JPH0334381B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a coating apparatus for automobiles. More specifically, the present invention relates to a painting device for painting the inside of a door opening of an automobile traveling on a painting line using a painting robot.

[Prior Art] In recent years, painting robots have been widely used for painting automobiles. In many automobile factories, while moving the object to be painted, the automobile, on the painting line,
The painting robot's arm is moved freely within a highly automated system for the exterior, interior, and undercarriage, and the work is carried out according to a set procedure.

[Problems to be solved by the invention] The above-mentioned automatic painting line takes advantage of the high controllability and high degree of freedom of movement of robots, but it has not yet been fully automated and still requires manual assistance. Partially required.

For example, when a painting robot paints the inside of a door opening, the door must be opened manually before the painting begins.

However, with such manual intervention, if there is carelessness or laziness, the next automatic painting operation may not proceed smoothly, and an accident such as a collision between a painting robot and a car may occur.

The present invention provides a method for painting the inside of a door opening by a painting robot on an automobile painting line.
To provide a coating device which does not interfere with subsequent automatic coating work even if manual work is neglected.

[Means for Solving the Problems] The automobile painting apparatus of the present invention attaches a door opening fitting to the door of a car passing on a painting line, and moves an arm forward and backward while translating in the same direction to the door opening fitting. The painting device is configured to engage an arm of a painting robot to open a door, and then move the arm of the painting robot forward in the direction of the door opening to perform painting work, the door opening fitting being , comprising an engagement lever and a lock fitting interlocked with the engagement lever; when the engagement lever is in a position where it cannot be engaged with the arm of the painting robot, the lock fitting holds the door in a locked state; The door is configured to be unlocked by the locking fitting when the engagement lever is moved to a position where it is engaged with the arm of the painting robot, and further provided with a detection means for detecting that the door has been opened. The coating robot is configured to start painting work by a start signal transmitted based on the detection result of the detection means.

[Operation] In the automobile painting apparatus of the present invention, first, a door opening fitting is attached to the door in advance. Before a car on the painting line enters the painting zone, the worker pulls down the engagement lever to unlock the door, and then the engagement lever is hooked to the arm of the painting robot that moves forward and backward. The door is then opened as the arm moves backward. When the door is opened, this is detected by the detection means and an activation signal is transmitted. When the painting robot receives the activation signal, it advances its arm toward the opened door and starts painting.

On the other hand, if the worker inadvertently forgets to pull down the engagement lever of the door release metal fitting, the door will remain locked, but even if the arm of the painting robot moves forward and backward, the engagement lever will not move forward or backward. Since it does not catch, the arm moves backwards and the door cannot be opened. Therefore, damage caused by forcibly opening the door in the locked state is prevented. Furthermore, as long as the door is not opened, the detection means will not operate and no activation signal will be sent, so the painting robot will not move on to painting work and its arm will remain stopped at its original position. Therefore, even if the worker neglects to release the lock, an accident such as a collision between the arm of the painting robot and the door can be prevented.

[Example] Next, an example of the present invention will be described based on the drawings.

FIG. 1 is a plan view of an automobile painting apparatus according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of a door opening fitting used in the automobile painting apparatus of the present invention, and FIG. 4 is a state explanatory diagram of the door opening fitting with the door locked, FIG. 5 is a partial plan view of the door opening fitting shown in FIG. 4, and FIG. 6 is a side view of the door opening fitting shown in FIG. FIG. 7, which is an explanatory diagram of the state of the door opening fitting when the door is unlocked, is a flowchart showing the working procedure by the coating apparatus of the present invention.

The painting apparatus shown in FIG.
Painting is performed by painting robots 2 placed on both sides of a painting line 1. Painting robot 2 moves to base 3 according to the speed of car A.
While translating above, the arm 21 can be freely moved to open the door d of the automobile A and perform painting work on the door opening and the like. Numerals 4 and 4 are phototubes arranged in pairs on both sides of the painting line 1,
When door d is opened, it blocks light,
It constitutes a detection means for detecting that door d has been opened. Note that the door opening operation and painting operation of the painting robot 2 are controlled by a control device not shown in FIG.

FIG. 2 shows a door opening fitting 5 attached to the door d. This door opening fitting 5
has a mounting member consisting of a frame body 51, legs 52, and struts 53, a pipe 54 is rotatably attached to a part of the frame body 51, and a locking fitting 55 is attached to the pipe 54.
and an engagement lever 56 are integrally attached. To attach it to the door d, the legs 52 are inserted into the trim attachment holes h of the inner panel of the door d, and the support columns 53 are fixed against the inner surface of the door d (see FIG. 3). When the engagement lever 56 is held almost upright as shown in FIG.
(see Fig. 5), locks the door d, and tilts the engagement lever 56 almost horizontally as shown in Fig. 6, the locking metal fitting 55 stands up and slides away from the center pillar p. When the door d is removed, the lock on door d is released. Further, in FIGS. 4 and 6, 21 is an arm of the painting robot 2, and when opening door d, this arm 21 enters the window of door d according to a trajectory controlled by the control device. Then he retreats again. At this time, if the engagement lever 56 is in the upright position, the arm 21 will move backward (see Fig. 4).
When the engagement lever 56 is tilted down, the engagement lever 56 is caught by the metal fitting 22 attached to the arm 21 (see FIG. 6), and the door d is opened by the subsequent backward movement. In the painting apparatus of the present invention, the door opening fitting 5 having the above-described structure is attached in advance to the door d of the automobile A traveling on the painting line 1.

Next, a procedure for painting an automobile according to the present invention will be explained with reference to the flowchart shown in FIG.

Usually, before the car A approaches the painting line shown in FIG.
6 has been knocked down by a worker, and door d has been unlocked. Immediately when the car A enters the painting booth, the painting robot 2 is activated to move the arm 21 forward toward the window of the door d and back again in accordance with the trajectory instructed by the control device. When the door d is opened by the movement of the arm 21 back and forth, the light projected between the phototubes 4 and 4 is thereby blocked, and it is detected that the door d is opened. Upon receiving the detection signals from the phototubes 4, 4, the control device outputs an activation signal to activate the painting robot 2. The painting robot 2 advances the arm 21 in the direction of the door opening and moves the painting gun at the tip to perform painting work inside the door, such as around the door opening, according to a predetermined program. The normal painting work is continued sequentially through the above steps.

Next, a case will be explained in which the operator neglects to push down the engagement lever 56 in the first step. In this case, the door d remains locked, but even if the painting robot 2 moves the arm 21 forward and backward to open the door d, the engagement lever 56 is not engaged (see Fig. 4). , door d will not open. If the door d is not opened, the light projected between the phototubes 4 and 4 will not be blocked, so the control device will not output a start signal and the painting robot 2 will not start painting.

In the above operation steps, if the door d is not unlocked, the arm 21 of the painting robot 2 will not be caught by the engagement lever 56 even if it moves forward or backward, so the door d will not be forced open. Damage to the area around the door, etc. is prevented.
Also, according to the above operation steps, when the door d is closed, the painting robot 2 moves to the arm 2.
1 is not moved, an accident such as collision with door d is also prevented.

If the door d is opened manually during the above operating steps, the normal operating steps and subsequent steps will be executed, and the painting work will be performed normally.

One embodiment of the present invention has been described above, but instead of the detection means using a phototube in the above embodiment, a limit switch that comes into contact and turns on when door d is opened is used. If there is a means to detect that
Anything can be used.

[Effects of the Invention] When using the automobile painting apparatus of the present invention, even if there is negligence in manual work, subsequent automatic painting operations will not be hindered, and accidents such as collisions between automobiles and painting robots can be prevented. can do.

[Brief explanation of drawings]

FIG. 1 is a plan view of an automobile painting apparatus according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of a door release fitting used in the automobile painting apparatus of the present invention, and FIG. 4 is a state explanatory diagram of the door release fitting with the door locked, FIG. 5 is a partial plan view of the door release fitting shown in FIG. 4, and FIG. 6 is a side view of the door release fitting shown in FIG. FIG. 7, which is an explanatory view of the state of the door release fitting when the door is unlocked, is a flowchart showing the working procedure by the coating apparatus of the present invention. (Main symbols in the drawing) 1: Painting line, 2: Painting robot, 4: Phototube, 5: Door release fitting, 5
6: Engagement lever.

Claims (1)

[Claims] 1. Attach a door opening fitting to the door of a car moving on a painting line, engage the arm of a painting robot that moves the arm forward and backward while translating in the same direction to the door opening fitting, and open the door.
The painting device is configured to perform painting work by subsequently moving the arm of the painting robot forward in the direction of the door opening, wherein the door opening metal fitting includes an engagement lever and a locking metal fitting interlocked with the engagement lever. and a locking fitting holds the door in a locked state when the engagement lever is in a position where it cannot be engaged with the arm of the painting robot, and the engagement lever is in a position where it is engaged with the arm of the painting robot. When the door is knocked down, the door is unlocked by the locking metal fitting, and a detection means for detecting that the door has been opened is provided, and an activation signal is transmitted based on the detection result of the detection means. An automobile painting device characterized in that a painting robot is made to start painting work by: