To accurately paint a paint object part on a back surface of a floor of a vehicle body by using a simple structure without needing a large scale facility in a paint apparatus which paints the back surface of the floor of the vehicle body.SOLUTION: An automatic paint apparatus 1 paints a back surface of a floor of a body and includes: a dolly which transports a body placed thereon; a paint nozzle 11 which may be inserted into a gap G between the dolly and the back surface of the floor of the body in a state where the body is placed on the dolly; a camera 20 which is disposed having a predetermined positional relationship with the paint nozzle 11, is inserted into the gap G with the paint nozzle 11, and captures images of a paint target part TP on the back surface of the floor of the body; and an automatic machine controller 6 and an image controller 7 which adjust a position of the paint nozzle 11 based on a positional relationship between the paint nozzle 11 and the camera 20 and a positional relationship between the paint target part TP and the camera 20 which is estimated from the images of the paint target part TP captured by the camera 20.SELECTED DRAWING: Figure 4
【課題】車体の床裏を塗装する塗装装置において、大掛かりな設備を要することなく、簡易な構成で、車体の床裏における塗装対象部を精度良く塗装する。【解決手段】ボデーの床裏を塗装する自働塗装装置1である。載置されたボデーを搬送する台車と、ボデーが台車上に載置された状態のまま台車とボデーの床裏との隙間Gに挿入可能な塗装ノズル11と、塗装ノズル11と所定の位置関係で配置され、塗装ノズル11と共に隙間Gに挿入されて、ボデーの床裏における塗装対象部TPを撮像するカメラ20と、塗装ノズル11とカメラ20との位置関係と、カメラ20によって撮像された塗装対象部TPの画像から推定される、塗装対象部TPとカメラ20との位置関係とに基づいて、塗装ノズル11の位置を調整する自働機コントローラ6および画像コントローラ7と、を備えている。【選択図】図4
PAINT APPARATUS
塗装装置
2019-05-23
Patent
Electronic Resource
Japanese
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