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WO2018143451A1 - Dispositif de peinture automatique et procédé de peinture - Google Patents

Dispositif de peinture automatique et procédé de peinture Download PDF

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Publication number
WO2018143451A1
WO2018143451A1 PCT/JP2018/003781 JP2018003781W WO2018143451A1 WO 2018143451 A1 WO2018143451 A1 WO 2018143451A1 JP 2018003781 W JP2018003781 W JP 2018003781W WO 2018143451 A1 WO2018143451 A1 WO 2018143451A1
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WO
WIPO (PCT)
Prior art keywords
spray gun
horizontal
trigger
vertical
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/003781
Other languages
English (en)
Japanese (ja)
Inventor
智秀 増田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yokohama Toyopet Co Ltd
Original Assignee
Yokohama Toyopet Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yokohama Toyopet Co Ltd filed Critical Yokohama Toyopet Co Ltd
Priority to JP2018566151A priority Critical patent/JP6847131B2/ja
Publication of WO2018143451A1 publication Critical patent/WO2018143451A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying

Definitions

  • the present invention relates to an automatic coating apparatus and a coating method for spraying a paint onto an object to be coated using a generally used spray gun as it is.
  • An object of the present invention is to provide an automatic painting apparatus and a painting method that can be applied.
  • the present invention is an automatic coating apparatus for spraying a paint onto an object to be coated and coating the object to be coated
  • a spray gun having a paint nozzle for injecting paint, and having a trigger part for opening and closing an on-off valve for opening and closing a paint flow path in the paint nozzle
  • a spray gun mounting portion for detachably supporting the spray gun
  • a horizontal drive mechanism for reciprocating the spray gun mounting portion in the horizontal direction
  • a vertical drive mechanism for moving the spray gun mounting portion in the vertical direction
  • a trigger driving unit that is detachably engaged with the trigger unit and applies a driving force to the trigger unit
  • a drive control unit that controls operations of the horizontal drive mechanism, the vertical drive mechanism, and the trigger drive unit.
  • the present invention is a coating method using the automatic coating apparatus, A spray gun mounting step of supporting the spray gun on the spray gun mounting portion and engaging the trigger drive portion with the trigger portion of the spray gun; While the spray gun mounting portion is moved in the horizontal direction or the vertical direction by the horizontal drive mechanism and the vertical drive mechanism, a driving force is applied to the trigger portion by the trigger drive portion, and the coating nozzle is used for the coating. And a drive control step of injecting paint onto the object.
  • the spray gun is automatically moved in the horizontal direction and the vertical direction by a driving force from a power source such as a motor, and the trigger unit is driven by the trigger driving unit to automatically inject the paint. Therefore, it is possible to avoid the occurrence of variations in quality such as the finish and film thickness, and the occurrence of physical variations due to coating, and to accurately reproduce the coated skin. As a result, the coating quality can be stabilized.
  • the spray gun can be detachably attached to the spray gun mounting part, the spray gun can be removed and replaced with other spray guns, and various commercially available general spray guns can be used. it can.
  • various types of spray guns corresponding to various situations, such as the location of the repair location, the repair method, the state, the vehicle type, and the paint characteristics.
  • the trigger driving part is advanced and retracted while being in contact with the trigger part
  • the trigger engaging part for pressing or releasing the trigger part and the trigger engaging part are advanced and retracted while being in contact with the trigger part.
  • the trigger engagement part it is possible to set the trigger engagement part to simulate the movement of the fingertip of the person holding the trigger, and the drive range can be freely set, so a commercially available spray gun can be easily adapted to this device.
  • the characteristics of each company's spray gun can be easily matched with various painting conditions.
  • the horizontal drive mechanism includes a horizontal track portion that guides the spray gun mounting portion in a horizontal direction, a horizontal track holding portion that holds a curved state of the horizontal track portion, and a curved state by the horizontal track holding portion. It is preferable to further include a horizontal trajectory adjusting unit that adjusts.
  • the horizontal track is curved to match the horizontal curve of the surface of the object to be coated, so that the coating is performed at a spray gun distance and moving speed suitable for the horizontal curve of the surface of the object to be coated. be able to.
  • the movement trajectory of the spray gun can be set by adjusting the curved state of the horizontal trajectory, visual confirmation and adjustment of the movement trajectory in field work can be easily performed without requiring complicated operations and knowledge. it can.
  • the vertical drive mechanism includes a vertical track portion that guides the spray gun mounting portion in a vertical direction, a vertical track holding portion that holds the curved state of the vertical track portion, and a curved state by the vertical track holding portion. It is preferable to further include a vertical trajectory adjusting unit for adjusting.
  • the vertical trajectory is curved to match the vertical curve of the surface of the object to be coated, and the coating is performed at a spray gun distance and moving speed suitable for the vertical curve of the surface of the object to be coated. be able to.
  • the movement trajectory of the spray gun can be set by adjusting the curved state of the vertical trajectory, visual confirmation and adjustment of the movement trajectory in field work can be easily performed without requiring complicated operations and knowledge. it can.
  • a rotating unit that rotates the spraying direction of the spray gun up and down, a rotation control track unit that maintains a curved state corresponding to a vertical curve of the surface of the object to be coated, and the rotation A rotation control track holding unit that holds the curved state of the control track unit, a rotation control track adjustment unit that adjusts the bending state of the rotation control track unit, and a vertical direction of the spray gun mounting unit It is preferable to further include a rotation control unit that detects a bending state of the rotation control track unit according to the movement of the rotation control unit and rotates the rotation unit according to the detected bending state.
  • the angle of the spray gun suitable for the vertical curve of the surface of the object to be coated should be adjusted by curving the rotation control track to match the vertical curve of the surface of the object to be coated. Can do.
  • the change of the rotation angle of the spray gun can be set by adjusting the curved state of the rotation control track, visual confirmation and adjustment of the movement track in the field work without complicated operation and knowledge. Can be done easily.
  • the vertical drive mechanism is disposed along a vertically extending base portion, the base portion is disposed at one end of the horizontal drive mechanism, and is disposed at the other end side of the horizontal drive mechanism.
  • a vertically standing support Is a vertically standing support, a working space is formed between the base and the support, and the spray gun is movable up, down, left and right in the working space. It is preferable.
  • the worker grasps the spray gun and puts a finger on the trigger part to cause the worker to follow the movement of the spray gun so that the worker moves during painting. Can be trained.
  • FIG. 1 to 4 are perspective views of an automatic coating apparatus 1 according to an embodiment of the present invention.
  • the automatic coating apparatus 1 includes a spray gun mounting portion 11 to which a spray gun 10 is mounted, a lateral R advancing / retracting mechanism 17 that supports the spray gun mounting portion 11 so as to be movable back and forth, and a spray.
  • a horizontal drive mechanism 12 that moves the gun 10 in the horizontal direction
  • an elevating mechanism 13 that elevates and lowers the spray gun 10 in the up-and-down direction
  • a base portion 15 that is an apparatus main body are provided.
  • a control panel 20 as shown in FIG. 14 is connected to the automatic painting apparatus 1 so that drive control and operation setting of the automatic painting apparatus 1 can be performed.
  • the base part 15 is an apparatus main body that supports each mechanism to be described later, and is arranged radially from a base main body 151 having a rectangular shape that is long in the vertical direction and a bottom 152 of the base main body 151 in the horizontal direction. It has four legs 153 (153a, 153b).
  • the side of the base body 151 directed to the object to be coated is the front surface, and on the front surface side, an elevating mechanism 13 and a horizontal drive mechanism 12 for moving the spray gun 10 up and down and left and right are arranged, and the center of gravity of the entire automatic coating apparatus 1 Therefore, the leg 153a on the front side is longer than the leg 153b on the back side and is set so as to project to the front side.
  • an elevating rack 131 for elevating the vertical drive unit 132 of the elevating mechanism 13 is vertically extended on the front surface of the base body 151, and the elevating mechanism 13 is driven vertically along the elevating rack 131.
  • the part 132 can be moved up and down.
  • the lifting rack 131 is a linear gear having straight teeth, and the step motor of the vertical drive unit 132 is engaged with the rack, and the vertical drive unit 132 is moved up and down by the rotational drive of the step motor.
  • a vertical curved rail 181 of the vertical R advance / retreat mechanism 18 is disposed on the right side surface of the base body 151, and a rotation control curved rail 141 of the gun angle adjusting mechanism 14 is disposed on the other left side surface.
  • the control panel 20 is a device for setting and controlling the operation of each mechanism provided in the present apparatus, and is electrically connected to the base body 151 and other mechanism parts via a cable (not shown). Yes.
  • Setting knobs 24a and 24b, a hold switch 25, a main control button 28 (28a to 28d) for controlling a series of operations, and a main power switch 27 are arranged.
  • the direction buttons 23a to 23d are switches for arbitrarily moving the horizontal drive mechanism 12 and the lifting mechanism 13 by the operator, and the spray gun 10 moves up, down, left and right while the switches are pressed.
  • the horizontal movement setting unit 21 includes a dial 21c that sets the moving speed of the horizontal slider 122, a display board 21a that displays the set speed, a moving direction switch 21d, and a mode switch 21b that switches between the execution state and the standby state. Have.
  • the vertical movement setting unit 22 includes left and right lifting switches 22a and 22c for switching presence / absence of movement of the vertical driving unit 132 at the right end and left end of the reciprocating path, and a dial 22b for adjusting the pitch of the descending / raising step.
  • both the left / right lifting switches 22a and 22c are turned ON, as shown in FIG. 17A, the lifting operation is performed on both the left and right sides, and the lifting / lowering is lifted at both the forward end point and the return end point.
  • the horizontal slider 122 Move down and up in a zigzag manner.
  • only one of the left / right up / down switch 22a or 22c is turned ON, as shown in FIGS.
  • FIG. 17 illustrates the control that descends while reciprocating left and right from the top to the bottom. However, for example, control that rises while reciprocating left and right from the bottom to the top is also possible.
  • the trigger setting knob 24a is an adjustment knob for setting the moving amount and moving range of the trigger engaging portion 161 before and after, and sets the driving range of the servo motor portion 162 by the maximum value and the minimum value of the operation amount. Specifically, the knob 24a sets the maximum rearward displacement of the trigger engaging portion 161, and the knob 24b sets the maximum forward displacement (the minimum rearward displacement).
  • the hold switch 25 is a switch for switching whether to hold or release the state where the trigger is held during vertical movement.
  • the main control buttons 28a to 28d include a start button 28a, a stop button 28b, a standby button 28c, and a spray button 28d.
  • the start button 28a and the stop button 28b are buttons for starting / stopping repeated horizontal movement and vertical movement set by the horizontal movement setting unit 21 and the vertical movement setting units 22a to 22c.
  • the spray gun 10 is an instrument that sprays a paint onto an object to be coated to coat the object to be coated. Specifically, as shown in an enlarged view in FIG. 8, the spray gun 10 has a paint nozzle 10a for injecting paint at the tip of the gun body 101, and opens and closes the paint flow path to the paint nozzle 10a. It has a trigger 10c that opens and closes a needle valve 10b that is a valve. A grip 10d is attached to the gun body 101 below, and an operator can put a finger on the trigger 10c by grasping the grip 10d.
  • the needle valve 10b is retracted and compressed air is injected, and the paint in the tank 102 is injected from the paint nozzle 10a by the negative pressure caused by this. Is done.
  • the spray gun 10 a commercially available general product can be used, which is appropriately selected according to various situations such as a repair site, a repair method, a state, a vehicle type, and a paint property. Mounted on the device.
  • the spray gun 10 constitutes a part of the automatic coating apparatus 1 by being attached to the spray gun mounting portion 11.
  • the spray gun mounting part 11 is a part that detachably supports the spray gun 10 and includes a holder part 111 on which a grip 10d of the spray gun 10 is detachably attached and is detachably engaged with a trigger 10c.
  • a trigger driving mechanism 16 that applies a driving force to 10c is provided.
  • the holder portion 111 is a jig that detachably fixes the grip 10d.
  • an auxiliary member such as an adapter fitted to the grip 10d is used as a strong magnet
  • An indirect fixing means for detachably fixing with a fixing tool or the like is also included.
  • the trigger 10c is a mechanism that performs an operation of grasping the trigger 10c of the spray gun 10 like a human finger, and is moved forward and backward while being in contact with the trigger 10c to press or release the trigger 10c,
  • a servo motor unit 162 that moves the trigger engagement unit 161 back and forth is included.
  • the trigger engaging portion 161 is a member obtained by bending a rod member into an L shape, and is formed so as to reach the trigger 10c from the servo motor portion 162 disposed behind the spray gun 10, so that the bent portion is caught by the trigger 10c. It can be moved back and forth by the servo motor 162.
  • control panel 20 constitutes a part of the trigger drive range setting mechanism, and the trigger engagement part 161 is advanced and retracted with respect to the servo motor 162 with the control panel 20 while contacting the trigger 10c.
  • the drive range is set. Accordingly, by moving the trigger engagement portion 161 back and forth, it is possible to cause the trigger engagement portion 161 to move in a manner similar to a fingertip of a person holding the trigger.
  • Such a spray gun mounting portion 11 is connected to a lateral R advance / retreat mechanism 17, and a gun as a rotating portion for rotating the spraying direction of the spray gun 10 up and down is connected to this connecting portion.
  • An angle actuator 144 is arranged, and as shown in FIG. 9, the spray gun mounting portion 11 is lifted up and down via the gun angle actuator 144.
  • the gun angle actuator 144 is a drive source that constitutes a part of the lateral R advance / retreat mechanism 17, and is rotated up and down based on control by the control panel 20, and moves the spray gun mounting unit 11 up and down with respect to the advance / retreat arm 172. To be lifted.
  • the advance / retreat arm 172 is a rod-shaped support member that moves the spray gun mounting part 11 including the spray gun 10 forward and backward in the paint spraying direction of the spray gun 10, and is attached to the horizontal drive mechanism 12 provided on the horizontal base 123. It is connected.
  • the horizontal drive mechanism 12 is a mechanism that slides the spray gun 10 in a horizontal direction (x direction in the drawing) orthogonal to the spray direction of the spray gun 10 along a straight rail 121 laid on the horizontal frame 123.
  • a horizontal slider 122 is slidably engaged with the linear rail 121, and an advance / retreat arm 172 is connected to the horizontal slider 122.
  • the advance / retreat arm 172 is also moved in the horizontal direction following this, and as a result, the spray gun 10 connected to the tip of the advance / retreat arm 172. Will be moved horizontally.
  • the advance / retreat arm 172 moves in the horizontal direction, the lateral R advance / retreat mechanism 17 follows the curve of the horizontal curved rail 171 so that the advance / retreat arm 172 is moved back and forth in the y direction in the figure, and the spray position of the spray gun 10 is moved back and forth. It has become so.
  • the rear end side of the horizontal frame 123 is connected to the base body 151 via the lifting mechanism 13 so as to be movable up and down.
  • the elevating mechanism 13 is a drive source that slides the horizontal base 123 up and down with respect to the base body 151, and is lifted up and down based on control by the control panel 20.
  • an elevating rack 131 that is a linear gear extending in the vertical direction is provided on the front surface of the base body 151, and the elevating mechanism 13 includes a gear that meshes with the elevating rack 131. It moves up and down by rotating it with a step motor. As the elevating mechanism 13 moves up and down, the horizontal frame 123 is also moved in the vertical direction (z direction in the figure) and connected to the horizontal drive mechanism 12 on the horizontal frame 123 and the tip of the advance / retreat arm 172 of the horizontal drive mechanism 12. The spray gun 10 is lifted and lowered.
  • the vertical R advance / retreat mechanism 18 moves the advance / retreat arm 182 of the vertical R advance / retreat mechanism 18 in the front-rear direction (y direction in the figure).
  • the spray gun 10 connected to the tip of the arm 182 is slid in the y direction in the figure.
  • the advance / retreat arm 182 is moved back and forth in the injection direction (y direction in the figure) following the curve of the vertical curved rail 181.
  • the gun angle adjusting mechanism 14 moves the advance / retreat arm 142 of the gun angle adjusting mechanism 14 in the front-rear direction (y direction in the figure).
  • the angle actuator 144 rotates, and the spray gun 10 connected to the tip of the advance / retreat arm 142 moves up and down.
  • the paint used in the automatic coating apparatus 1 basically contains a flammable component, it has an explosion-proof structure.
  • this explosion-proof for example, even if an explosive gas enters the container of an electrical device and explodes inside, the container can withstand the explosion pressure and there is no risk of igniting the external explosive gas,
  • a safety-explosion-proof structure with a particularly increased degree of safety in terms of structure and temperature rise can be used.
  • the horizontal drive mechanism 12 is a mechanism that causes the spray gun mounting portion 11 to reciprocate horizontally along the lateral direction (x direction in the drawing) of the object to be coated, and includes a horizontal frame 123, a straight rail 121, and a horizontal slider 122. It consists of.
  • the horizontal frame 123 is a horizontal plate-like member extending along the lateral direction (x direction in the figure) of the object to be coated, and is supported by the vertical drive unit 132 of the lifting mechanism 13 on the lower surface side in the vertical direction. That is, it is moved up and down along the longitudinal direction (z direction in the figure) of the object to be coated. Further, the horizontal base 123 is connected to the vertical drive unit 132 so as to be relatively horizontally slid in the front-rear direction, that is, in a direction in which the horizontal base 123 is in contact with or away from the object to be coated (y direction in the figure).
  • an advancing / retreating arm 182 is provided on the lower surface side of the horizontal base 123 so as to protrude rearward and to face the right side surface of the base body 151.
  • the advance / retreat arm 182 constitutes a part of the vertical R advance / retreat mechanism 18, and the advance / retreat arm 182 follows the curve of the vertical curved rail 181 in the front-rear direction (y direction in the figure) as the horizontal mount 123 moves up and down. Be advanced and retreated.
  • the vertical drive unit 132 and the mechanisms on the vertical drive unit 132 are collectively slid in the y direction in the figure.
  • a rotating shaft is provided at a connecting portion between the horizontal base 123 and the vertical driving unit 132 so as to be horizontal in the direction toward the object Ob1 (y direction).
  • the horizontal mount 123 is pivotally supported so that the moving direction of the horizontal slider 122 is tilted as shown in FIG. Thereby, the horizontal slider 122 can be reciprocated diagonally with respect to the horizontal.
  • the horizontal frame 123 can be rotated by 90 ° using this turning mechanism and can be set up along the height direction (z direction) of the main body 151, and the space required for storage can be reduced. can do.
  • the straight rail 121 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal frame 123, and is a groove extending linearly along the lateral direction (x direction in the figure) of the object to be coated. It has a shape.
  • Limit switches are provided as restricting means for setting the sliding range of the horizontal slider 122 at both ends (start and end) of the linear rail 121.
  • This limit switch is a pair of members that are movably disposed at the positions that become the start and end of the horizontal slider 122 on the straight rail 121.
  • a magnet or a convex portion that is movably bonded to the inside of the straight rail 121
  • the horizontal slider 122 is fixed at an arbitrary position where it is desired to be reversed.
  • the bottom of the groove-like straight rail 121 communicates with a belt case 124 provided on the lower surface of the horizontal frame 123, and the belt case 124 is circulated along the longitudinal direction of the straight rail 121.
  • An endless circular belt 125 is wound around reels at both ends, and is driven to rotate by a motor or the like.
  • the horizontal slider 122 is a drive unit that is slidably engaged with the groove-like linear rail 121 and reciprocally drives along the linear rail 121 in the lateral direction (x direction in the drawing) of the object to be coated.
  • the horizontal slider 122 reciprocates left and right as the circular drive of the circular belt 125 rotates forward and backward.
  • the circling belt 125 is an endless (annular) member such as a belt, a chain, or a wire.
  • the circling belt 125 is wound around a reel or a motor pinion, and is circulated in a driven manner by driving these drive sources.
  • the moving range and moving speed of the horizontal slider 122 are set and controlled by the control panel 20.
  • the horizontal slider 122 may be driven by a method in which a power source such as a step motor is built in the horizontal slider 122 and the slider is allowed to self-run.
  • an advance / retreat arm 172 is connected to an upper portion of the horizontal slider 122, and the horizontal slider 122 slides in the horizontal direction along the straight rail 121 so that the advance / retreat arm 172 also follows the horizontal slider 122 in the horizontal direction.
  • the lateral R advance / retreat mechanism 17 follows the curve of the horizontal curved rail 171 so that the advance / retreat arm 142 moves back and forth in the y direction in the figure. Is fluctuated.
  • Elevating mechanism 13 is a mechanism for moving the spray gun mounting unit 11 in the vertical direction along the lateral direction (x direction in the drawing) of the object to be coated, and includes an elevating rack 131 and a vertical drive unit 132.
  • the lifting rack 131 is a vertical track portion that guides the spray gun mounting portion 11 in the vertical direction on the front surface of the base body 151, and extends linearly along the longitudinal direction (z direction in the drawing) of the object to be coated. It is installed.
  • the vertical drive unit 132 is a drive unit that is slidably engaged with the lifting rack 131 and is driven to move up and down in the vertical direction (z direction in the drawing) of the object along the lifting rack 131.
  • the vertical drive unit 132 includes a gear that meshes with a lifting rack 131 provided on the front surface of the base body 151, and moves up and down by rotating the gear with a step motor or the like.
  • the vertical drive unit 132 is moved up and down by a power source such as a step motor built in the vertical drive unit 132.
  • a power source such as a step motor built in the vertical drive unit 132.
  • a mechanism for driving up and down in addition to a method of incorporating a power source in the vertical drive unit 132, a method of providing a chain mechanism or a wire mechanism for moving the vertical drive unit 132 on the base body 151 side may be adopted. it can.
  • the movement range, movement speed, and movement timing of the vertical drive unit 132 are set and controlled by the control panel 20.
  • the horizontal frame 123 supported by the vertical drive unit 132 is also moved in the vertical direction (z direction in the figure), and the horizontal drive mechanism 12 and the horizontal drive on the horizontal frame 123 are moved.
  • the spray gun 10 connected to the mechanism 12 is moved up and down collectively.
  • the horizontal platform 123 is also moved up and down as the vertical drive unit 132 is moved up and down.
  • the advancing and retracting arm 182 follows the curve of the vertical curved rail 181 (the y direction in the figure). Will be moved forward and backward.
  • the advance / retreat arm 182 advances and retreats, the vertical drive unit 132 and the mechanisms on the vertical drive unit 132 are collectively slid in the y direction in the figure, and the spray position of the spray gun 10 is moved back and forth.
  • the lateral R advance / retreat mechanism 17 moves in the horizontal direction of the spray gun 10 in accordance with the horizontal movement of the horizontal slider 122 along the horizontal direction, that is, the lateral direction (the x direction in the drawing) of the object Ob1.
  • This is a mechanism for changing the movement trajectory.
  • the lateral R advance / retreat mechanism 17 maintains the curved state of the horizontal curved rail 171 and the horizontal curved rail 171 that are horizontal track portions that guide the spray gun mounting unit 11 in the horizontal direction, and the horizontal curved rail 171 is curved. It comprises a curved rail holding part 173 for adjusting the state and an advance / retreat arm 172.
  • the horizontal curved rail 171 is a horizontal track portion that guides the spray gun mounting portion in the horizontal direction on the horizontal mount 123, and extends so as to be bent along the lateral direction (x direction in the drawing) of the object Ob1. ing.
  • the horizontal curved rail 171 is formed of a material and a thickness that can be bent, and for example, an iron plate or a hard plastic can be used.
  • the horizontal curved rail 171 of this embodiment is fixed on the horizontal base 123 by four curved rail holding parts 173.
  • the curved rail holding part 173 has a screw part 173a as a horizontal orbit adjusting part, a fixing jig 173b and a connecting part 173c as a horizontal orbit holding part, respectively.
  • Each fixing jig 173b is fixed at a predetermined interval in the x direction on the horizontal frame 123, and a portion provided with a screw hole is erected perpendicularly to the upper surface of the horizontal frame 123, and a screw portion 173a is provided in the screw hole. Screwed in the y direction.
  • the connecting portion 173c is a support member fixed to the lower end of the horizontal curved rail 171.
  • the connecting portion 173c is connected to the tip of the screw portion 173a and moves back and forth in the y direction according to the screwing position of the screw portion 173a to the fixing jig 173b. Is done. Thereby, the screw part 173a is screwed to the fixing jig 173b and fixed to the upper surface of the horizontal base 123, and the length from the screwing position to each fixing jig 173b to the connecting part 173c at the tip is changed.
  • the horizontal bending rail 171 is installed on the horizontal base 123 so as to be bent in the y direction in the figure.
  • the horizontal slider 122 is slidably engaged with the linear rail 121 and reciprocates along the linear rail 121 in the lateral direction (x direction in the figure) of the object to be coated. It is the drive part which drives.
  • the reciprocating drive of the horizontal slider 122 is performed by a power source such as a step motor built in the horizontal slider 122.
  • a mechanism for reciprocating driving a method of providing a chain mechanism or a wire mechanism for moving the horizontal slider 122 on the horizontal base 123 in addition to a method of incorporating a power source in the horizontal slider 122 can be used.
  • the moving range and moving speed of the horizontal slider 122 are set and controlled by the control panel 20.
  • an advance / retreat arm 172 is connected to the upper part of the horizontal slider 122.
  • the advance / retreat arm 172 is a member that supports the spray gun mounting portion 11 and is disposed so as to be orthogonal to the linear rail 121 and is slidably engaged with the horizontal slider 122 in the x direction. Yes.
  • On the upper surface of the horizontal slider 122 a pair of support rollers 122a, 122b arranged in the front-rear direction (x direction) is arranged, and the advance / retreat arm 172 is sandwiched between these support rollers 122a, 122b. Following the guidance of the gripping roller 172a on the rear end side, it follows the y direction.
  • the gripping rollers 172a and 172a protrude in a pair of front and rear toward the lower side at the rear end of the lower surface of the advance / retreat arm 172, and grip the front and back of the horizontal curved rail 171.
  • the horizontal slider 122 slides linearly in the horizontal direction (x direction) along the straight rail 121, so that the advance / retreat arm 172 also follows the horizontal direction.
  • the gripping rollers 172a, 172a follow the curvature of the horizontal curved rail 171 and move back and forth in the y direction in the figure.
  • 172 is moved back and forth in the y direction in the figure, and the spray position of the spray gun 10 is moved back and forth.
  • the vertical R advance / retreat mechanism 18 moves the spray gun 10 in the vertical direction in accordance with the vertical movement of the horizontal base 123 in the vertical direction, that is, the vertical direction (z direction in the drawing) of the object Ob1.
  • This is a mechanism for changing the locus in the y direction.
  • the vertical R advance / retreat mechanism 18 includes a vertical curved rail 181 that is a vertical track portion that guides the spray gun mounting portion 11 in the vertical direction (z direction in the drawing), and a vertical curved rail 181.
  • a curved rail holding portion 183 that maintains the curved state and adjusts the curved state of the vertical curved rail 181 and an advance / retreat arm 182 are configured.
  • the vertical curved rail 181 is a vertical track portion that guides the horizontal mount 123 in the vertical direction on the right side surface 151a of the base body 151, and can be bent along the vertical direction (y direction in the drawing) of the object Ob1. It is extended.
  • the vertical curved rail 181 is formed of a material and a thickness that can be bent, and for example, an iron plate or a hard plastic can be used.
  • the vertical curved rail 181 of this embodiment is fixed to the right side surface 151 a of the base body 151 by four curved rail holding portions 183.
  • the curved rail holding portion 183 has a screw portion 183a as a vertical track adjusting portion, a fixing jig 183b and a connecting portion 183c as vertical track holding portions, respectively.
  • Each fixing jig 183b is fixed at a predetermined interval in the z direction on the right side surface 151a, and a portion provided with a screw hole is erected perpendicular to the right side surface 151a. Screwed in the direction.
  • the connecting portion 183c is a support member fixed to the left end of the vertical curved rail 181.
  • the connecting portion 183c is connected to the tip of the screw portion 183a and moves back and forth in the y direction according to the screwing position of the screw portion 183a to the fixing jig 183b.
  • the screw portion 183a is screwed to the fixing jig 183b and fixed to the right side surface 151a, and the length from the screwing position to each fixing jig 183b to the connecting portion 183c at the tip is changed, respectively.
  • the vertical curved rail 181 is installed on the right side surface 151a so as to be bent in the y direction in the figure.
  • the advancing / retreating arm 182 is a member connected to the horizontal frame 123 and is arranged so as to be orthogonal to the lifting rack 131 and is engaged with the horizontal frame 123 so as to be slidable in the z direction.
  • the advance / retreat arm 182 follows the guidance of the gripping rollers 182a and 182a on the rear end side and follows the y direction.
  • the gripping rollers 182a and 182a protrude in a pair of front and rear toward the right side surface 151a at the rear end of the side surface of the advance / retreat arm 182 and grip the front and back of the vertical curved rail 181.
  • the vertical drive unit 132 slides linearly in the vertical direction (z direction) along the lifting rack 131, and the advance / retreat arm 182 also follows this.
  • the gripping rollers 182a and 182a follow the curvature of the vertical curved rail 181 and move back and forth in the y direction in the figure.
  • the advance / retreat arm 182 is moved back and forth in the y direction in the figure, and the spray position of the spray gun 10 is moved back and forth.
  • the gun angle adjusting mechanism 14 moves the curved rail 141 for rotation control in accordance with the vertical movement of the horizontal base 123 in the vertical direction, that is, the vertical direction (z direction in the drawing) of the object Ob1.
  • This is a control mechanism that detects the bending state by the gun angle sensor 145 and rotates the gun angle actuator 144 in accordance with the detected bending state.
  • the gun angle adjusting mechanism 14 is a curved rail 141 for rotation control that is a vertical track portion that guides the spray gun mounting portion 11 in the vertical direction (z direction in the figure), and the curved rail 141 for rotation control.
  • the curved rail holding part 143 which adjusts the curved state of the curved rail 141 for rotation control while maintaining a state, and the advancing / retreating arm 142 are comprised.
  • the curved rail 141 for rotation control is a vertical track portion that guides the horizontal frame 123 in the vertical direction on the left side surface 151b of the base body 151, and extends along the vertical direction (y direction in the drawing) of the object Ob1. It is extended so that it can be bent.
  • the turning control curved rail 141 is formed of a material and a thickness capable of being bent, and for example, an iron plate or hard plastic can be used.
  • the curved rail 141 for rotation control of this embodiment is fixed to the left side surface 151b of the base body 151 by four curved rail holding parts 143.
  • the turning control curved rail 141 and the above-described vertical curved rail 181 are provided on both the left and right side surfaces of the base body 151, respectively, at a line symmetrical position with the base body 151 sandwiched therebetween. They are arranged so as to be parallel to each other.
  • the curved rail holding portion 143 includes a screw portion 143a as a vertical track adjusting portion, a fixing jig 143b as a vertical track holding portion, and a connecting portion 143c.
  • Each fixing jig 143b is fixed at a predetermined interval in the z direction on the left side surface 151b, and a portion provided with a screw hole is erected perpendicular to the right side surface 151a. Screwed in the direction.
  • the connecting portion 143c is a support member fixed to the left end of the turning control curved rail 141, and is connected to the tip of the screw portion 143a. In the y direction according to the screwing position of the screw portion 143a to the jig 143b. Move back and forth.
  • the screw portion 143a is screwed to the fixing jig 143b and fixed to the left side surface 151b, and the length from the screwing position to each fixing jig 143b to the connecting portion 143c at the tip is changed, respectively.
  • the turning control curved rail 141 is installed on the left side surface 151b so as to be bent in the y direction in the figure.
  • the advancing / retreating arm 142 is a member arranged facing the gun angle sensor 145, is arranged so as to be orthogonal to the lifting rack 131, and engages with the horizontal mount 123 so as to be slidable in the z direction.
  • the advance / retreat arm 142 follows the guidance of the grip rollers 142a, 142a on the rear end side, and follows the y direction.
  • the gripping rollers 142a and 142a project in a pair of front and rear toward the right side surface 151a at the rear end of the side surface of the advance / retreat arm 142, and grip the front and back surfaces of the turning control curved rail 141.
  • the gun angle sensor 145 is a detector that detects the bending state of the turning control curved rail 141 in accordance with the vertical movement of the spray gun mounting portion 11.
  • the gun angle sensor 145 includes a vertical R advance / retreat mechanism 18 such as a horizontal base 123. It is separated from each part and fixed to the vertical driving unit 132 and moves only in the vertical direction (z direction) together with the vertical driving unit 132 without moving in the front-rear direction (y direction).
  • the gun angle sensor 145 includes an encoder for measuring the moving distance of the advance / retreat arm 142.
  • the tip of the advance / retreat arm 142 is inserted into the gun angle sensor 145, and the gun angle sensor 145 is horizontal (y direction).
  • the relative movement of the forward / backward arm 142 is detected and converted into a bending angle (an angle in a tangential direction or an angle in a normal direction with respect to the vertical direction) of the turning control curved rail 141.
  • the gun angle may be set to the inversion line ReL of the curve line, and the positive / negative of the elevation angle may be inverted at the inversion line ReL.
  • the gun angle can be adjusted and the visual setting can be facilitated.
  • the curve line CL1 may be converted so that the normal direction (orthogonal direction) is the gun angle.
  • the elevation of the gun angle can be adjusted by matching the curvature of the rotation control curved rail 141 with the curvature of the surface of the object Ob1.
  • the vertical driving unit 132 slides linearly in the vertical direction (z direction) along the lifting rack 131, so that the advance / retreat arm 142 also follows this.
  • the gripping rollers 142a and 142a are moved back and forth in the y direction in the figure following the curve of the turning control curved rail 141,
  • the advance / retreat arm 142 is moved back and forth in the y direction in the drawing, and the relative movement of the advance / retreat arm 142 in the horizontal direction (y direction) with respect to the gun angle sensor 145 is detected, whereby the gun angle actuator 144 is detected according to the detected bending state.
  • the spray gun 10 is controlled so that the spraying direction is in a direction perpendicular to the turning control curved rail 141, that is, a direction perpendicular to the tangential direction of the curve.
  • FIG. 5 is an explanatory diagram showing the basic operation of the automatic coating apparatus 1.
  • a spray gun attachment process is performed in which the spray gun 10 is attached to and supported by the spray gun mounting portion 11 and the trigger engagement portion 161 of the trigger drive mechanism 16 is engaged with the trigger 10c of the spray gun 10.
  • a commercially available general product can be used, and it is appropriately selected according to various situations such as a part to be repaired, a repair method thereof, a state, a vehicle type, and a paint property.
  • the horizontal movement setting unit 21 sets the speed and movement distance (movement range) of the spray gun 10 in the left-right direction (x direction in the figure), and the vertical movement setting units 22a to 22c set the vertical drive unit 132. Set the amount of movement per step.
  • the drive range and drive amount of the trigger drive mechanism 16 are set by the trigger setting knobs 24a and 24b. Specifically, the maximum displacement of the trigger engaging portion 161 to the rear with the knob 24a according to the characteristics of the selected spray gun 10, the location of the repair location, the repair method, the state, the vehicle type, the paint characteristics, and the like. And the maximum forward displacement (minimum rearward displacement) is set with the knob 24b.
  • the spray gun 10 is moved up, down, left, and right by the direction buttons 23a to 23d on the control panel 20, and the coating start position is set. Thereafter, a series of operations is started by pressing the start button 28a of the control panel 20.
  • the spray gun mounting portion 11 is moved horizontally along the horizontal direction (x direction in the figure) of the object to be coated by the horizontal drive mechanism 12.
  • the horizontal R advance / retreat mechanism 17 causes the horizontal direction of the spray gun 10 along with the horizontal movement of the horizontal slider 122 along the horizontal direction (x direction in the figure) of the object Ob1 as shown in FIG. The movement trajectory is changed.
  • the horizontal slider 122 stops, and as shown in FIG.
  • the vertical drive unit 132 is lowered by one step according to the setting by the setting unit 22 (left / right up / down switches 22a and 22c, dial 22b).
  • the vertical R advance / retreat mechanism 18 causes the vertical movement of the spray gun 10 in accordance with the vertical movement of the horizontal base 123 in the vertical direction (z direction in the drawing) of the object Ob1 as shown in FIG.
  • the movement trajectory is changed in the y direction.
  • the gun angle adjusting mechanism 14 is used for rotation control in accordance with the vertical movement of the horizontal base 123 in the vertical direction (z direction in the drawing) of the object Ob1.
  • the bending state of the bending rail 141 is detected by the gun angle sensor 145, and the gun angle actuator 144 is rotated according to the detected bending state.
  • the horizontal movement mechanism 12 restarts the horizontal movement of the spray gun mounting part 11 in the reverse direction along the lateral direction (x direction in the figure) of the object Ob1 and repeats the horizontal movement and the downward movement.
  • the coating is automatically repeated over the entire surface of the object to be coated Ob1.
  • the base body 151 is arranged at the center of the apparatus and the automatic coating apparatus 1 is supported only by the base body 151, but this base body 151 is arranged at one end of the horizontal base 123.
  • the support body 191 erected vertically on the other end side may be disposed to form a gate shape as a whole, and the apparatus may be supported by the base body 151 and the support body 191.
  • 18 to 20 are a perspective view, a front view, and a side view of an automatic painting apparatus according to a modification example of a wrinkle.
  • the base body 151 is erected by a leg portion 192a that extends in the y direction in the figure at the bottom of the base body 151. While being held, it is assisted by the support body 191 disposed on the opposite side of the horizontal frame 123.
  • the support body 191 is maintained in a standing state at a lower portion thereof by a leg portion 192b extending in the y direction in the figure, and the leg portions 192a and 192b are connected to each other by a connecting member 193.
  • the support 191 is fitted with an auxiliary slider 195 that can slide up and down, and supports the other end of the horizontal base 123 via a support member 194 that protrudes horizontally from the auxiliary slider 195.
  • the auxiliary slider 195 is provided with an auxiliary rack 133 as a mechanism that moves up and down following the vertical drive unit 132.
  • the auxiliary rack 133 is laid along the height direction of the support body 191.
  • a gear that rotates in synchronization with the vertical drive unit 132 is built in the auxiliary slider 195, and this gear rotates.
  • the auxiliary slider 195 moves up and down together with the vertical driving unit 132 to keep the horizontal frame 123 horizontal.
  • the work space S1 is formed between the base body 151 and the support body 191, and the spray gun 10 is moved vertically and horizontally in the work space S1.
  • the Rukoto An operator can enter the work space S1, and in this work space S1, the worker holds the grip 10d of the spray gun 10 and puts a finger on the trigger engaging portion 161 to horizontally
  • the body movement is caused to follow the operation of the spray gun 10 by the driving mechanism 12, the lifting mechanism 13, the trigger driving mechanism 16, and other mechanisms. Thereby, the worker can perform body movement training during painting.
  • FIG. 21 is a perspective view of the automatic coating apparatus 4 for toning according to this modification.
  • This toning automatic coating apparatus 4 is a test spray coating apparatus for a small tabletop, and the spray gun 10 scheduled to be used in the automatic coating apparatus 1 or 1 ′ described in the above-described embodiment and modified example is used as an automatic coating apparatus. It can be removed from 1 or 1 'and attached to a small automatic coating device 4 for toning, and a trial blow can be performed simply.
  • the toning automatic coating apparatus 4 fixes the spray gun 10 to the base body 41 so that the spray gun 10 can be finely adjusted.
  • the paint is sprayed from the spray gun 10 by relative movement.
  • the object to be coated Ob2 for trial blowing is, for example, a plate having a size of 20 cm ⁇ 10 cm, and is formed and installed so as to satisfy the same conditions as the actual painting state.
  • the automatic coating device for toning 4 includes a spray gun mounting portion 11, a trigger drive mechanism 16 and a gun angle actuator 144 having the configuration and functions described in the above-described embodiments and modification examples, and a fine adjustment longitudinally moving slider. 47 and a fine adjustment longitudinal rail 48 are connected to the base body 41.
  • the base body 41 is a horizontally installed frame, and the rear end portions of a pair of horizontal members 41a and 41a arranged in parallel along the y direction in the figure are in the x direction in the figure. It is connected by a connecting member 41b extending in the form of a U-shape.
  • a connecting member 41b extending in the form of a U-shape.
  • lower ends of a pair of vertical members 42 and 42 that are vertically provided along the z direction in the figure are fixed, and the horizontal members 41a and 41a and the vertical members 42 are respectively fixed.
  • 42 are L-shaped in a side view.
  • a horizontal rail 43 is stretched along the x direction in the figure so as to be parallel to the connecting member 41 b on the upper ends of the vertical members 42, 42, and the upper ends of the pair of vertical members 42, 42 are mutually connected via the horizontal rail 43. It is connected to.
  • a horizontal movement slider 44 is attached to the horizontal rail 43 so as to move horizontally from side to side (in the x direction in the figure).
  • a vertical movement rail 45 is suspended downwardly in the vertical direction (z direction in the figure) from the horizontal movement slider 44, and a vertical movement slider 46 is vertically moved (z direction in the figure) to the vertical movement rail 45. ) Is attached to move vertically.
  • a test blow target object Ob2 is attached to the vertical movement slider 46 so as to face the spray gun 10.
  • the horizontal moving slider 44 and the vertical moving slider 46 have a built-in driving means for sliding movement, and their operations are controlled by the control unit 40.
  • the fine adjustment back-and-forth motion rail 48 is a guide member extending from the connecting member 41b so as to face the installation location of the object Ob2 along the y direction in the figure.
  • An adjustment longitudinally moving slider 47 is fitted so as to be slidable along the longitudinal direction (y direction in the figure).
  • a holder portion 111 is rotatably connected to the fine adjustment back and forth slider 47 via a gun angle actuator 144, and a grip 10d of the spray gun 10 is attached to and detached from the holder portion 111 by a mechanism such as a magnet or a clip. It is designed to be fixed as possible.
  • a trigger engaging portion 161 driven by a servo motor portion 162 is attached to the holder portion 111, and the trigger engaging portion 161 is also rotated up and down following the up and down rotation by the gun angle actuator 144. It is supposed to be.
  • the control unit 40 can remotely control the forward / backward movement, the swinging of the spray gun 10, the spraying operation, and the vertical / left / right driving of the object Ob ⁇ b> 2. This remote operation function may be omitted as appropriate depending on the target drive mechanism, and may be manually operated as necessary.
  • such an automatic coating device 4 for color matching is installed in the work space 3a in the exhaust device 3, and work such as test blowing and fine color matching is performed.
  • the exhaust device 3 is a local exhaust device that sucks the excess paint sprayed from the spray gun 10 toward the object Ob2 behind the object Ob2 and exhausts it to the outside.
  • the work space 3a The air is exhausted to the outside by the exhaust part 31 at the upper part of the air body in the work space 3a through the filter part 32 installed behind the air.
  • the base body 41 may be provided with an engaging means for fixing in the work space 3 a of the exhaust device 3.
  • the spray gun 10 that actually performs coating is removed from the automatic coating apparatus 1 or 1 ′ described in the embodiment and the modified example, and a simple test is performed. Blowing can be performed. For this reason, after finely adjusting the color under the same conditions as the actual coating environment, the spray gun 10 can be installed in the automatic coating apparatus 1 or 1 'as it is, and it is easily confirmed that there is no color difference. be able to.
  • the spray gun 10 is automatically moved in the horizontal direction and the vertical direction by the driving force of a motor or the like, and the trigger portion is driven by the trigger driving portion to automatically control the spraying of the paint. Therefore, it is possible to avoid the occurrence of variations in quality such as the finish and film thickness, and the occurrence of physical variations due to coating, and to accurately reproduce the coated skin. As a result, the coating quality can be stabilized.
  • the spray gun 10 can be detachably attached to the spray gun mounting portion 11, the spray gun can be removed and replaced with another spray gun, and various commercially available general spray guns can be used. Can do.
  • various types of spray guns corresponding to various situations such as the site of the repair location, the repair method, the state, the vehicle type, and the paint characteristics.
  • the trigger engaging portion 161 is caused to make a movement imitating the movement of the fingertip of the person holding the trigger, and the driving range thereof can be freely set by the control panel 20, so that a commercially available spray gun can be used. Can be easily adapted to this device, and the characteristics of the spray guns of various companies can be easily matched with various coating conditions.
  • the rails are curved in accordance with the vertical and horizontal curves of the surface of the object to be coated Ob1, so that the spray gun distance and moving speed suitable for the curve of the surface of the object to be coated Ob1, Painting can be performed at an angle, and visual confirmation and adjustment of the movement trajectory in field work can be easily performed without requiring complicated operations and knowledge.
  • the curved rail which sets the distance with respect to the to-be-painted object Ob1 of a spray gun, and the curved rail which sets the gun angle of a spray gun are provided separately, and it becomes the curved shape of the to-be-coated object Ob1. Since the setting operation of the spray distance to match and the gun angle adjustment matched to the spray gun attitude control that prioritizes the spray direction of the paint can be set independently by visual inspection, workability in line with the actual situation at the site is achieved. Can be realized.
  • a base body is such that the side by which the spray gun of the base body 151 is arrange
  • the coating material may be sprayed from the upper side to the lower side of the object to be painted such as the roof of an automobile.
  • Support roller 123 ... Horizontal mount 131 ... Lifting rack 132 ... Vertical drive part 133 ... Auxiliary rack 141 ...
  • Curved rail 142 ... Advancing and retracting arm 142a, 142a ... Grip roller 143 ... Curved rail holding part 143a ... Screw part 143b ... Fixing jig 143b ... Jig 143c ... Connecting part 144 ... Gun angle actuator 145 ... Gun angle sensor 151 ... Base body 151a ... right side surface 15 b ... Left side 152 ... Bottom 153a ... Leg 153b ... Leg 161 ... Trigger engaging part 162 ... Servo motor 171 ... Horizontal curved rail 172 ...

Landscapes

  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

Le problème décrit par la présente invention est de réduire les efforts et le temps perdu nécessaires pour éliminer la poussière ou les inégalités d'un revêtement de réparation afin d'augmenter la reproductibilité d'une surface peinte pendant la peinture de réparation pour des automobiles ou similaires. La solution selon l'invention porte sur un dispositif de peinture automatique, qui peint un objet à peindre par pulvérisation de peinture sur l'objet, lequel dispositif est pourvu : d'un pistolet de pulvérisation (10) ayant une buse de peinture (10a) pour pulvériser de la peinture et une gâchette (10c) pour ouvrir et fermer une soupape d'aiguille (10b) qui ouvre et ferme un passage de fluide pour la peinture dans la buse de peinture (10a) ; d'une partie de montage de pistolet de pulvérisation (11) pour supporter le pistolet de pulvérisation (10) de manière détachable ; d'un mécanisme d'entraînement horizontal (12) pour effectuer un mouvement de va-et-vient de la partie de montage de pistolet de pulvérisation (11) horizontalement ; d'un mécanisme d'élévation/abaissement (13) pour déplacer verticalement la partie de montage de pistolet de pulvérisation (11) ; et d'un panneau de commande (20) qui est en prise de façon détachable avec la gâchette (10c), applique une force d'entraînement à la gâchette (10c) et commande les opérations de la gâchette (10c) et de chacun des mécanismes.
PCT/JP2018/003781 2017-02-03 2018-02-05 Dispositif de peinture automatique et procédé de peinture Ceased WO2018143451A1 (fr)

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CN109794377A (zh) * 2018-12-29 2019-05-24 广州大学 一种适用于回转体上色物自动涂色的装置及方法
KR20200126566A (ko) * 2019-04-30 2020-11-09 김종삼 스프레이건 조작장치
CN112974101A (zh) * 2021-02-06 2021-06-18 温州视立舒机械科技有限公司 便于调节涂抹角度的润滑油涂抹装置
EP3725420A4 (fr) * 2017-12-29 2021-06-23 Dalian Newstar Automobile Equipment Co., Ltd. Système de robot de peinture intelligent
CN114289214A (zh) * 2021-12-29 2022-04-08 重庆华彬伟玻璃有限公司 一种自动配比式冷喷装置
CN114988714A (zh) * 2022-06-07 2022-09-02 深圳南玻科技有限公司 位置调节装置及喷涂设备
CN115874780A (zh) * 2021-09-26 2023-03-31 广东博智林机器人有限公司 喷涂方法、喷涂装置、电子设备以及介质
CN115977348A (zh) * 2021-10-15 2023-04-18 广东博智林机器人有限公司 喷枪调整装置及喷涂机

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Publication number Priority date Publication date Assignee Title
EP3725420A4 (fr) * 2017-12-29 2021-06-23 Dalian Newstar Automobile Equipment Co., Ltd. Système de robot de peinture intelligent
CN109794377A (zh) * 2018-12-29 2019-05-24 广州大学 一种适用于回转体上色物自动涂色的装置及方法
KR20200126566A (ko) * 2019-04-30 2020-11-09 김종삼 스프레이건 조작장치
KR102239565B1 (ko) * 2019-04-30 2021-04-13 김종삼 스프레이건 조작장치
CN112974101A (zh) * 2021-02-06 2021-06-18 温州视立舒机械科技有限公司 便于调节涂抹角度的润滑油涂抹装置
CN115874780A (zh) * 2021-09-26 2023-03-31 广东博智林机器人有限公司 喷涂方法、喷涂装置、电子设备以及介质
CN115977348A (zh) * 2021-10-15 2023-04-18 广东博智林机器人有限公司 喷枪调整装置及喷涂机
CN114289214A (zh) * 2021-12-29 2022-04-08 重庆华彬伟玻璃有限公司 一种自动配比式冷喷装置
CN114988714A (zh) * 2022-06-07 2022-09-02 深圳南玻科技有限公司 位置调节装置及喷涂设备
CN114988714B (zh) * 2022-06-07 2024-06-04 深圳南玻科技有限公司 位置调节装置及喷涂设备

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