JP4562802B2 - Automatic painting equipment - Google Patents

Automatic painting equipment Download PDF

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JP4562802B2
JP4562802B2 JP2009526426A JP2009526426A JP4562802B2 JP 4562802 B2 JP4562802 B2 JP 4562802B2 JP 2009526426 A JP2009526426 A JP 2009526426A JP 2009526426 A JP2009526426 A JP 2009526426A JP 4562802 B2 JP4562802 B2 JP 4562802B2
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spray
coating
moving
movement
conveying
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JPWO2009133606A1 (en
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繁 中島
邦明 飯泉
信久 前田
泉 中島
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ARIAKE STEEL CENTER CO., LTD.
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ARIAKE STEEL CENTER CO., LTD.
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target

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  • Spray Control Apparatus (AREA)

Description

本発明は、例えば船舶の建材に用いられる鋼材等の塗装対象物を一ライン方向に搬送しながら均質に塗装するための自動塗装装置に関するものである。   The present invention relates to an automatic coating apparatus for uniformly coating an object to be coated such as a steel material used for ship building materials in one line direction.

従来、自動塗装装置としては下記特許文献１に記載されるものが知られている。これは、搬送される塗装対象物の形状を自動的に認識しつつその形状に合わせてスプレーガンをオン・オフさせることにより、塗装を自動化するものであって、塗装対象物を搬送する搬送装置、多数個のセンサが搬送装置を横切る横方向に並べられた検知装置、スプレーガンを有する塗装装置、検知装置からの情報を処理してスプレーガンをオン・オフする塗装信号を発生する制御装置を備えるものである。
特開平６−４７３２３号公報 Conventionally, what is described in the following patent document 1 is known as an automatic coating apparatus. This is a device that automatically recognizes the shape of the object to be transported and automatically turns the spray gun on and off according to the shape of the object to be transported. , A detection device in which a large number of sensors are arranged in a transverse direction across the conveying device, a coating device having a spray gun, and a control device that processes information from the detection device and generates a coating signal for turning the spray gun on and off. It is to be prepared.
JP-A-6-47323

このような自動塗装装置では、塗装対象物を搬送装置の搬送方向に移動させながら、この搬送方向と直交する方向にスプレーガンを往復移動させて塗装を行うので、スプレーガンからの塗料の吐出量が一定であるとすると搬送速度とスプレーガンの移動速度によって塗装膜厚が設定されることになる。この際、搬送装置が塗装作業中に故障等で停止するか異常作動しているにも拘わらずスプレーガンの移動とスプレーガンからの塗料の吐出が継続されていると、無用な重ね塗りや不均一な塗装が行われて塗装不良になる問題がある。   In such an automatic coating apparatus, the spray gun is reciprocated in a direction perpendicular to the conveying direction while moving the object to be coated in the conveying direction of the conveying apparatus, so that the amount of paint discharged from the spray gun is reduced. Is constant, the coating film thickness is set according to the conveying speed and the moving speed of the spray gun. At this time, if the transport device is stopped due to a failure during painting work or is operating abnormally even if the spray gun continues to move and the paint is discharged from the spray gun, unnecessary overcoating or inefficiency will occur. There is a problem that uniform coating is performed and the coating is poor.

これに対処するためには、搬送装置が異常作動（停止も含む）した時点でスプレーガンをオフにすると共にスプレーガンの移動を停止することが考えられる。この場合、搬送装置の再始動時に、同時にスプレーガンのオンとスプレーの移動開始を再開させると、搬送装置の搬送速度とスプレーガンの移動速度が一定速度になるまでの加速期間では塗装膜厚が設定膜厚以上に厚くなり、また、スプレーガンをオンしてから塗料が塗装対象物に到達するまでの時間差によって塗装の途切れが生じることがあり、継続した均一な塗装膜厚が得られない問題が生じる。   In order to cope with this, it is conceivable that the spray gun is turned off and the movement of the spray gun is stopped at the time when the conveying device is abnormally operated (including stopping). In this case, if the spray gun is turned on and the spray movement is restarted at the same time when the transport device is restarted, the coating film thickness is reduced during the acceleration period until the transport speed of the transport device and the spray gun move speed become constant. The film thickness is thicker than the set film thickness, and the coating may be interrupted due to the time difference from when the spray gun is turned on until the paint reaches the object to be painted. Occurs.

このため現状では、塗装作業中に搬送装置が停止すると、後工程で塗装の手直しが必要になって、作業効率が著しく低下することになる。また、搬送装置の停止ができる限り塗装作業中に当たらないように塗装対象物を流す間隔を広げて塗装作業を行うことが行われており、これによって、高い作業効率で自動塗装を行うことができない問題があった。   For this reason, at present, if the conveying device stops during the painting operation, it is necessary to rework the coating in a later process, and the working efficiency is significantly reduced. In addition, it is possible to carry out the painting work by widening the flow interval of the object to be painted so that the transport device is not stopped during the painting work as much as possible. This enables automatic painting with high work efficiency. There was a problem that could not be done.

本発明は、このような問題に対処することを課題の一例とするものである。すなわち、自動塗装において、搬送装置が塗装作業中に異常作動した場合に直ちに塗装を停止させ、搬送装置の正常な再始動によって均一な塗装が継続できること、これによって高い作業効率で自動塗装を行うことができることが本発明の目的である。   This invention makes it an example of a subject to cope with such a problem. That is, in automatic painting, if the transport device malfunctions during painting work, the coating can be stopped immediately, and uniform coating can be continued by a normal restart of the transport device, which enables automatic painting with high work efficiency. It is an object of the present invention to be able to

このような目的を達成するために、本発明による自動塗装値は、以下の独立請求項に係る構成を少なくとも具備するものである。
塗装対象物を一つのライン方向に向けて設定搬送速度で搬送する搬送手段と、前記搬送手段上の塗装対象物に対して、前記ライン方向に沿った設定パターン幅で塗料をスプレーするスプレー手段と、該スプレー手段を前記ライン方向と交差する方向に設定移動速度で往復移動させるスプレー移動手段と、前記搬送手段に対して、前記スプレー移動手段の設置位置から離れた前記ライン方向上流位置に設置され、前記搬送手段によって搬送される塗装対象物の位置を検知する塗装対象物検知手段と、前記搬送手段の作動状態を検知する搬送状態検知手段と、該塗装対象物検知手段及び前記搬送状態検知手段の検知出力に基づいて、少なくとも前記スプレー手段と前記スプレー移動手段の作動を制御する制御手段とを備え、前記制御手段は、前記搬送手段の異常作動を検知後直ちに前記スプレー手段と前記スプレー移動手段を停止させ、該異常作動の検知前に前記スプレー手段が塗装対象物に対して塗装作業中の場合は、前記スプレー移動手段が設定移動速度になるための加速に要する距離だけ戻った位置に前記スプレー手段を待機させ、前記搬送手段の停止後の再始動時に前記スプレー移動手段を作動させて、前記スプレー移動手段が設定移動速度に到達した後に前記スプレー手段の作動を再開させることを特徴とする。In order to achieve such an object, the automatic coating value according to the present invention comprises at least the configuration according to the following independent claims.
Conveying means for conveying a coating object in one line direction at a set conveying speed; spraying means for spraying paint with a set pattern width along the line direction on the coating object on the conveying means; A spray moving means for reciprocating the spray means in a direction intersecting the line direction at a set moving speed; and a position upstream of the conveying direction from the installation position of the spray moving means with respect to the conveying means. A coating object detection means for detecting the position of the coating object conveyed by the conveyance means, a conveyance state detection means for detecting an operating state of the conveyance means, the coating object detection means, and the conveyance state detection means. On the basis of the detected output, and at least the control means for controlling the operation of the spray moving means, the control means, Immediately after detecting the abnormal operation of the feeding means, the spray means and the spray moving means are stopped, and when the spray means is performing a painting operation on the object to be coated before the abnormal operation is detected, the spray moving means is The spraying means is set to a set moving speed by causing the spraying means to stand by at a position returned by a distance required for acceleration to reach a set moving speed, and to operate the spray moving means when restarting after stopping the conveying means. The operation of the spray means is resumed after reaching the point.

このような特徴を有する本発明は、自動塗装において、搬送装置が塗装作業中に異常作動したとしても、直ちに塗装を停止させ、搬送装置の正常な再始動によって均一な塗装を継続させることができ、これによって高い作業効率で自動塗装を行うことができる。   In the present invention having such characteristics, even in the case of automatic painting, even if the transport device malfunctions during the painting operation, it is possible to immediately stop the coating and continue uniform coating by normal restart of the transport device. Thus, automatic painting can be performed with high work efficiency.

本発明の一実施形態に係る自動塗装装置の基本構成を説明する説明図である。It is explanatory drawing explaining the basic composition of the automatic coating apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る自動塗装装置における制御手段の機能構成を示したブロック図である。It is the block diagram which showed the function structure of the control means in the automatic coating apparatus which concerns on one Embodiment of this invention. 本発明の実施形態に係る自動塗装装置を用いた均質塗装を説明するための説明図である。It is explanatory drawing for demonstrating the homogeneous coating using the automatic coating apparatus which concerns on embodiment of this invention. 本発明の一実施形態に係る自動塗装装置において、搬送手段の異常作動が検知された場合を含む動作制御フローを示す説明図である。In the automatic coating apparatus which concerns on one Embodiment of this invention, it is explanatory drawing which shows the operation | movement control flow including the case where the abnormal operation of a conveyance means is detected. 本発明の実施形態に係る自動塗装装置における制御手段の他の動作例を説明する説明図である。It is explanatory drawing explaining the other operation example of the control means in the automatic coating apparatus which concerns on embodiment of this invention. 図５の動作例で搬送手段の異常作動が検知された場合を含む動作制御フローを示す説明図である。It is explanatory drawing which shows the operation control flow including the case where the abnormal operation of a conveyance means is detected in the operation example of FIG.

以下、本発明の実施形態を図面に基づいて説明する。図１は本発明の一実施形態に係る自動塗装装置の基本構成を説明する説明図である。本発明の実施形態に係る自動塗装装置は、搬送手段１０、スプレー手段２０、スプレー移動手段３０、塗装対象物検知手段４０、搬送状態検知手段４４、制御手段５０を少なくとも備えるものである。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory view illustrating the basic configuration of an automatic coating apparatus according to an embodiment of the present invention. The automatic coating apparatus according to the embodiment of the present invention includes at least a transport unit 10, a spray unit 20, a spray moving unit 30, a coating object detection unit 40, a transport state detection unit 44, and a control unit 50.

搬送手段１０は、例えば、搬送ローラ１１，ローラ駆動連結チェーン１２，ローラコンベヤ駆動モータ１３を備えるローラコンベヤなどによって構成することができ、塗装対象物Ｗを一つのライン方向に向けて設定された搬送速度ｘで搬送するものである。搬送速度ｘはコンベヤ駆動モータ１３の回転速度によって設定することができる。コンベヤ駆動モータ１３としては、インバータモータを用い、周波数制御装置を介して駆動することができる。   The conveyance means 10 can be constituted by, for example, a roller conveyor provided with a conveyance roller 11, a roller drive connecting chain 12, and a roller conveyor drive motor 13, and the conveyance object W is set in one line direction. It is transported at a speed x. The conveyance speed x can be set by the rotation speed of the conveyor drive motor 13. As the conveyor drive motor 13, an inverter motor can be used and driven via a frequency control device.

スプレー手段２０は、例えば、スプレーチップ２１Ａを交換可能に装備するスプレーガン２１、塗料及びエア供給を行うホース２２、塗料噴出手段２３などを備えるもので、搬送手段１０上の塗装対象物Ｗに対して、ライン方向に沿った設定パターン幅Ｐで塗料をスプレーするものである。塗料噴出手段２３としては、塗料タンク，エアレスポンプ，電磁弁，高圧コンプレッサなどの付帯設備と塗料の噴出を制御する制御機器を具備している。設定パターン幅Ｐは、選択された塗料粘性特性や塗装圧力等に対して、スプレーガン２１のチップ番手及びスプレーガン２１と塗装対象物Ｗにおける被塗面との距離によって設定することができる。塗料の噴出は、電磁弁で高圧エアを入り切りして、エアレスポンプで圧送された塗料を噴霧する。   The spray unit 20 includes, for example, a spray gun 21 equipped with a replaceable spray tip 21A, a hose 22 for supplying paint and air, a paint jetting unit 23, and the like. Then, the paint is sprayed with the set pattern width P along the line direction. The paint jetting means 23 includes ancillary equipment such as a paint tank, an airless pump, a solenoid valve, a high-pressure compressor, and a control device for controlling the jet of paint. The setting pattern width P can be set with respect to the selected paint viscosity characteristic, coating pressure, and the like, depending on the tip count of the spray gun 21 and the distance between the spray gun 21 and the surface to be coated in the coating object W. The paint is sprayed by turning high-pressure air on and off with an electromagnetic valve and spraying the paint sent by an airless pump.

スプレー移動手段３０は、例えば、スプレー移動チェーン装置３１，スプレー移動モータ３２などを備えるもので、搬送手段１０のライン方向と交差する方向（例えば直交方向）に、設定された移動速度ｙでスプレー手段（スプレーガン２１）を往復移動させるものである。移動速度ｙはスプレー移動モータ３２の回転速度によって設定することができ、また、スプレー移動モータ３２の回転位置制御によって、スプレーガン２１の位置（移動開始位置及び移動停止位置）を制御することができる。スプレー移動モータ３２としては、サーボモータを採用することができ、これによると正確で高速なスプレーガン２１の位置決め制御が可能になる。   The spray moving means 30 includes, for example, a spray moving chain device 31, a spray moving motor 32, and the like, and spray means at a set moving speed y in a direction (for example, an orthogonal direction) intersecting the line direction of the conveying means 10. (Spray gun 21) is reciprocated. The movement speed y can be set by the rotation speed of the spray movement motor 32, and the position (movement start position and movement stop position) of the spray gun 21 can be controlled by the rotation position control of the spray movement motor 32. . As the spray movement motor 32, a servo motor can be adopted, and according to this, accurate and high-speed positioning control of the spray gun 21 can be performed.

塗装対象物検知手段４０は、搬送手段１０に対して、スプレー移動手段３０の設置位置から離れたライン方向上流位置に設置され、例えば、ライン方向と交差する方向（例えば直交方向）に所定間隔毎に複数個のセンサ４１を配置して、搬送手段１０によって搬送される塗装対象物Ｗの位置と必要に応じて二次元形状を検知するものである。センサ４１としては、鋼材を塗装対象物Ｗとする場合には近接センサを用いる。実施形態の一つとして、センサ４１の支持部をセンサ４１の配列方向に沿ってセンサ間隔内で往復動させるセンサ駆動装置４２、往復動時のセンサ４１の位置を検出するセンサ位置検出装置４３を付加することができる。センサ駆動装置４２としてはエアシリンダなどを用いることができ、センサ位置検出装置４３としてはセンサ４１の支持部に設けた車輪部分に組み込んだエンコーダなどで形成することができる。これによると、エアシリンダで移動した距離をエンコーダからの信号で算出し、塗装対象物Ｗを検知したセンサ４１の現在位置を割り出すことができる。   The coating object detection unit 40 is installed at an upstream position in the line direction away from the installation position of the spray moving unit 30 with respect to the transport unit 10, for example, at a predetermined interval in a direction intersecting the line direction (for example, an orthogonal direction). A plurality of sensors 41 are arranged on the surface to detect the position of the coating object W conveyed by the conveying means 10 and the two-dimensional shape as necessary. As the sensor 41, a proximity sensor is used when the steel material is the coating object W. As one embodiment, a sensor driving device 42 that reciprocates the support portion of the sensor 41 along the arrangement direction of the sensors 41 within the sensor interval, and a sensor position detection device 43 that detects the position of the sensor 41 during the reciprocating motion. Can be added. An air cylinder or the like can be used as the sensor driving device 42, and the sensor position detection device 43 can be formed by an encoder or the like incorporated in a wheel portion provided on a support portion of the sensor 41. According to this, the distance moved by the air cylinder can be calculated from the signal from the encoder, and the current position of the sensor 41 that has detected the coating object W can be determined.

この塗装対象物検知手段４０は、センサ４１によって、センサ４１を横切って搬送される塗装対象物Ｗのライン方向と直交する位置を搬送の進行に合わせて出力することができる。また、搬送ローラ１１の回転検出などによる搬送手段１０の動作検出を併せて行うことで、センサ４１を横切った後のライン方向での塗装対象物Ｗの位置を出力することができる。これによって、塗装対象物検知手段４０は、塗装対象物Ｗの二次元形状とライン上の位置を検知することができる。   The coating object detection means 40 can output a position orthogonal to the line direction of the coating object W conveyed across the sensor 41 by the sensor 41 in accordance with the progress of the conveyance. Moreover, the position of the coating object W in the line direction after crossing the sensor 41 can be output by performing the operation detection of the conveying unit 10 by detecting the rotation of the conveying roller 11 together. Thereby, the coating object detection means 40 can detect the two-dimensional shape of the coating object W and the position on the line.

搬送状態検知手段４４は、搬送手段１０の作動状態を検知するものであって、例えば、搬送ローラ１１，ローラ駆動連結チェーン１２，又はローラコンベヤ駆動モータ１３に設けられたエンコーダによるエンコーダパルスを検出して制御手段に送信し、搬送手段１０の作動・停止或いは作動時の搬送速度を検知することができるもの等を採用することができる。   The conveyance state detection unit 44 detects an operation state of the conveyance unit 10 and detects, for example, an encoder pulse by an encoder provided in the conveyance roller 11, the roller drive connection chain 12, or the roller conveyor drive motor 13. It is possible to employ a device that can transmit to the control means and detect the operation speed of the conveying means 10 or the conveying speed at the time of operation.

制御手段５０は、塗装対象物検知手段４０及び搬送状態検知手段４４の検知出力に基づいて、少なくともスプレー手段２０とスプレー移動手段３０の作動を制御するものである。必要に応じて、搬送手段１０の作動及びセンサ駆動手段４２の作動を制御することができ、センサ位置検出装置４３の検出出力に基づいて塗装対象物検知手段４０の検知出力の精度を向上させることもできる。   The control means 50 controls at least the operation of the spray means 20 and the spray movement means 30 based on the detection outputs of the coating object detection means 40 and the conveyance state detection means 44. The operation of the conveying means 10 and the operation of the sensor driving means 42 can be controlled as necessary, and the accuracy of the detection output of the coating object detection means 40 is improved based on the detection output of the sensor position detection device 43. You can also.

より具体的には、制御手段５０は、センサ位置検知手段４３を含んだ塗装対象物検知手段４０及び搬送状態検知手段４４からの検知信号が入力され、塗料噴出手段２３，スプレー移動モータ３２，コンベヤ駆動モータ１３の作動制御信号を出力する。これによって、塗装対象物Ｗの種類に応じて搬送速度ｘを任意に設定・制御することができ、センサ位置検知手段４３を含む塗装対象物検知手段４０によって検知された塗装対象物Ｗの二次元形状と位置によって、スプレー移動手段２１の移動幅，移動速度ｙ，移動開始又は停止タイミング及びスプレー手段２０のスプレー開始又は停止タイミングなどを任意に設定・制御することができる。   More specifically, the control means 50 receives detection signals from the coating object detection means 40 and the conveyance state detection means 44 including the sensor position detection means 43, and the paint ejection means 23, the spray movement motor 32, the conveyor An operation control signal for the drive motor 13 is output. Thereby, the conveyance speed x can be arbitrarily set and controlled according to the type of the painting object W, and the two-dimensional of the painting object W detected by the painting object detection means 40 including the sensor position detection means 43. Depending on the shape and position, the movement width of the spray moving means 21, the moving speed y, the movement start or stop timing, the spray start or stop timing of the spray means 20, and the like can be arbitrarily set and controlled.

本発明の実施形態としては、制御手段５０は、設定された搬送速度ｘで搬送される塗装対象物Ｗの位置の検知結果に基づいて、スプレー手段２０におけるスプレー開始・停止のタイミング制御、スプレー移動手段３０における移動開始・停止のタイミング及び位置の制御、或いは移動速度ｙの設定変更を主要な機能とする。   As an embodiment of the present invention, the control means 50 controls the spray start / stop timing in the spray means 20 based on the detection result of the position of the coating object W conveyed at the set conveyance speed x, spray movement. The main function is to control movement start / stop timing and position in the means 30 or to change the setting of the movement speed y.

制御手段５０の一実施形態としては、搬送手段１０の異常作動を検知後直ちにスプレー手段２０とスプレー移動手段３０を停止させ、該異常作動の検知前にスプレー手段２０が塗装対象物Ｗに対して塗装作業中の場合は、スプレー移動手段３０が設定移動速度になるための加速に要する距離だけ戻った位置にスプレー手段２０を待機させ、搬送手段１０の正常な再始動時にスプレー移動手段３０を作動させて、スプレー移動手段３０が設定移動速度に到達した後にスプレー手段２０の作動を再開させる。   As one embodiment of the control means 50, the spray means 20 and the spray moving means 30 are stopped immediately after detecting the abnormal operation of the transport means 10, and the spray means 20 is applied to the coating object W before the detection of the abnormal operation. During the painting operation, the spray means 20 is put on standby at a position returned by the distance required for acceleration for the spray movement means 30 to reach the set movement speed, and the spray movement means 30 is activated when the conveying means 10 is normally restarted. Thus, after the spray moving means 30 reaches the set moving speed, the operation of the spray means 20 is resumed.

また、制御手段５０は、スプレー移動手段３０の設定移動速度と搬送手段１０の設定搬送速度とスプレー手段２０の設定パターン幅とによって決まる余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するための往復移動距離で、スプレー移動手段の移動幅を設定する。   Further, the control means 50 is for executing a homogeneous coating with no over-coating and no unrecognized coating determined by the set moving speed of the spray moving means 30, the set conveying speed of the conveying means 10 and the set pattern width of the spray means 20. The moving range of the spray moving means is set by the reciprocating distance.

或いは制御手段５０は、塗装対象物検知手段４０で検知された塗装対象物Ｗの幅に対応したスプレー移動手段３０の移動幅を設定すると共に、余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するようにスプレー手段２０及びスプレー移動手段３０の作動タイミングを制御する。   Alternatively, the control means 50 sets the movement width of the spray movement means 30 corresponding to the width of the painting object W detected by the painting object detection means 40, and executes homogeneous coating without excessive overcoating and without any remaining paint. Thus, the operation timing of the spray means 20 and the spray moving means 30 is controlled.

図２は、制御手段５０がこのような制御を行うための機能構成を示したブロック図である。制御手段５０は、搬送手段１０の動作状態を認識する搬送動作認識手段５１、搬送手段１０が停止する緊急時にスプレー手段２０とスプレー移動手段３０を停止させる緊急時停止手段５２、塗装対象物Ｗに対して塗装が行われている作業中であるか否かを確認する塗装作業中確認手段５３、スプレー移動手段３０の移動開始位置を設定する移動開始位置設定手段５４、スプレー移動手段３０の移動，スプレー手段２０の作動，搬送手段１０の再始動のタイミングを設定する作動タイミング設定手段５５（移動タイミング設定手段５５Ａ，スプレータイミング設定手段５５Ｂ，搬送再始動タイミング設定手段５５Ｃ）を有する。   FIG. 2 is a block diagram showing a functional configuration for the control means 50 to perform such control. The control unit 50 includes a transport operation recognition unit 51 that recognizes the operation state of the transport unit 10, an emergency stop unit 52 that stops the spray unit 20 and the spray moving unit 30 in an emergency when the transport unit 10 stops, and a coating object W. A painting operation confirmation means 53 for confirming whether or not painting is being performed, a movement start position setting means 54 for setting a movement start position of the spray movement means 30, and a movement of the spray movement means 30. There is an operation timing setting means 55 (movement timing setting means 55A, spray timing setting means 55B, conveyance restart timing setting means 55C) for setting the operation timing of the spray means 20 and the restart timing of the conveyance means 10.

また、制御手段５０は、搬送手段１０の搬送速度ｘ，スプレー移動手段３０の移動速度ｙの設定を行うと共にスプレー手段２０の設定パターン幅Ｐの変更情報が入力され、設定膜厚での均質塗装を行う条件を設定する塗装条件設定手段５６、塗装対象物Ｗの二次元形状と位置を認識する塗装対象物認識手段５７、スプレー移動手段３０の移動開始位置と移動停止位置によって移動幅を設定する移動条件設定手段５８を有する。   Further, the control unit 50 sets the conveyance speed x of the conveyance unit 10 and the movement speed y of the spray moving unit 30 and receives the change information of the set pattern width P of the spray unit 20 so that the uniform coating with the set film thickness is performed. The movement width is set according to the movement start position and movement stop position of the spray movement means 30, the painting condition setting means 56 for setting the conditions for performing the painting, the painting object recognition means 57 for recognizing the two-dimensional shape and position of the painting object W. It has a movement condition setting means 58.

搬送動作認識手段５１は、搬送状態検知手段４４からの検知信号に基づいて、搬送手段１０の正常搬送動作，停止，或いは異常動作の認識を行う機能である。例えば、搬送状態検知手段４４から出力されるエンコーダパルスによって設定された搬送速度で定速に動作している状態が認識された場合に正常搬送動作であると認識し、パルス出力が得られなくなった状態を停止状態であると認識し、非定速に動作している状態が認識された場合に異常動作と認識する。搬送状態検知手段４４からのエンコーダパルスによって搬送速度の実測が可能になり、これによって搬送速度ｘのフィードバック制御が可能になる。   The transport operation recognition unit 51 has a function of recognizing normal transport operation, stop, or abnormal operation of the transport unit 10 based on a detection signal from the transport state detection unit 44. For example, when a state of operating at a constant speed at the transport speed set by the encoder pulse output from the transport state detection unit 44 is recognized, it is recognized as a normal transport operation, and no pulse output can be obtained. When the state is recognized as a stopped state and a state operating at a non-constant speed is recognized, it is recognized as an abnormal operation. The conveyance speed can be actually measured by the encoder pulse from the conveyance state detection means 44, and thereby the feedback control of the conveyance speed x becomes possible.

緊急時停止手段５２は、搬送動作認識手段５１で搬送手段１０の停止が確認された場合に直ちにスプレー手段２０とスプレー移動手段３０の作動を停止する機能である。スプレー手段２０は液だれ等を生じないためのシャッタ手段を具備するものが好ましい、緊急時停止手段５２からの指令で直ちにこのシャッタ手段を閉止することで不良成膜の発生を防ぐことができる。スプレー移動手段３０はスプレー移動モータ３２によって作動しているので、緊急時停止手段５２からの指令で直ちにスプレー移動モータ３２を停止させ、例えばパルスモータからなるスプレー移動モータ３２のパルカウントによって停止位置を認識する。   The emergency stop means 52 is a function that immediately stops the operation of the spray means 20 and the spray moving means 30 when the conveyance operation recognition means 51 confirms that the conveyance means 10 is stopped. The spray means 20 is preferably provided with a shutter means for preventing dripping or the like. The shutter means is immediately closed by a command from the emergency stop means 52, whereby the occurrence of defective film formation can be prevented. Since the spray moving means 30 is operated by the spray moving motor 32, the spray moving motor 32 is immediately stopped by a command from the emergency stop means 52, and the stop position is set by the pal count of the spray moving motor 32 composed of a pulse motor, for example. recognize.

塗装作業中確認手段５３は、例えば、搬送手段１０で搬送される塗装対象物Ｗがスプレー手段２０の設定パターン幅Ｐ内に存在する状態を検知して塗装作業中であることを確認する。更に詳しくは、塗装対象物Ｗがスプレー手段２０の設定パターン幅Ｐ内に存在する場合でスプレー移動手段３０が作動している状態（スプレー移動手段３０の待機状態でない状態）であることに基づいて塗装作業中であることを確認する。   For example, the in-painting confirmation means 53 detects that the painting object W transported by the transportation means 10 is present within the set pattern width P of the spray means 20 and confirms that the painting work is in progress. More specifically, based on the state in which the spray moving means 30 is operating when the coating object W is present within the set pattern width P of the spray means 20 (the spray moving means 30 is not in a standby state). Make sure that painting is in progress.

移動開始位置設定手段５４は、スプレー移動手段３０の移動開始位置を塗装対象物Ｗの位置と幅に応じて設定すると共に、緊急停止手段５２からの指令でスプレー移動手段３０の作動を停止した場合の再移動位置を設定する。この場合には、スプレー移動手段３０が設定移動速度になるための加速に要する距離だけ戻った位置にスプレー手段２０を待機させる。   The movement start position setting means 54 sets the movement start position of the spray movement means 30 according to the position and width of the coating object W, and also stops the operation of the spray movement means 30 in response to a command from the emergency stop means 52 Set the re-moving position of. In this case, the spray means 20 is put on standby at a position returned by a distance required for acceleration for the spray movement means 30 to reach the set movement speed.

動作タイミング設定手段５５は、スプレー移動手段３０の移動開始タイミングを設定する移動タイミング設定手段５５Ａ、スプレー手段２０のオンタイミングを設定するスプレータイミング設定手段５５Ｂ、搬送手段１０が停止した場合に再始動させるタイミングを設定する搬送再始動タイミング設定手段５５Ｃからなり、搬送手段１０が停止したことによりスプレー手段２０とスプレー移動手段３０を停止させた後の再始動時に、搬送手段１０とスプレー移動手段３０とスプレー手段２０の作動タイミングを適正に設定する。例えば、スプレー移動手段３０の停止後にスプレー移動手段３０が設定移動速度になるための加速に要する距離だけ戻った位置にスプレー手段２０を待機させた状態から、先ずスプレー移動手段３０を作動させ、スプレー移動手段３０が加速されて設定移動速度に至り停止箇所を通過時点で搬送手段１０を作動させると共にスプレー手段２０を作動させる。   The operation timing setting means 55 is restarted when the movement timing setting means 55A for setting the movement start timing of the spray movement means 30, the spray timing setting means 55B for setting the ON timing of the spray means 20, and the conveying means 10 are stopped. Conveyance restart timing setting means 55C for setting the timing, and at the time of restart after stopping the spray means 20 and the spray moving means 30 due to the stop of the transport means 10, the transport means 10, the spray moving means 30 and the spray. The operation timing of the means 20 is set appropriately. For example, after the spray moving means 30 is stopped, the spray moving means 30 is first actuated from a state where the spray moving means 30 waits at a position where the spray moving means 30 has returned by a distance required for acceleration to reach the set moving speed. When the moving means 30 is accelerated and reaches a set moving speed, the conveying means 10 is activated and the spray means 20 is activated when passing through the stop point.

搬送手段１０の加速を考慮する場合には、搬送手段１０の始動再開時に一旦搬送手段１０が設定搬送速度になるための加速に要する距離だけ戻した後、スプレー移動手段３０が加速されて設定移動速度に至り停止箇所を通過する前に搬送手段１０を作動させる。すなわち、スプレー移動手段３０が設定移動速度になる時点と搬送手段１０が設定搬送速度になる時点とスプレー手段２０の吐出塗料が塗装対象物Ｗに到達する時点を一致させ、その一致した時点で停止箇所を通過するように動作タイミングを設定する。   When considering the acceleration of the conveying means 10, after returning the distance required for the acceleration for the conveying means 10 to reach the set conveying speed once the conveying means 10 is restarted, the spray moving means 30 is accelerated to move the setting. The conveying means 10 is actuated before reaching the speed and passing through the stop. In other words, the time when the spray moving means 30 reaches the set moving speed, the time when the conveying means 10 reaches the set conveying speed, and the time when the discharge paint of the spray means 20 reaches the coating object W are matched, and the time is stopped at the coincidence. Set the operation timing to pass through the location.

図３は、本発明の実施形態に係る自動塗装装置を用いた均質塗装を説明するための説明図である。自動塗装装置で、塗り重ねむらの無い均質塗装を行おうとすると、搬送手段１０の搬送速度ｘとスプレー移動手段３０の移動速度ｙとスプレー手段２０のパターン幅Ｐとの間には一定の関係が必要になる。図３は、塗装対象物を搬送手段１０で搬送しつつ、ライン方向に沿ったパターン幅Ｐを有するスプレー手段２０でライン方向と交差する方向に２往復半移動しながらスプレー塗装する場合の塗装パターンを示したものである。同図（ａ）は往復時の両方でスプレー塗装して２回塗りを行う場合を示しており、同図（ｂ）は往復時の片道のみでスプレー塗装して１回塗りを行う場合を示している。   FIG. 3 is an explanatory diagram for explaining homogeneous coating using the automatic coating apparatus according to the embodiment of the present invention. If uniform coating without uneven coating is to be performed with an automatic coating apparatus, there is a certain relationship among the transport speed x of the transport means 10, the travel speed y of the spray moving means 30, and the pattern width P of the spray means 20. I need it. FIG. 3 shows a coating pattern in which a coating object is transported by the transporting means 10 and sprayed while being moved twice and a half in the direction intersecting the line direction by the spraying means 20 having a pattern width P along the line direction. Is shown. The figure (a) shows the case where spray coating is performed twice during both reciprocations, and the figure (b) shows the case where spray coating is performed only once in one way during reciprocation. ing.

ここで、同図（ａ），（ｂ）に示すように、余剰重ね塗りが無く且つ塗り残しが無い均質塗装を実行するためには、スプレー移動手段３０の一往復の移動距離をＬとすると、下記式（１）の関係が必要になる。

Figure 0004562802
Here, as shown in FIGS. 4A and 4B, in order to perform uniform coating without excessive overcoating and without unpainted coating, the one-way travel distance of the spray moving means 30 is L. The relationship of the following formula (1) is required.
Figure 0004562802

この関係を満足していれば、同図（ａ）に示す２重斜線の範囲Ｓ１で均質な２回塗りを行うことができ、同図（ｂ）の斜線の範囲Ｓ２で均質な１回塗りを行うことができる。この式（１）の関係が崩れた場合、例えば、Ｌ，Ｐを変更することなく搬送速度ｘと往復移動速度ｙの同調が崩れ、ｙ＞Ｌ・ｘ／Ｐとなった場合には、同図（ｃ）に示すように、２回塗りに対しての余剰重ね塗り（塗りむら）箇所Ｓ３（３回塗り箇所），Ｓ４（４回塗り箇所）が生じることになる。搬送速度ｘは塗装作業の作業速度に影響するパラメータであり、その搬送速度ｘと往復移動速度ｙによって塗装膜厚が決まることになる。また、スプレーパターン幅Ｐは、塗料粘性特性や塗装圧力等を考慮して、スプレーガンのチップ番手及びガンと被塗面との距離によって設定される。このように、塗装条件によって搬送速度ｘ，移動速度ｙ，スプレーパターン幅Ｐが設定された場合には、前述した塗りむらのない均質塗装を行うためには、スプレー移動手段３０の一往復の移動距離Ｌは自ずと決定されることになる。   If this relationship is satisfied, a uniform double coating can be performed within the double slanted range S1 shown in FIG. 5A, and a uniform single coating can be performed within the slanted range S2 in FIG. It can be performed. When the relationship of the formula (1) is broken, for example, when the synchronization of the conveyance speed x and the reciprocating movement speed y is broken without changing L and P, and y> L · x / P, As shown in FIG. 3C, excessive overcoating (coating unevenness) locations S3 (three times application location) and S4 (four times application location) for the second application are generated. The conveyance speed x is a parameter that affects the work speed of the painting operation, and the coating film thickness is determined by the conveyance speed x and the reciprocating movement speed y. Further, the spray pattern width P is set by the tip count of the spray gun and the distance between the gun and the surface to be coated in consideration of the paint viscosity characteristics, the coating pressure, and the like. As described above, when the conveyance speed x, the movement speed y, and the spray pattern width P are set according to the coating conditions, in order to perform the above-described uniform coating without uneven coating, the spray moving means 30 moves once and again. The distance L is naturally determined.

図４は、図３（ａ）又は（ｂ）に示した均質塗装を正常作動時に行いながら、搬送手段１０の異常作動が検知された場合を含む動作制御フローを示す説明図である。装置の始動或いは一回の塗装作業が終わった後に動作制御フローがスタートすると、スプレー移動手段３０は、スプレーガン２１の位置をスプレー基準位置に移動させた後停止させる（ステップＳ０１）。その後、この状態で装置の待機状態に入り、塗装対象物Ｗが所定のスプレー領域に入るのを待つ（ステップＳ０２：「ＮＯ」）。   FIG. 4 is an explanatory diagram showing an operation control flow including a case where an abnormal operation of the conveying means 10 is detected while performing the homogeneous coating shown in FIG. 3A or 3B during normal operation. When the operation control flow starts after the start of the apparatus or one painting operation is completed, the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S01). Thereafter, the apparatus enters a standby state in this state, and waits for the coating object W to enter a predetermined spray area (step S02: “NO”).

塗装作業中確認手段５３と塗装対象物認識手段５７によってスプレー領域に塗装対象物Ｗが有ることが認識されると（ステップＳ０２：「ＹＥＳ」）、搬送動作認識手段５１によって搬送手段１０が正常作動しているか否かが確認され（ステップＳ０３）、正常作動している場合（ステップＳ０３：「ＹＥＳ」）には、塗装条件設定手段５６及び移動条件設定手段５８で設定された塗装条件でスプレー移動手段３０を作動させてスプレー移動を開始し（ステップＳ０４）、スプレー手段２０をオンにしてスプレーを開始する（ステップＳ０５）。その後は、スプレー位置が塗装対象物Ｗのライン方向端に達するまでスプレー移動手段３０の往復移動とスプレー手段２０のスプレー動作が継続され、例えば、図３（ａ）に示すような均質２回塗りが実行される。塗装対象物認識手段５７によってスプレー位置が塗装対象物Ｗのライン方向端に到達した後、塗装対象物Ｗがスプレー領域から外れた場合には（ステップＳ０２：「ＮＯ」）、スプレーを停止し（ステップＳ０６）、スプレー移動を停止させ（ステップＳ０７）、再び初期の待機状態に戻る（ステップＳ０１）。   When it is recognized that the painting object W is present in the spray area by the painting operation confirmation means 53 and the painting object recognition means 57 (step S02: “YES”), the conveyance means 10 is normally operated by the conveyance operation recognition means 51. (Step S03), and if it is operating normally (step S03: “YES”), the spray movement is performed under the painting conditions set by the painting condition setting means 56 and the movement condition setting means 58. The means 30 is operated to start spray movement (step S04), the spray means 20 is turned on and spraying is started (step S05). Thereafter, the reciprocating movement of the spray moving means 30 and the spraying operation of the spray means 20 are continued until the spray position reaches the line direction end of the object to be coated W. For example, a uniform two-time application as shown in FIG. Is executed. After the spray position reaches the line direction end of the coating object W by the coating object recognition means 57, when the coating object W is out of the spray area (step S02: “NO”), the spray is stopped ( In step S06, the spray movement is stopped (step S07), and the initial standby state is restored again (step S01).

一方、塗装作業中確認手段５３と塗装対象物認識手段５７によってスプレー領域に塗装対象物Ｗが有ることが認識され、塗装作業中であることが確認された場合（ステップＳ０２：「ＹＥＳ」）で、搬送動作認識手段５１が搬送手段１０の異常動作を検知した場合には（ステップＳ０３：「ＮＯ」）、緊急時停止手段５２によって、直ちにスプレー手段２０をオフにしてスプレーを停止させると共に（ステップＳ０９）、スプレー移動手段３０を停止させ（ステップＳ１０）、搬送手段１０が正常作動可能になるまで（ステップＳ１１：「ＮＯ」）、停止状態を継続する。   On the other hand, when it is recognized that the painting object W exists in the spray area by the painting work confirmation means 53 and the painting object recognition means 57 and it is confirmed that the painting work is being performed (step S02: “YES”). When the transport operation recognizing unit 51 detects an abnormal operation of the transport unit 10 (step S03: “NO”), the emergency stop unit 52 immediately turns off the spray unit 20 and stops the spray (step S03). S09), the spray moving means 30 is stopped (step S10), and the stopped state is continued until the conveying means 10 can be normally operated (step S11: “NO”).

その後、搬送手段１０が正常作動可能になったことを制御手段５０が認識すると（ステップＳ１１：「ＹＥＳ」）、移動開始位置設定手段５４によってスプレー移動手段３０を逆方向に移動させ、スプレー手段２０を再スプレー可能な位置まで戻して待機させる（ステップＳ１２）。すなわち、スプレー移動手段３０を停止状態から設定移動速度まで加速するのに要する距離だけ逆に移動させ、その位置でスプレーガン２１を待機させる。搬送手段の加速を考慮する場合には、搬送手段１０を停止状態から設定搬送速度まで加速するのに要する距離だけ逆移動させ、その位置で搬送手段１０を待機させる。   Thereafter, when the control means 50 recognizes that the transport means 10 can be normally operated (step S11: “YES”), the movement start position setting means 54 moves the spray moving means 30 in the reverse direction, and the spray means 20 Is returned to a re-sprayable position and waited (step S12). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position. When considering the acceleration of the conveying means, the conveying means 10 is reversely moved by a distance required to accelerate from the stop state to the set conveying speed, and the conveying means 10 is put on standby at that position.

そして、作動タイミング設定手段５５（移動タイミング設定手段５５Ａ，スプレータイミング設定手段５５Ｂ，搬送再始動タイミング設定手段５５Ｃ）によって、スプレー停止位置でスプレー移動手段３０が設定移動速度になると共に搬送手段１０が設定搬送速度になるように、スプレー移動再開タイミング、搬送手段再作動タイミングを設定し、スプレー移動再開（ステップＳ１３）と搬送手段再作動（ステップＳ１４）を行い、スプレー手段２０がスプレー停止位置でスプレー作動を再開できるタイミングでスプレー動作を開始する（ステップＳ１５）。   Then, by the operation timing setting means 55 (movement timing setting means 55A, spray timing setting means 55B, conveyance restart timing setting means 55C), the spray movement means 30 reaches the set movement speed at the spray stop position and the conveyance means 10 is set. The spray movement resumption timing and the conveyance means reactivation timing are set so as to reach the conveyance speed, the spray movement is resumed (step S13) and the conveyance means reactivation (step S14), and the spray means 20 is sprayed at the spray stop position. The spray operation is started at a timing when the operation can be resumed (step S15).

このような動作制御フローによると、搬送手段１０が正常作動時には、例えば図３（ａ）に示すような均質２回塗りを実現することができ、更に、塗装作業中に搬送手段１０が異常作動状態になった場合には、直ちに塗装を停止し、搬送手段１０の正常動作再開時には引き続き均質塗装を切れ目無く行うことが可能になる。   According to such an operation control flow, when the conveying means 10 is operating normally, for example, a homogeneous two-time coating as shown in FIG. 3A can be realized, and the conveying means 10 operates abnormally during the painting operation. When the state is reached, the coating is immediately stopped, and when the normal operation of the transport means 10 is resumed, the uniform coating can be continuously performed without any breaks.

図５は、本発明の実施形態に係る自動塗装装置における制御手段５０の他の動作例を説明する説明図である。ここでは、塗装対象物Ｗの幅に合わせて均質２回塗りを実行する場合の例を説明する（２重斜線部分が均質２回塗りの塗装範囲を示している。）。まず、塗装対象物Ｗの種類などによって所望の膜厚が決まるので、この膜厚と作業速度から、搬送速度ｘ，移動速度ｙ，パターン幅Ｐの塗装条件が塗装条件設定手段５６に設定・入力される。この塗装条件に基づいて余剰重ね塗り無く且つ塗り残しの無い均質塗装を行うために、Ｌ＝（ｙ／ｘ）・Ｐとして求められる仮想往復移動距離Ｌに基づく均質塗装パターンＳＬを仮想的に設定する。FIG. 5 is an explanatory diagram for explaining another example of the operation of the control means 50 in the automatic coating apparatus according to the embodiment of the present invention. Here, an example will be described in which the uniform two-time coating is executed in accordance with the width of the object to be coated W (the double hatched portion indicates the coating range of the uniform two-time coating). First, since a desired film thickness is determined depending on the type of the object to be coated W and the like, the coating conditions such as the conveyance speed x, the movement speed y, and the pattern width P are set and input to the coating condition setting means 56 based on the film thickness and the operation speed. Is done. In order to perform a homogeneous coating without leaving recoated without and paint surplus based on the coating conditions, L = (y / x) of the homogeneous coating pattern S L based on virtual reciprocating distance L obtained as a · P virtually Set.

塗装対象物検知手段４０を塗装対象物Ｗが横切って、検知信号が制御手段５０に入力されると、塗装対象物認識手段５７が塗装対象物Ｗの搬送手段１０上での二次元形状と位置を認識する。塗装対象物Ｗの搬送手段１０上での位置は、ライン方向に垂直な位置をセンサ４１によって検知し、ライン方向の位置を搬送手段１０の作動検出によって検知する。塗装対象物Ｗの二次元形状データと位置の認識は、具体的には、スプレー移動手段３０が仮想往復移動距離Ｌで仮想的に片道移動する間に塗装範囲を通過する予定の塗装対象物Ｗの最大幅を認識する。これによって、その最大幅を含むようにスプレー移動手段３０の移動幅を設定することができる。   When the coating object W crosses the coating object detection means 40 and a detection signal is input to the control means 50, the coating object recognition means 57 detects the two-dimensional shape and position of the coating object W on the transport means 10. Recognize As for the position of the coating object W on the transport unit 10, a position perpendicular to the line direction is detected by the sensor 41, and a position in the line direction is detected by detecting the operation of the transport unit 10. Specifically, the recognition of the two-dimensional shape data and the position of the painting object W is performed by the painting object W scheduled to pass through the painting range while the spray moving means 30 virtually moves one way with the virtual reciprocation distance L. Recognize the maximum width of. Thereby, the movement width of the spray moving means 30 can be set so as to include the maximum width.

移動条件設定手段５８は、塗装対象物認識手段５７で認識された塗装対象物Ｗの二次元形状と位置に応じて、スプレー移動手段３０の移動幅となる位置Ｙ０と位置Ｙ１を設定する。この設定はスプレー移動手段３０の片道移動毎或いは一往復毎に行うことができる。図示のように、認識された塗装対象物Ｗの幅Ｗｙを含むように位置Ｙ０と位置Ｙ１が設定される。この位置Ｙ０と位置Ｙ１はスプレー移動モータ３２（サーボモータ）の位置制御における目標値となる。The movement condition setting means 58 sets a position Y 0 and a position Y 1 that are the movement width of the spray movement means 30 according to the two-dimensional shape and position of the painting object W recognized by the painting object recognition means 57. . This setting can be performed for each one-way movement of the spray moving means 30 or for each reciprocation. As illustrated, the position Y 0 and the position Y 1 are set so as to include the recognized width Wy of the painting object W. The position Y 0 and the position Y 1 is the target value in the position control of the spray moving motor 32 (servomotor).

特に、均質な塗装を実現するためには、スプレー移動手段３０の移動幅となる位置Ｙ０と位置Ｙ１は認識された塗装対象物Ｗの幅Ｗｙより広くなるように設定して、スプレー移動手段３０を停止状態から設定速度ｙで等速移動させるまでの加速距離移動分が塗装対象物Ｗの幅Ｗｙにかからないようにする。すなわち、スプレー移動手段３０の移動幅としては、塗装対象物検知手段４０で検知された塗装対象物Ｗの幅Ｗｙに、スプレー移動手段４０が停止状態から設定移動速度ｙの定速度で移動するまでの加速（減速）距離を加算して必要最小限の幅を設定する。In particular, in order to realize uniform coating, the position Y 0 and the position Y 1 as the movement width of the spray moving means 30 are set to be wider than the recognized width Wy of the coating object W, and the spray movement is performed. The acceleration distance movement until the means 30 is moved at a constant speed at the set speed y from the stop state is prevented from being applied to the width Wy of the coating object W. That is, as the movement width of the spray moving means 30, the spray moving means 40 moves from the stop state to the width Wy of the coating object W detected by the painting object detection means 40 until it moves at a constant speed of the set moving speed y. The minimum width is set by adding the acceleration (deceleration) distance.

移動タイミング設定手段５５Ａは、塗装対象物Ｗがスプレーガン２１の設置されているスプレー位置に所定の距離だけ近づいた時点でスプレー移動手段３０の移動を開始させる。スプレーガン２１の初期位置は任意（例えば、メンテナンスを考慮した基準位置）であるが、余裕を持った距離に塗装対象物Ｗが近づいた時点で移動を開始させる。図５の例では、任意位置にあるスプレーガン２１が仮想設定距離Ｌで一往復する間のスプレー領域２Ｐに塗装対象物Ｗが入った時点でスプレー移動手段３０の移動を開始する。そして、先ず、塗装対象物Ｗの幅端に対応する位置Ｙ１までスプレー移動手段３０を作動させてスプレーガン２１を移動させてそこで停止させる。The movement timing setting means 55A starts the movement of the spray movement means 30 when the coating object W approaches the spray position where the spray gun 21 is installed by a predetermined distance. The initial position of the spray gun 21 is arbitrary (for example, a reference position in consideration of maintenance), but the movement is started when the coating object W approaches a distance with a margin. In the example of FIG. 5, the movement of the spray moving means 30 is started when the coating object W enters the spray region 2 </ b> P while the spray gun 21 at an arbitrary position makes one round trip at the virtual set distance L. Then, first, where it is stopped by operating the spray moving means 30 to move the spray gun 21 to the position Y 1 corresponding to the width end of the coated object W.

移動後は、仮想往復移動距離Ｌだけ移動速度ｙで往復動することを仮想した待機時間ｔ１だけ待機して、待機時間ｔ１の経過後、移動方向を反転して移動速度ｙでスプレー移動手段３０を作動させてスプレーガン２１を塗装対象物Ｗの反対側の幅端に対応する位置Ｙ０まで移動させてそこで停止させる。移動タイミング設定手段５５Ａは、この動作を片道移動又は一往復毎に設定される位置Ｙ０，Ｙ１に応じて繰り返し、仮想往復距離Ｌを移動速度ｙで往復動するタイミングに合わせた待機時間ｔ１，ｔ２，…，ｔ６を設定する。図５の例では、塗装対象物Ｗの幅Ｗｙが一定の例を示しているので、位置Ｙ０，Ｙ１が固定されているが、幅Ｗｙがライン方向に沿って異なる場合には、位置Ｙ０，Ｙ１が移動毎に変更され、待機時間ｔ１，ｔ２，…，ｔ６もその都度変更される。図５において、実線矢印はスプレー移動手段３０が設定移動速度ｙでスプレーガン２１を実際に移動させる移動方向と移動タイミングを示しており、点線矢印は待機時間の長さを示している。After the movement, it waits for a waiting time t1 that is assumed to reciprocate at the moving speed y by the virtual reciprocating distance L, and after the waiting time t1, the moving direction is reversed and the spray moving means 30 is moved at the moving speed y. Is operated to move the spray gun 21 to the position Y 0 corresponding to the width end on the opposite side of the object to be coated W and stop there. The movement timing setting means 55A repeats this operation in accordance with the positions Y 0 and Y 1 set for one-way movement or for each reciprocation, and the standby time t1 that matches the virtual reciprocation distance L with the reciprocation at the movement speed y. , T2,..., T6 are set. In the example of FIG. 5, since the width Wy of the coating object W is shown as an example, the positions Y 0 and Y 1 are fixed. However, when the width Wy is different along the line direction, Y 0 and Y 1 are changed for each movement, and standby times t1, t2,..., T6 are also changed each time. In FIG. 5, the solid line arrow indicates the moving direction and the moving timing at which the spray moving means 30 actually moves the spray gun 21 at the set moving speed y, and the dotted line arrow indicates the length of the standby time.

スプレータイミング設定手段５５Ｂは、移動タイミング設定手段５５Ａで設定される移動時間内で、塗装対象物Ｗがスプレーガン２１の設定パターン幅Ｐ内に入ることを確認して、スプレー手段２０のスプレー開始・停止タイミングを設定する。具体的には、スプレー移動手段３０が最初に移動を開始してから、更に塗装対象物Ｗが設定パターン幅Ｐを有するスプレー位置に所定距離だけ近づき、且つ、スプレー位置が塗装対象物Ｗの幅端位置内に入る時点でスプレーを開始し、反対側の幅端位置を外れる時点でスプレーを停止する。   The spray timing setting means 55B confirms that the coating object W falls within the set pattern width P of the spray gun 21 within the movement time set by the movement timing setting means 55A. Set the stop timing. Specifically, after the spray moving means 30 starts moving for the first time, the coating object W further approaches the spray position having the set pattern width P by a predetermined distance, and the spray position is the width of the coating object W. Spraying is started when the end position is entered, and spraying is stopped when the opposite end position is removed.

移動条件設定手段５８が塗装対象物Ｗの幅Ｗｙより位置Ｙ０，位置Ｙ１間を加減速分だけ広く設定している場合には、スプレー手段２０のスプレー開始タイミングはスプレー移動手段３０の移動開始から加速距離移動分の時間だけ遅れて設定されることになり、スプレー手段２０のスプレー停止タイミングはスプレー移動手段３０の移動停止から減速距離移動分だけ早く設定されることになる。When the movement condition setting means 58 sets the position Y 0 and the position Y 1 wider than the width Wy of the coating object W by the amount of acceleration / deceleration, the spray start timing of the spray means 20 is the movement of the spray movement means 30. The spray stop timing of the spray means 20 is set earlier by the amount of the deceleration distance movement from the stop of the movement of the spray moving means 30.

このような塗装対象物Ｗの幅Ｗｙに応じた往復移動範囲で均質２回塗りを実行する場合に搬送手段１０の作動に異常が生じた場合の動作制御フローを以下に説明する。図６は、この動作制御フローを説明する説明図である。   An operation control flow in the case where an abnormality occurs in the operation of the transport means 10 when performing uniform two-time coating in the reciprocating movement range corresponding to the width Wy of the coating object W will be described below. FIG. 6 is an explanatory diagram for explaining this operation control flow.

装置の始動或いは一回の塗装作業が終わった後に制御フローがスタートすると、スプレー移動手段３０は、スプレーガン２１の位置をスプレー基準位置に移動させた後停止させる（ステップＳ２１）。その後、待機時間カウントは停止され、待機時間カウンタはリセットされる（ステップＳ２２）。この状態で装置の待機状態に入り、塗装対象物Ｗが所定のスプレー領域に入るのを待つ（ステップＳ２３：「ＮＯ」）。   When the control flow starts after the start of the apparatus or one painting operation is finished, the spray moving means 30 moves the position of the spray gun 21 to the spray reference position and then stops (step S21). Thereafter, the standby time count is stopped, and the standby time counter is reset (step S22). In this state, the apparatus enters a standby state and waits for the coating object W to enter a predetermined spray region (step S23: “NO”).

スプレー領域に塗装対象物Ｗが有ることが認識されると（ステップＳ２３：「ＹＥＳ」）、初動の場合は、搬送手段１０が正常動作している場合には（ステップＳ２４：「ＹＥＳ」）、ステップＳ２２で待機時間カウントは停止されているので（ステップＳ２５：「ＮＯ」）、直ちにスプレー移動手段３０が移動開始される（ステップＳ２８）。   When it is recognized that the coating object W is present in the spray area (step S23: “YES”), in the case of the initial movement, when the transport means 10 is operating normally (step S24: “YES”), Since the standby time count is stopped in step S22 (step S25: “NO”), the spray moving means 30 immediately starts moving (step S28).

スプレー移動後は、塗装対象物Ｗがスプレーガン２１の設定パターン幅Ｐ内（スプレー位置内）に入ることを確認して、スプレー位置内に塗装対象物Ｗが有る場合には（ステップＳ２９：「ＹＥＳ」）、スプレーガン２１をオンしてスプレーを開始し（ステップＳ３０）、スプレー位置が塗装対象物Ｗの端に達するまでの間スプレーを継続する（ステップＳ３２：「ＮＯ」→ステップＳ２３：「ＹＥＳ」→ステップＳ２４：「ＹＥＳ」→ステップＳ２５：「ＮＯ」→ステップＳ２８）。そして、スプレー位置に塗装対象物Ｗが有ることが確認できない場合に（ステップＳ２９：「ＮＯ」）、スプレーを停止する（ステップＳ３１）。その後は、ステップＳ３２は「ＹＥＳ」になるので、スプレー移動が停止され、待機時間カウントが開始される（Ｓ３３）。   After the spray movement, it is confirmed that the coating object W falls within the set pattern width P (within the spray position) of the spray gun 21, and when the coating object W exists in the spray position (step S29: “ YES ”), the spray gun 21 is turned on to start spraying (step S30), and spraying is continued until the spray position reaches the end of the coating object W (step S32:“ NO ”→ step S23:“ YES ”→ step S24:“ YES ”→ step S25:“ NO ”→ step S28). If it cannot be confirmed that the coating object W is present at the spray position (step S29: “NO”), the spraying is stopped (step S31). After that, since step S32 becomes “YES”, the spray movement is stopped and the standby time count is started (S33).

その後は、設定された待機時間を経過するまで、待機時間カウントが継続され、スプレー移動は停止された状態になる（ステップＳ２３：「ＹＥＳ」→ステップＳ２４：「ＹＥＳ」→ステップＳ２５：「ＹＥＳ」→ステップＳ２６：「ＮＯ」→ステップＳ３３）。待機時間が経過すると（ステップＳ２６：「ＹＥＳ」）、スプレー移動方向が反転され（ステップＳ２７）、待機時間カウントが停止されて待機時間カウンタがリセットされ（Ｓ２２）、スプレー移動が開始される（ステップＳ２３：「ＹＥＳ」→ステップＳ２４：「ＹＥＳ」→ステップＳ２５：「ＮＯ」→ステップＳ２８）。   Thereafter, the standby time count is continued until the set standby time elapses, and the spray movement is stopped (step S23: “YES” → step S24: “YES” → step S25: “YES”). → Step S26: “NO” → Step S33). When the standby time has elapsed (step S26: “YES”), the spray movement direction is reversed (step S27), the standby time count is stopped, the standby time counter is reset (S22), and spray movement is started (step). S23: “YES” → step S24: “YES” → step S25: “NO” → step S28).

その後は、スプレー位置が塗装対象物Ｗの端に達するまで移動を継続し、スプレー位置に塗装対象物Ｗが有ることが確認される範囲でスプレーを開始・継続し、スプレー位置に塗装対象物Ｗが有ることが確認されなくなったらスプレーを停止して、スプレー移動を停止し、再び待機時間カウントを開始して、待機時間を経過するまでこれを継続する。この制御フローを繰り返し、スプレー領域に塗装対象物Ｗが有ることが確認できなくなると（ステップＳ２３：「ＮＯ」）、スプレー移動手段３０をスプレー基準位置に移動後停止させる（ステップＳ２１）。   After that, the movement is continued until the spray position reaches the end of the coating object W, and spraying is started and continued within a range where it is confirmed that the coating object W exists at the spray position. When it is no longer confirmed that there is a spray, the spray is stopped, the spray movement is stopped, the standby time count is started again, and this is continued until the standby time elapses. This control flow is repeated, and when it becomes impossible to confirm that the coating object W is present in the spray area (step S23: “NO”), the spray moving means 30 is stopped after moving to the spray reference position (step S21).

このような制御動作では、余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するための往復移動距離Ｌを仮想的に任意に変更し、これに応じてスプレー手段２０及びスプレー移動手段３０のタイミング制御を行うことで、スプレー手段２０のパターン幅Ｐを変更することなく、設定された搬送速度ｘに対して移動速度ｙを調整して塗装対象物Ｗ毎の膜厚制御を任意に行うことができる。この際、スプレー移動手段３０の移動速度ｙは、前述した待機時間がゼロになる最低速度よりも余裕を持って高速に設定しておき、試し塗装後に計測した膜厚の目標膜厚に対する過不足分を補正するように、最終調整を行う。例えば、塗装膜厚がＸ％不足している場合には、スプレー移動手段３０の移動速度ｙをＸ％減速することによって、任意の目標膜厚に調整する。   In such a control operation, the reciprocating movement distance L for executing uniform coating without excessive overcoating and without unpainted is virtually arbitrarily changed, and the timings of the spray means 20 and the spray movement means 30 are accordingly changed. By performing the control, it is possible to arbitrarily perform the film thickness control for each coating object W by adjusting the moving speed y with respect to the set transport speed x without changing the pattern width P of the spray means 20. it can. At this time, the moving speed y of the spray moving means 30 is set to a high speed with a margin higher than the minimum speed at which the waiting time becomes zero, and the film thickness measured after the trial coating is excessive or insufficient with respect to the target film thickness. Make final adjustments to correct for minutes. For example, when the coating film thickness is insufficient by X%, the moving speed y of the spray moving means 30 is adjusted to an arbitrary target film thickness by decelerating by X%.

このような動作制御フローにおいて、塗装作業中に（ステップＳ２３：「ＹＥＳ」）搬送手段１０の異常動作が認識された場合には（ステップＳ２４：「ＮＯ」）、待機時間カウント中であれば（ステップＳ４０：「ＹＥＳ」）、待機時間カウントを中断し（ステップＳ４１）、搬送手段１０が正常作動するまでスプレー停止状態を維持する（ステップＳ２３：「ＹＥＳ」→ステップＳ２４：「ＮＯ」→ステップＳ４０：「ＹＥＳ」→ステップＳ４１）。   In such an operation control flow, when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is being counted (step S24: “YES”) Step S40: “YES”), the standby time count is interrupted (Step S41), and the spray stop state is maintained until the conveying means 10 operates normally (Step S23: “YES” → Step S24: “NO” → Step S40). : “YES” → step S41).

一方、塗装作業中に（ステップＳ２３：「ＹＥＳ」）搬送手段１０の異常動作が認識された場合で（ステップＳ２４：「ＮＯ」）、待機時間カウント中でなければ（ステップＳ４０：「ＮＯ」）、スプレー手段２０及びスプレー移動手段３０が作動中であるから、直ちにスプレー停止（ステップＳ４２）及びスプレー移動停止（ステップＳ４３）を行い、再スプレー可能な位置までスプレー移動手段３０を戻して（ステップＳ４４）、搬送手段１０が正常作動するまで待機状態を維持する（ステップＳ２３：「ＹＥＳ」→ステップＳ２４：「ＮＯ」→ステップＳ４０：「ＮＯ」→ステップＳ４２，Ｓ４３，Ｓ４４）。すなわち、スプレー移動手段３０を停止状態から設定移動速度まで加速するのに要する距離だけ逆に移動させ、その位置でスプレーガン２１を待機させる。   On the other hand, when an abnormal operation of the conveying means 10 is recognized during the painting operation (step S23: “YES”) (step S24: “NO”), if the waiting time is not being counted (step S40: “NO”). Since the spray means 20 and the spray moving means 30 are in operation, the spray stop (step S42) and the spray movement stop (step S43) are immediately performed, and the spray moving means 30 is returned to a resprayable position (step S44). ), The standby state is maintained until the conveying means 10 operates normally (step S23: “YES” → step S24: “NO” → step S40: “NO” → steps S42, S43, S44). That is, the spray moving means 30 is moved backward by the distance required to accelerate from the stopped state to the set moving speed, and the spray gun 21 is put on standby at that position.

そして、搬送手段１０が正常に作動するようになると（ステップＳ２４：「ＹＥＳ」）、通常の動作フローに戻り、前述した待機位置からスプレー移動が開始され（ステップＳ２８）、設定移動速度に達してスプレー停止位置を通過する時点でスプレーが再開されることになる（ステップｓ３０）。   When the conveying means 10 operates normally (step S24: “YES”), the flow returns to the normal operation flow, the spray movement is started from the standby position described above (step S28), and the set movement speed is reached. Spraying is resumed when the spray stop position is passed (step s30).

このような動作制御フローによると、搬送手段１０が正常作動時には、例えば図５に示すような塗装対象物Ｗの幅に応じた均質２回塗りを実現することができ、更に、塗装作業中に搬送手段１０が異常作動状態になった場合には、直ちに塗装を停止し、搬送手段１０の正常動作再開時には引き続き均質塗装を切れ目無く継続することが可能になる。   According to such an operation control flow, when the conveying means 10 is operating normally, for example, a uniform two-time coating according to the width of the object to be coated W as shown in FIG. 5 can be realized. When the conveying means 10 is in an abnormal operation state, the coating is immediately stopped, and when the normal operation of the conveying means 10 is resumed, it is possible to continue the uniform coating without any breaks.

また、このような塗装対象物Ｗの幅に応じてスプレー移動手段３０の移動幅を設定して余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行することで、スプレー移動手段３０の往復移動距離を最小限に抑えて装置寿命の向上を図ることができ、スプレー停止時にスプレーガン２１の移動を極力抑えることができるので、塗料の固化によるスプレーノズルの詰まりを排除することができる。更には、前述した待機時間ｔ１，ｔ２，…，ｔ６を適宜設定することで、搬送速度ｘと移動速度ｙを任意に変更しながら、余剰重ね塗り無く且つ塗り残しの無い均質塗装を実現することができる。これによって、塗装膜厚を任意に制御しながら均質塗装を実行することができる。   Further, by setting the movement width of the spray moving means 30 according to the width of the object to be coated W and performing homogeneous coating with no overcoating and no unpainted, the reciprocating movement distance of the spray moving means 30 Thus, the life of the apparatus can be improved to the minimum, and the movement of the spray gun 21 can be suppressed as much as possible when the spraying is stopped. Therefore, clogging of the spray nozzle due to solidification of the paint can be eliminated. Furthermore, by setting the above-described waiting times t1, t2,..., T6 as appropriate, it is possible to realize uniform coating without any over-coating and without any remaining coating while arbitrarily changing the conveyance speed x and the movement speed y. Can do. Thereby, it is possible to perform homogeneous coating while arbitrarily controlling the coating film thickness.

以上説明したように、本発明の実施形態によると、自動塗装において、搬送装置が塗装作業中に異常作動した場合に直ちに塗装を停止させ、搬送装置の正常な再始動によって均一な塗装が継続でき、これによって高い作業効率で自動塗装を行うことができる。   As described above, according to the embodiment of the present invention, in automatic painting, if the conveying device malfunctions during the painting operation, the coating is immediately stopped, and uniform coating can be continued by normal restart of the conveying device. Thus, automatic painting can be performed with high work efficiency.

Claims (3)

塗装対象物を一つのライン方向に向けて設定搬送速度で搬送する搬送手段と、
前記搬送手段上の塗装対象物に対して、前記ライン方向に沿った設定パターン幅で塗料をスプレーするスプレー手段と、
該スプレー手段を前記ライン方向と交差する方向に設定移動速度で往復移動させるスプレー移動手段と、
前記搬送手段に対して、前記スプレー移動手段の設置位置から離れた前記ライン方向上流位置に設置され、前記搬送手段によって搬送される塗装対象物の位置を検知する塗装対象物検知手段と、
前記搬送手段の作動状態を検知する搬送状態検知手段と、
該塗装対象物検知手段及び前記搬送状態検知手段の検知出力に基づいて、少なくとも前記スプレー手段と前記スプレー移動手段の作動を制御する制御手段とを備え、
前記制御手段は、前記搬送手段の異常作動を検知後直ちに前記スプレー手段と前記スプレー移動手段を停止させ、該異常作動の検知前に前記スプレー手段が塗装対象物に対して塗装作業中の場合は、前記スプレー移動手段が設定移動速度になるための加速に要する距離だけ戻った位置に前記スプレー手段を待機させ、前記搬送手段の再始動時に前記スプレー移動手段を作動させて、前記スプレー移動手段が設定移動速度に到達した後に前記スプレー手段の作動を再開させることを特徴とする自動塗装装置。Conveying means for conveying the coating object in one line direction at a set conveying speed,
Spray means for spraying paint with a set pattern width along the line direction on the object to be coated on the transport means;
Spray moving means for reciprocating the spray means in a direction crossing the line direction at a set moving speed;
A coating object detection unit that detects the position of the coating object that is installed at the upstream position in the line direction away from the installation position of the spray moving unit and is conveyed by the conveyance unit with respect to the conveyance unit;
Conveying state detecting means for detecting an operating state of the conveying means;
Control means for controlling the operation of at least the spray means and the spray moving means based on the detection outputs of the coating object detection means and the conveyance state detection means,
The control means stops the spray means and the spray moving means immediately after detecting the abnormal operation of the transport means, and when the spray means is performing a painting operation on the object to be coated before the abnormal operation is detected. The spray moving means is put on standby at a position returned by a distance required for acceleration for the spray moving means to reach a set moving speed, and the spray moving means is operated when the conveying means is restarted. An automatic coating apparatus, wherein the operation of the spray means is resumed after reaching a set moving speed. 前記制御手段は、前記スプレー移動手段の設定移動速度と前記搬送手段の設定搬送速度と前記スプレー手段の設定パターン幅とによって決まる余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するための往復移動距離で、前記スプレー移動手段の移動幅を設定することを特徴とする請求項１に記載された自動塗装装置。  The control means is a reciprocating movement for performing homogeneous coating without excess overcoating and without unrecognized coating determined by a set moving speed of the spray moving means, a set conveying speed of the conveying means, and a set pattern width of the spraying means. 2. The automatic coating apparatus according to claim 1, wherein a moving width of the spray moving means is set by a distance. 前記塗装対象物検知手段は、前記ライン方向と交差する方向に所定間隔毎に複数個のセンサを配置して、塗装対象物の二次元形状を検知し、
前記制御手段は、前記塗装対象物検知手段で検知された塗装対象物の幅に対応して、スプレーを行うための前記スプレー移動手段の移動幅を設定すると共に、余剰重ね塗り無く且つ塗り残しの無い均質塗装を実行するように前記スプレー手段及び前記スプレー移動手段の作動タイミングを制御することを特徴とする請求項１に記載された自動塗装装置。The painting object detection means arranges a plurality of sensors at predetermined intervals in a direction intersecting the line direction, detects a two-dimensional shape of the painting object,
The control means sets the movement width of the spray moving means for performing spraying in accordance with the width of the painting object detected by the painting object detection means, and also performs no overprinting and no unpainted paint. 2. The automatic coating apparatus according to claim 1, wherein the operation timing of the spraying means and the spray moving means is controlled so as to execute uniform coating without any.
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JP6075869B2 (en) * 2013-04-05 2017-02-08 旭サナック株式会社 Deposition equipment
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JPS59222260A (en) * 1983-05-30 1984-12-13 Kawasaki Steel Corp Method for preventing wasteful spraying of paint in automatic painting machine for steel plate
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JPS6456161A (en) * 1987-08-25 1989-03-03 Toyota Auto Body Co Ltd Coating device
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