL is completed, the other side door DR (right side door) is closed by the opening / closing means, and the vehicle body W is painted from the one-side painting position Ls (left side) by the moving device 11 to the other side. Move horizontally to position Rs (right side) (see FIG. 4).

（ホ）他方寄り塗装位置Ｒｓ（右側）に移動させた自動車ボディＷの他方側サイドドアＤＲ（右側ドア）は閉じたままで一方側サイドドアＤＬ（左側ドア）を開閉手段により開く。   (E) While the other side door DR (right side door) of the automobile body W moved to the other side coating position Rs (right side) is closed, the one side door DL (left side door) is opened by the opening / closing means.

そして、この状態で他方寄り塗装工程ＫＲとして（図４参照）、左右一方側（左側）の塗装ロボット８（Ｌａ，Ｌｂ）を、それら一方側ロボットと自動車ボディとの間にサイドドアＤＬ（左側ドア）の開き動作スペースを確保した状態で塗装する一方側要遠位の塗装部位（例えば左側サイドドアＤＲやそれの開口周縁部など）を含む担当の塗装部位に対して塗装動作させる。   In this state, as the other side painting process KR (see FIG. 4), the left and right one side (left side) painting robot 8 (La, Lb) is placed between the one side robot and the vehicle body side door DL (left side). The painting operation is performed on the assigned painting site including the painting site on the one side that is necessary for painting (for example, the left side door DR and the peripheral edge of the opening thereof) in a state where the opening operation space of the door) is secured.

また、これと併行して、左右他方側（右側）の塗装ロボット８（Ｒａ，Ｒｂ）を、それら他方側ロボットと自動車ボディとの離間間隔を小さくした状態で塗装する他方側要近位の塗装部位（例えば、ルーフ部の右半部など）を含む担当の塗装部位に対して塗装動作させる。   In parallel with this, the right and left other side (right side) painting robots 8 (Ra, Rb) are painted in a state in which the distance between the other side robot and the automobile body is reduced, and the other side necessary proximal painting is performed. The painting operation is performed on the assigned coating site including the site (for example, the right half of the roof).

（ヘ）上記他方寄り塗装工程ＫＲを終了すると、開閉手段により一方側サイドドアＤＬ（左側ドア）を閉じた上で自動車ボディＷを移動装置１１により他方寄り塗装位置Ｒｓ（右側）から中央ニュートラル位置に戻し、この塗装後の自動車ボディＷをブース内移送装置６により次段のブース搬送装置７に受け渡すことでブースから搬出して次の工程に送る。   (F) When the other side painting step KR is completed, the vehicle body W is moved from the other side painting position Rs (right side) to the central neutral position by the moving device 11 after the one side door DL (left side door) is closed by the opening / closing means. Then, the painted automobile body W is transferred from the booth by the transfer device 6 in the booth to the next-stage booth transport device 7 and sent to the next process.

図５は、上記（イ）〜（へ）の手順で行なう自動車ボディ塗装の具体的な動作タイムチャートの一例である。   FIG. 5 is an example of a specific operation time chart of the automobile body painting performed in the above procedures (a) to (f).

ブース構造について、各塗装ブース１のブース幅ｄ（左右ブース壁９Ｌ，９Ｒの壁間距離）は、左右一方側（左側）の塗装ロボット８（Ｌａ，Ｌｂ）のベース部８ａと旋回部８ｂとからなるロボット本体部のブース内方側部分と、一方寄り塗装位置Ｌｓに位置させた自動車ボディＷの一方側（左側）部分とが平面視で近接（ないしは接する又はラップ）し、また同様に、左右他方側（右側）の塗装ロボット８（Ｒａ，Ｒｂ）のベース部８ａと旋回部８ｂとからなるロボット本体部のブース内方側部分と、他方寄り塗装位置Ｒｓに位置させた自動車ボディＷの他方側（右側）部分とが平面視で近接（ないしは接する又はラップ）する寸法にしてあり、これにより、塗装ブース１の平面面積を極力小さくするようにしてある。   Regarding the booth structure, the booth width d (the distance between the left and right booth walls 9L, 9R) of each painting booth 1 is the same as the base portion 8a and the turning portion 8b of the painting robot 8 (La, Lb) on the left and right sides (left side). The booth inner side portion of the robot body portion and the one side (left side) portion of the automobile body W positioned at the one-side painting position Ls are close to each other (or touch or lap) in plan view, and similarly, The booth inner side part of the robot main body composed of the base portion 8a and the turning portion 8b of the left and right other side (right side) painting robot 8 (Ra, Rb), and the vehicle body W positioned at the other side painting position Rs. The size is such that the other side (right side) part is close (or touches or laps) in plan view, and thereby the plane area of the coating booth 1 is made as small as possible.

すなわち、前述の如く被塗物である自動車ボディＷを一方寄り塗装位置Ｌｓと他方寄り塗装位置Ｒｓとに横移動させて、一方側の塗装ロボット８（Ｌａ，Ｌｂ）及び他方側の塗装ロボット８（Ｒａ，Ｒｂ）の夫々を要遠位の塗装部位と要近位の塗装部位とに対し兼用化した状態で塗装動作させる塗装形態を採るとともに、上記の如く塗装ロボット本体部と自動車ボディＷとが平面視で近接（特に接する又はラップ）するブース構造にすることで、システム全体としての塗装ブース１の必要面積を従前に比べ大きく削減するようにしてある。   That is, as described above, the vehicle body W that is the object to be coated is moved laterally to the one-side painting position Ls and the other-side painting position Rs, and the one-side painting robot 8 (La, Lb) and the other-side painting robot 8 are moved. (Ra, Rb) are applied in a state in which each of (Ra, Rb) is used for both the distal and proximal coating sites, and the painting robot main body and the vehicle body W are used as described above. By making the booth structure close to each other (particularly in contact with or lapping) in plan view, the required area of the coating booth 1 as a whole system is greatly reduced as compared with the past.

〔別実施形態〕
次に本発明の別実施形態を列記する。 [Another embodiment]
Next, other embodiments of the present invention will be listed.

前述の実施形態では、被塗物設置部Ｓの両側夫々に各２基の塗装ロボット８を装備する例を示したが、被塗物設置部Ｓの両側夫々に装備する塗装ロボット８、即ち、一方側と塗装ロボット８と他方側の塗装ロボット８は、夫々、１基あるいは３基以上の複数基であってもよい。   In the above-described embodiment, an example in which two coating robots 8 are provided on both sides of the object installation unit S has been described. However, the painting robots 8 provided on both sides of the object installation unit S, that is, The one side, the painting robot 8 and the other side painting robot 8 may be one or a plurality of three or more.

また、それら一方側の塗装ロボット８と他方側の塗装ロボット８は前述実施形態の如く正対状態に配置するに限らず、正対位置から外れた位置に配置してもよく、場合によっては、一方側塗装ロボット８の装備数と他方側塗装ロボット８との装備数を異ならせてもよい。   Further, the painting robot 8 on the one side and the painting robot 8 on the other side are not limited to being placed in a face-to-face state as in the above-described embodiment, but may be placed at a position deviating from the face-to-face position. The number of equipment of the one side painting robot 8 may be different from the number of equipment of the other side painting robot 8.

前述の実施形態では、塗装ロボット８をブース壁９Ｌ，９Ｒに設置する例を示したが、これに限らず、塗装ロボット８を塗装ブース１の床部４あるいは天井部２などに設置する構成にしてもよい。   In the above-described embodiment, the example in which the painting robot 8 is installed on the booth walls 9L and 9R has been described. However, the present invention is not limited to this, and the painting robot 8 is installed on the floor 4 or the ceiling 2 of the painting booth 1 or the like. May be.

ブース内の被塗物設置部Ｓにおいて被塗物Ｗを一方寄り塗装位置Ｌｓと他方寄り塗装位置Ｒｓとに横移動させる移動手段１１には、種々の移動方式のものを採用することができる。   Various moving systems can be adopted as the moving means 11 for moving the object W laterally to the one-side painting position Ls and the other-side painting position Rs in the article installation unit S in the booth.

被塗物Ｗは自動車ボディに限られるものではなく、各種の機器や部品あるいはまた種々のケーシングや家具などであってもよい。   The article W is not limited to the automobile body, and may be various devices and parts, or various casings and furniture.

被塗物Ｗが自動車ボディである場合、そのドアやフードを開閉する開閉手段は簡易ロボット式のものなど、どのような構造のものであってもよい。   When the article W is an automobile body, the opening / closing means for opening and closing the door and the hood may have any structure such as a simple robot type.

本発明は各塗装工程用の複数の塗装ブースを連続的にあるいは独立的に施設する塗装システムに限らず、各塗装工程に兼用する単独の塗装ブースを施設した塗装システムにも適用することができる。   The present invention can be applied not only to a painting system in which a plurality of painting booths for each painting process are provided continuously or independently, but also to a painting system having a single painting booth also used for each painting process. .

塗装システムの平面図Top view of painting system 塗装ブースの平面図及び正面図Top view and front view of painting booth 一方寄り塗装工程の実施状態を示す平面図及び正面図A plan view and a front view showing an implementation state of the one-side painting process 他方寄り塗装工程の実施状態を示す平面図及び正面図The top view and front view which show the implementation state of the other side painting process 自動車ボディ塗装の動作タイムチャートOperation time chart of car body painting 従来例を示す平面図Plan view showing a conventional example 比較例を示す正面図Front view showing a comparative example

符号の説明Explanation of symbols

５ 塗装機
８ｃ ロボットアーム
８ 塗装ロボット
１ 塗装ブース
Ｓ 被塗物設置部
Ｗ 被塗物，自動車ボディ
１２ 制御手段
１１ 移動手段
Ｌａ，Ｌｂ 一方側塗装ロボット
Ｒａ，Ｒｂ 他方側塗装ロボット
Ｌｓ 一方寄り塗装位置
Ｒｓ 他方寄り塗装位置
９Ｌ，９Ｒ ブース壁
ＤＬ，ＤＲ ドア 5 coating machine 8c robot arm 8 painting robot 1 painting booth S coating object installation part W coating object, automobile body 12 control means 11 moving means La, Lb one side painting robot Ra, Rb other side painting robot Ls one side painting position Rs Other side painting position 9L, 9R Booth wall DL, DR Door

Claims (5)

塗装機を装備したロボットアームを備える塗装ロボットを塗装ブースの内部において被塗物設置部のブース幅方向における両側夫々に設置し、
これら塗装ロボットを所定の動作手順で動作させて被塗物を自動塗装する制御手段を設けた塗装システムであって、
前記被塗物設置部において被塗物をブース幅方向に移動させる移動手段を設け、
前記制御手段は、被塗物を前記移動手段により前記両側の塗装ロボットのうちの一方側の塗装ロボットに近づけて他方側の塗装ロボットから遠ざけた一方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる一方寄り塗装工程を実行し、
この一方寄り塗装工程の実行後、被塗物を前記移動手段により前記他方側の塗装ロボットに近づけて前記一方側の塗装ロボットから遠ざけた他方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる他方寄り塗装工程を実行する構成にしてある塗装システム。 A painting robot equipped with a robot arm equipped with a painting machine is installed on each side of the booth width direction of the object installation section inside the painting booth,
A painting system provided with a control means for automatically painting an object to be coated by operating these painting robots in a predetermined operation procedure,
A moving means for moving the object to be coated in the booth width direction in the object installation unit is provided.
In the state where the control means moves the object to be moved closer to the painting robot on one side of the painting robots on both sides and moved to the one-side painting position away from the painting robot on the other side by the moving means. Execute a one-side painting process that causes the painting robots on the side and the other side to perform painting operations on the object to be coated,
After the one-side painting step, the object to be coated is moved closer to the other-side painting robot by the moving means and moved to the other-side painting position away from the one-side painting robot. A painting system configured to execute the other side painting process for causing each painting robot on the other side to perform a painting operation on an object to be coated. 前記一方側の塗装ロボットは前記塗装ブースのブース幅方向における前記一方側のブース壁からブース内方に立脚する状態に設置し、前記他方側の塗装ロボットは前記塗装ブースのブース幅方向における前記他方側のブース壁からブース内方に立脚する状態に設置してある請求項１記載の塗装システム。   The one-side painting robot is installed so as to stand inward of the booth wall from the one-side booth wall in the booth width direction of the painting booth, and the other-side painting robot is the other side in the booth width direction of the painting booth. 2. The coating system according to claim 1, wherein the painting system is installed so as to stand from the side booth wall to the inside of the booth. 前記一方側及び他方側の塗装ロボットを被塗物の最高部位よりも高い位置に設置してある請求項１又は２記載の塗装システム。   The painting system according to claim 1 or 2, wherein the painting robot on the one side and the other side is installed at a position higher than the highest part of the article to be coated. 被塗物が自動車ボディであることに対し、この自動車ボディのドアを開閉する開閉手段を設け、
前記制御手段は、前記一方側及び他方側の塗装ロボットに対する制御動作、並びに、前記開閉手段に対する制御動作により、
前記一方寄り塗装工程では自動車ボディの前記一方側のドアを閉じるとともに前記他方側のドアを開いた状態で、前記一方側及び他方側の塗装ロボット夫々を自動車ボディの担当塗装部位に対して塗装動作させ、
かつ、前記他方寄り塗装工程では自動車ボディの前記他方側のドアを閉じるとともに前記一方側のドアを開いた状態で、前記一方側及び他方側の塗装ロボット夫々を自動車ボディの担当塗装部位に対して塗装動作させる構成にしてある請求項１〜３のいずれか１項に記載の塗装システム。 For the object to be coated being an automobile body, an opening / closing means for opening and closing the door of the automobile body is provided,
The control means includes a control operation for the one and the other side painting robots, and a control operation for the opening and closing means.
In the one-side painting process, the one-side and the other-side painting robots are painted on the assigned painting portion of the automobile body while the one-side door of the automobile body is closed and the other-side door is opened. Let
And in the said other side coating process, the said one side and the other side painting robot are each in the state which the one side and other side painting robots are in the state which closed the said other side door of the motor vehicle body, and opened the said one side door. The coating system according to claim 1, wherein the coating system is configured to perform a painting operation. 塗装機を装備したロボットアームを備える塗装ロボットを塗装ブースの内部において被塗物設置部のブース幅方向における両側夫々に設置し、これら塗装ロボットを所定の動作手順で動作させて被塗物を塗装する塗装システム運転方法であって、
前記被塗物設置部において被塗物をブース幅方向に移動させる移動手段を設けて、
被塗物を前記移動手段により前記両側の塗装ロボットのうちの一方側の塗装ロボットに近づけて他方側の塗装ロボットから遠ざけた一方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる一方寄り塗装工程を実施し、
この一方寄り塗装工程の実施後、被塗物を前記移動手段により前記他方側の塗装ロボットに近づけて前記一方側の塗装ロボットから遠ざけた他方寄り塗装位置に移動させた状態で、それら一方側及び他方側の塗装ロボット夫々を被塗物に対して塗装動作させる他方寄り塗装工程を実施する塗装システム運転方法。 A painting robot equipped with a robot arm equipped with a painting machine is installed inside the painting booth on both sides in the booth width direction of the painting object installation section, and these painting robots are operated according to a predetermined operation procedure to paint the painting object. A painting system operating method,
Provide a moving means for moving the object to be coated in the booth width direction in the object to be coated,
In the state where the object to be coated is moved to the one-side painting position away from the painting robot on the other side by moving the means closer to the painting robot on one side of the painting robots on both sides, Implement a one-sided painting process that causes each of the painting robots to perform painting operations on the workpiece.
After the one-side painting process, the object to be coated is moved closer to the other-side painting robot by the moving means and moved to the other-side painting position away from the one-side painting robot. A painting system operating method for carrying out the other side painting process for causing each painting robot on the other side to perform a painting operation on an object to be coated.
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JP2013006235A (en) * 2011-06-24 2013-01-10 Yaskawa Electric Corp Painting system
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JP2013006235A (en) * 2011-06-24 2013-01-10 Yaskawa Electric Corp Painting system
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EP3140043A1 (en) * 2014-05-07 2017-03-15 Dürr Systems AG Coating system for coating components, in particular for painting motor vehicle body components
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