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US 12,290,828 B2Granted
Coating system and coating method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKatsuhiko Yoshino, Naoyuki Ohtsubo, Yasuhiro Kataoka, Kenichiro Shigeyoshi
Life of this patent
Estimating the term…
Abstract
A coating system includes a first robot configured to open an opening/closing portion of a vehicle body and a second robot configured to coat an interior of the vehicle body through the opening/closing portion opened by the first robot. The first robot has a first base via which the first robot is mounted to a structure forming a coating area. The second robot has a second base via which the second robot is mounted. The second base is mounted below the first base in a vertical direction.
Claims21
A coating system comprising:
- a conveyor configured to convey a vehicle body in a first direction;
- a first robot configured to open an opening/closing portion of the vehicle body and having a first base via which the first robot is mounted to a structure forming a coating space;
- a second robot configured to coat an interior of the vehicle body through the opening/closing portion opened by the first robot and having a second base via which the second robot is mounted, the second base being mounted lower than the first base in a vertical direction;
- a moving device configured to move the second robot in the first direction and in a second direction intersecting the first direction, the moving device comprising:
- a traveling device comprising a slider movable in the first direction;
- and
- a turning arm connected to the slider rotatable around a turning axis which is along the vertical direction, the second base of the second robot being mounted on the turning arm;
- and
- a control circuitry configured to move the slider and rotate the turning arm according to a position of a coating area in the interior of the vehicle body so that the second robot coats the coating area.
6 more elements
A coating system comprising:
- a first robot configured to open an opening/closing portion of a vehicle body and having a first base via which the first robot is mounted to a structure forming a coating space;
- a second robot configured to coat an interior of the vehicle body through the opening/closing portion opened by the first robot and having a second base via which the second robot is mounted, the second base being mounted lower than the first base in a vertical direction;
- a conveyor configured to convey the vehicle body in a first direction;
- and
- a moving device configured to move the second robot in the first direction and in a second direction intersecting the first direction,
- wherein the moving device comprises:
- a traveling device comprising a slider movable in the first direction;
- and
- a turning arm connected to the slider rotatable around a turning axis which is along the vertical direction, the second base of the second robot being mounted on the turning arm, and
- wherein the second robot is a vertical multi-joint robot including the second base and a turning portion that is connected to an upper end portion of the second base in the vertical direction.
7 more elements
A coating method comprising:
- conveying a vehicle body with an opening/closing portion in a first direction;
- controlling a horizontal arm of a first robot so that a vertical arm of the first robot follows the vehicle body, the vertical arm being connected to a tip end of the horizontal arm;
- opening the opening/closing portion via the vertical arm to maintain an open state;
- moving, using a moving device, a second robot in the first direction and in a second direction intersecting the first direction so as to follow the vehicle body, the moving device comprising:
- a traveling device comprising a slider movable in the first direction;
- and
- a turning arm connected to the slider rotatable around a turning axis which is along a vertical direction, a second base of the second robot being mounted on the turning arm;
- and
- coating an interior of the vehicle body with the second robot through the opened opening/closing section, wherein the slider is moved and the turning arm is rotated according to a position of a coating area in the interior of the vehicle body so that the second robot coats the coating area.
6 more elements
Dependencies are inferred from the claim text.