Coating system

Abstract

This coating system (100) is provided with: a pair of transport robots (10, 20) that alternately transport each of a plurality of coating targets (90) to a coating region (61); and a coating robot (30) that coats each of the plurality of coating targets (90) held in the coating region (61) by the pair of transport robots (10, 20). During a period in which one transport robot (10) holds one coating target (90) in the coating region (61), the other transport robot (20) performs: transporting another coating target (90); and / or waiting while holding the other coating target (90) in a standby region.

Description

Painting System

[0001] This disclosure relates to painting systems.

[0002] Three-dimensional object printing devices have been known in the past. For example, Japanese Patent Application Laid-Open No. 2022-127795 describes a three-dimensional object printing device equipped with a pair of robots: a robot equipped with a liquid ejection unit that ejects ink toward the workpiece, and a robot equipped with a hand mechanism that holds the workpiece. In the three-dimensional object printing device described in Japanese Patent Application Laid-Open No. 2022-127795, a workpiece placed on a mounting section is held and moved by a robot equipped with a hand mechanism. Then, ink is ejected onto the workpiece held by the robot equipped with a hand mechanism by a robot equipped with a liquid ejection unit, thereby printing on the workpiece. The printed workpiece is moved by the robot equipped with a hand mechanism and placed on the mounting section.

[0003] Japanese Patent Application Laid-Open No. 2022-127795

[0004] However, when painting a workpiece using a pair of robots, one holding the workpiece and the other painting it, as in the three-dimensional printing device described in JP 2022-127795 A, a series of operations, from the robot holding the workpiece before painting to the robot placing the painted workpiece, are performed one by one for each workpiece. Therefore, when painting multiple workpieces sequentially, the time required for the work increases, making it difficult to improve work efficiency. For this reason, it is desirable to improve work efficiency when painting multiple workpieces using a painting robot.

[0005] This disclosure has been made to solve the above-mentioned problems, and one purpose of this disclosure is to provide a painting system that can improve work efficiency when painting multiple objects using a painting robot.

[0006] A painting system according to one aspect of this disclosure comprises a pair of transport robots that alternately transport each of a plurality of objects to be painted to a painting area, and a painting robot that paints each of the plurality of objects to be painted held in the painting area by the pair of transport robots, and while one of the pair of transport robots holds one of the plurality of objects to be painted in the painting area, the other of the pair of transport robots at least one of transporting another of the plurality of objects to be painted and waiting while holding the other object to be painted in a waiting area.

[0007] In one aspect of the present disclosure, the painting system, as described above, while one of the pair of transport robots holds one of the plurality of painting targets in the painting area, the other of the pair of transport robots at least one of transporting the other of the plurality of painting targets and holding the other of the painting targets in the waiting area and waiting. Thus, when painting a plurality of painting targets, while one of the transport robots holds one of the painting targets in the painting area, the other of the pair of transport robots at least one of transporting the other of the painting targets and holding the other of the painting targets in the waiting area and waiting. Therefore, while one of the transport robots is transporting the one painting target that has been painted, the other of the transport robots can start moving to transport the other of the painting targets to the painting area where painting will be performed. This reduces the time required to paint a plurality of painting targets sequentially compared to when the other of the painting targets is transported after the first painting target has been transported. As a result, work efficiency can be improved when painting a plurality of painting targets using painting robots.

[0008] According to the present disclosure, work efficiency can be improved when painting multiple objects using a painting robot.

[0009] FIG. 1 is a schematic diagram showing the overall configuration of a painting system according to a first embodiment of the present disclosure. FIG. 2 is a block diagram showing the configuration of a painting system. FIG. 3 is a schematic diagram for explaining the configuration of a transport robot. FIG. 4 is a schematic diagram for explaining the configuration of a painting robot. FIG. 5 is a diagram showing the arrangement of a pair of transport robots and a painting robot. FIG. 6 is a top view for explaining the operation of a transport robot. FIG. 7 is a diagram for explaining a standby area and a painting preparation position according to the first embodiment. FIG. 8 is a diagram for explaining a change in posture during a painting operation. FIG. 9 is a flowchart for explaining a method of painting an object to be painted using the painting system of the first embodiment. FIG. 10 is a schematic diagram showing the overall configuration of a painting system according to a second embodiment of the present disclosure. FIG. 11 is a diagram for explaining a standby area according to the second embodiment.

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0011] First Embodiment The configuration of a painting system 100 according to a first embodiment will be described with reference to FIGS. 1 to 8. FIG.

[0012] (Configuration of the Painting System) As shown in FIG. 1 , a painting system 100 according to the first embodiment includes a pair of transfer robots 10 and 20, a painting robot 30, a conveyor device 40, and a painting booth 50. The pair of transfer robots 10 and 20 alternately transport each of a plurality of painting targets 90 to a painting area 61. The painting robot 30 paints each of the plurality of painting targets 90 held in the painting area 61 by the pair of transfer robots 10 and 20. In the painting system 100 according to the first embodiment, the plurality of painting targets 90 continuously transported by the conveyor device 40 are transported one by one to the painting area 61 by the pair of transfer robots 10 and 20, and the painting targets 90 transported by the transfer robots 10 and 20 are painted by the painting robot 30. The pair of transfer robots 10 and 20 and the painting robot 30 have explosion-proof structures that allow the use of organic solvent-containing paints. The conveyor device 40 is an example of a painting target placement unit.

[0013] 2 , the transport robot 10 includes a robot arm unit 11, a holding unit 12, a stand 13, and a control unit 14. Similar to the transport robot 10, the transport robot 20 includes a robot arm unit 21, a holding unit 22, a stand 23, and a control unit 24. The painting robot 30 includes a robot arm unit 31, a discharge unit 32, a stand 33, and a control unit 34.

[0014] <Details of the Transport Robot and the Painting Robot> In the painting system 100, the transport robot 10 and the transport robot 20 have a common structure. In the following description using Fig. 3, the details of the transport robot 10 will be described, and the details of the transport robot 20 will not be described because they have a common structure.

[0015] As shown in FIG. 3 , the robot arm 11 of the transport robot 10 is a six-axis vertical articulated robot arm having multiple link members and joints connecting the multiple link members. That is, the six joints in the robot arm 11 move around six joint axes, JT1 to JT6. The transport robot 10 transports the object 90 to be painted by operating the robot arm 11 and a holder 12 attached to the distal end of the robot arm 11 as an end effector. The holder 12 includes, for example, a tapered pin, which is a rod-shaped member inserted into a hole in the object 90. The transport robot 10 uses the holder 12 to scoop up the object 90 from below, i.e., the Z2 direction. The shape of the holder 12 is not limited to this; it may also be configured to grip the object 90 by pinching it. The robot arm unit 11 has a BBR (bend-bend-roll) structure in the wrist portion from the JT4 axis to the JT6 axis, for example. That is, the robot arm unit 11 performs bending operations on the JT4 axis and the JT5 axis, and rotation operations on the JT6 axis.

[0016] The robot arm unit 11 is attached at its base end to a pedestal 13. The pedestal 13 is disposed on a floor surface 50a within the painting booth 50. The base end of the robot arm unit 11 is attached to an installation surface of the pedestal 13 that is horizontal with respect to the floor surface 50a. As described above, the structures of the components of the transport robot 20 are common to those of the transport robot 10. That is, the robot arm unit 21, the holder 22, and the pedestal 23 have common structures to the robot arm unit 11, the holder 12, and the pedestal 13, respectively.

[0017] As shown in FIG. 4 , the robot arm 31 of the painting robot 30 is a six-axis vertical articulated robot arm having multiple link members and joints connecting the link members. That is, in the robot arm 31, similar to the robot arm 11, six joints move around six joint axes, JT1 to JT6. The robot arm 31 also has a 3R structure (roll-roll-roll structure) at the wrist, from the JT4 to JT6 axes. That is, the robot arm 31 rotates around each of the JT4, JT5, and JT6 axes. The painting robot 30 paints the object 90 by operating the robot arm 31 and a discharge unit 32, which serves as an end effector attached to the tip of the robot arm 31. The discharge unit 32 sprays paint onto the object 90. The discharge unit 32 has, for example, a rotary atomizing type paint bell. For example, the painting robot 30 performs electrostatic painting by spraying electrically charged paint from the discharge unit 32. The painting robot 30 operates the robot arm unit 31 to change the position and angle of the discharge unit 32 and paint the object 90 to be painted. The robot arm unit 31 is attached at its base end to a stand 33. The stand 33 is disposed on the floor surface 50a. Similar to the robot arm unit 11, the base end of the robot arm unit 31 is attached to an installation surface of the stand 33 that is parallel to the floor surface 50a. That is, in the first embodiment, the transport robot 10, the transport robot 20, and the painting robot 30 are all disposed on the floor surface 50a.

[0018] The control unit 14 is a computer including an arithmetic unit such as a central processing unit (CPU), memories such as a random access memory (RAM) and a read-only memory (ROM), and a storage device such as a hard disk. The control unit 14 executes control processing using the arithmetic unit based on programs and parameters stored in the storage device. The control unit 14 controls the operation of each unit of the transport robot 10. The control unit 14 is a robot controller having, for example, a main CPU that controls the overall operation of the transport robot 10 and a servo CPU that controls the current supplied to the servo motor that drives the robot arm unit 11. The control unit 14 also includes a communication module. The control unit 14 communicates with the control unit 24 of another transport robot 20 via the communication module. The control unit 14 also communicates with the control unit 34 of the painting robot 30. The control unit 24 controls the operation of the transport robot 20. The control unit 34 controls the operation of the painting robot 30. The control unit 14 of the transport robot 10, the control unit 24 of the transport robot 20, and the control unit 34 of the painting robot 30 all have a common structure. That is, in the painting system 100, the control units 14, 24, and 34, which are three robot controllers having a common structure, communicate with each other and respectively control the operation of the pair of transport robots 10 and 20 and the painting robot 30, which are different robots.

[0019] As shown in FIG. 1 , the conveyor device 40 is a transport device on which multiple coating targets 90 before and after coating are arranged. The conveyor device 40 continuously transports the multiple coating targets 90 arranged in a line along a floor surface 50a from the X1 direction, which is one side of the X direction, to the X2 direction, which is the other side. Each of the multiple coating targets 90 has, for example, a cubic shape. The conveyor device 40 is, for example, a belt conveyor device that transports the multiple coating targets 90 arranged in a line on a belt member. The conveyor device 40 may also transport the multiple coating targets 90 arranged on a transport jig. As shown in FIG. 2 , the conveyor device 40 has a control unit 41. The control unit 41 controls the operation of each unit of the conveyor device 40. The control unit 41 has, for example, a computing device such as a CPU. The control unit 41 also has a communication module. The control unit 41 communicates with the control unit 14 of the transport robot 10 and the control unit 24 of the transport robot 20.

[0020] As shown in FIG. 1 , the paint booth 50 defines a painting area 61 where painting is performed. The painting area 61 is an area where paint is dispensed from the painting robot 30 when painting the object 90. In the painting area 61, for example, a lattice-shaped floor panel member is arranged on the floor surface 50a. The paint booth 50 has plate-shaped wall members arranged on three sides of the painting area 61: the Y1 direction side, which is the opposite side of the conveyor device 40, and both the X direction side. In the paint booth 50, paint is dispensed onto the object 90 by the painting robot 30 in the area defined by the plate-shaped wall members. The dispensed paint that is not applied to the object 90 is collected via the floor panel member of the floor surface 50a, a filter arranged in the paint booth 50, a dust separator, or the like.

[0021] The paint booth 50 includes an exhaust fan 51. For example, the exhaust fan 51 is disposed on the ceiling on the Z1 side of the paint booth 50. The exhaust fan 51 guides air from the paint booth 50 to the outside and also guides the air from waiting areas 62a and 62b (described later) toward the paint area 61, from the Y2 side (rearward of the conveyor device 40) toward the Y1 side (front of the paint area 61). The exhaust fan 51 exhausts the air from the paint booth 50 through a lattice-shaped floor panel member on the floor 50a, a filter or dust separator disposed in the paint booth 50, or the like. The paint booth 50 has an explosion-proof structure. The paint booth 50 may be a dry booth in which paint is collected using a dry filter or the like, or a wet booth in which paint is collected using a liquid such as water as a filter. When the air in the painting booth 50 is guided to be discharged to the outside by the exhaust fan 51 via the downward Z2 direction side, the exhaust fan 51 guides the air in the painting booth 50 from the waiting areas 62a and 62b toward the painting area 61 so that the air flows from the rear Y2 direction side toward the front Y1 direction side, and from the upper Z1 direction side toward the lower Z2 direction side.

[0022] 1, in the painting system 100 according to the first embodiment, the painting robot 30 is disposed at a position farther away from the conveyor device 40 than the transport robots 10 and 20. The pair of transport robots 10 and 20 are disposed side by side between the painting robot 30 and the conveyor device 40 along the X direction, which is the direction in which the conveyor device 40 transports a plurality of objects to be painted 90. The positions on the floor surface 50a where the stands 13, 23, and 33 are installed are the installation positions of the transport robot 10, the transport robot 20, and the painting robot 30, respectively.

[0023] The pair of transport robots 10 and 20 are arranged side by side on the floor surface 50a between the conveyor device 40 and the painting area 61, with their backs facing each other, along the X direction perpendicular to the Y direction from the conveyor device 40 toward the painting area 61. The transport robot 10 is arranged facing the X2 direction, which is one side of the X direction in which the conveyor device 40 transports the object to be painted 90. The transport robot 20 is arranged facing the X1 direction, which is the opposite side of the transport robot 10. That is, the operating range 10a of the transport robot 10 is arranged on the X2 side of the painting booth 50, and the operating range 20a of the transport robot 20 is arranged on the X1 side of the painting booth 50. The painting robot 30 is arranged between the pair of transport robots 10 and 20 with their backs facing each other, as viewed from the conveyor device 40. That is, the painting robot 30 is arranged between the pair of transport robots 10 and 20 arranged side by side along the X direction, as viewed from the Y2 direction. The pair of transport robots 10 and 20 are arranged so as to be line-symmetrical to each other along the X direction in a plan view. The painting robot 30 is disposed in the center of the painting booth 50 in a plan view.

[0024] As shown in FIG. 5 , the installation surface on which the base end of the robot arm unit 31 of the painting robot 30 is attached is positioned higher in the height direction than the installation surfaces on which the base ends of the robot arm units 11 and 21 of the transport robots 10 and 20 are attached. Furthermore, a painting area 61 onto which paint is dispensed by the painting robot 30 is positioned between the pair of transport robots 10 and 20 when viewed from the Y direction. The painting robot 30 paints the object 90 placed in the painting area 61 by discharging paint from above to below the painting area 61. When painting the object 90, the painting robot 30 dispenses paint from the position where the painting robot 30 is positioned toward the direction in which air is discharged from the painting booth 50. That is, the painting robot 30 dispenses paint toward the object 90 placed in the painting area 61 from above to below, and from the rearward direction Y2 toward the forward direction Y1.

[0025] (Control Processing in Painting System) As shown in FIG. 6 , in the first embodiment, a painting area 61, a waiting area 62a, a painting preparation position 63a, a mounting / detaching position 64, and a waiting area 65a are set as positions or areas where the painting target 90 is placed during the transfer operation of the transfer robot 10. Furthermore, a painting area 61, a waiting area 62b, a painting preparation position 63b, a mounting / detaching position 64, and a waiting area 65b are set as positions or areas where the painting target 90 is placed during the transfer operation of the transfer robot 20. Note that "transport" here includes receiving the painting target 90 from the conveyor device 40, moving while holding the painting target 90, waiting while holding the painting target 90, and handing over the painting target 90 to the conveyor device 40. Furthermore, "transport" includes both carrying the painting target 90 toward the painting area 61 and carrying the painting target 90 out of the painting area 61. Furthermore, "transporting" includes maintaining the painting posture in accordance with the painting operation by the painting robot 30 while painting is being performed.

[0026] The transfer robots 10 and 20 transport the object to be painted 90 along the outer wall surface in the X direction of the painting booth 50. Specifically, the transfer robots 10 and 20 receive and unload the object to be painted 90 at a loading / unloading position 64 located in the center of the X direction, and then transport the object to be painted 90 to the waiting areas 62a and 62b along the wall surface on the X2 direction side and the wall surface on the X1 direction side, respectively. The transfer robots 10 and 20 transport the object to be painted 90 along the outer wall surface in the X direction to the waiting areas 62a and 62b in the Y1 direction, and then transport the object to be painted 90 further along the Y1 direction to the painting preparation positions 63a and 63b. The transfer robots 10 and 20 then move the object to be painted 90 from the painting preparation positions 63a and 63b toward the painting area 61 located in the center of the painting booth 50 in the X direction, thereby transporting the object to be painted 90 to the painting area 61. When a loading operation is performed to transport the painting target 90 that has been completely painted out of the painting area 61, the painting target 90 is moved along the same route as that used for carrying it in, but in the opposite direction. Note that the transport route used for carrying it in and the transport route used for carrying it out may be different from each other.

[0027] The standby areas 62a and 62b are standby areas for painting while one of the plurality of painting objects 90 is being painted. In the painting system 100, while one of the pair of transfer robots 10 and 20 is holding one of the plurality of painting objects 90 in the painting area 61, the other of the pair of transfer robots 10 and 20 at least one of transporting the other of the plurality of painting objects 90 and holding the other of the plurality of painting objects 90 in the standby areas 62a and 62b. In the first embodiment, while one of the pair of transfer robots 10 and 20 is painting one of the plurality of painting objects 90 in the painting area 61, the other of the pair of transfer robots 10 and 20 is holding the other of the plurality of painting objects 90 in the standby areas 62a and 62b and waiting.

[0028] Specifically, in the first embodiment, while the transport robot 10 is holding one of the plurality of objects to be painted 90 in the painting area 61, the transport robot 20 is transporting another of the plurality of objects to be painted 90 and is waiting while holding the other object to be painted 90 in the waiting area 62b. Similarly, while the transport robot 20 is holding the object to be painted 90 in the painting area 61, the transport robot 10 is transporting the other object to be painted 90 and is waiting while holding the other object to be painted 90 in the waiting area 62a.

[0029] The standby areas 62a and 62b are located in the painting booth 50 at positions spaced apart from the painting area 61 to avoid paint deposition. In the first embodiment, the standby areas 62a and 62b are located on the transport path between the installation positions of the transport robots 10 and 20 and the painting area 61 in a plan view. As shown in FIG. 5 , the standby areas 62a and 62b are located at a height higher in the Z direction than the painting area 61. Note that FIG. 5 shows a state in which the transport robots 10 and 20 are holding the painting target 90 in the standby areas 62a and 62b, respectively. As shown in FIG. 6 , the standby areas 62a and 62b are located on the Y2 direction side of the painting area 61.

[0030] The transport robots 10 and 20 transmit and receive signals to each other, so that when painting of the object 90 held by one of them is completed, the transport robot 10 moves the object 90 held by the other of them from the waiting areas 62a and 62b to the painting area 61. For example, when painting of the object 90 held by the transport robot 10 is completed, the control unit 14 of the transport robot 10 outputs a signal indicating that painting is completed to the control unit 24 of the transport robot 20. When the control unit 24 receives a signal from the control unit 14 indicating that painting of one object 90 held by the transport robot 10 is completed, the control unit 24 starts movement to transport the other object 90 held by the transport robot 20 from the waiting area 62b to the painting area 61. In this case, when the control unit 24 receives a signal from the control unit 14 indicating that the one object 90 that has been painted has been removed from the painting area 61, the control unit 24 controls the transport robot 20 to move the other object 90 into the painting area 61.

[0031] The paint preparation positions 63a and 63b are positions where the next painting target 90 waits after the next painting target 90 starts moving from the standby area 62a and the standby area 62b, respectively, until the painted target 90 is transported from the painting area 61. Specifically, when the painting target 90 held by the transfer robot 10 is being painted, the control unit 24 of the transfer robot 20 waits in the standby area 62b while holding the painting target 90 until a painting completion signal indicating that painting is complete is received from the control unit 14. Then, when the control unit 24 receives the painting completion signal from the control unit 14, the control unit 24 starts moving the painting target 90 from the standby area 62b. At this time, during the movement from the standby area 62b toward the painting area 61, the control unit 24 waits in the paint preparation position 63b while holding the painting target 90 until a transport completion signal indicating that the painting target 90 has been transported from the painting area 61 is received. For example, after painting is completed, the control unit 14 transmits a painting completion signal to the control unit 24 and starts carrying out the object to be painted 90. Then, when the object to be painted 90 is carried out from the painting area 61 and moved to a predetermined carry-out completion position, the control unit 14 outputs a carry-out completion signal to the control unit 24. Based on the carry-out completion signal from the control unit 14, the control unit 24 causes the object to be painted 90 to enter the interior of the painting area 61 from the painting preparation position 63b.

[0032] The same applies when painting the object 90 held by the transfer robot 20. That is, the control unit 14 of the transfer robot 10 waits in the standby area 62a while holding the object 90 until a painting completion signal is received from the control unit 24 of the transfer robot 20. Then, when the control unit 14 receives the painting completion signal, it starts moving the object 90 and waits in the standby area 62a while holding the object 90 until a carry-out completion signal is received from the control unit 24. Then, when the control unit 14 receives the carry-out completion signal, it moves the object 90 from the standby area 62a to the inside of the painting zone 61 and starts the painting operation. Note that if the control units 14 and 24 start moving the object 90 from the standby area 62a or 62b and receive the carry-out completion signal before the object 90 reaches the painting preparation position 63a or 63b, respectively, they do not wait at the painting preparation position 63a or 63b but carry the object 90 into the painting zone 61.

[0033] In the first embodiment, while one coating target 90 held by the transport robot 20 is being painted by the painting robot 30, the transport robot 10 receives the next coating target 90 from the conveyor device 40 and holds it in the standby area 62a while waiting. Similarly, while one coating target 90 held by the transport robot 10 is being painted by the painting robot 30, the transport robot 20 receives the next coating target 90 from the conveyor device 40 and holds it in the standby area 62b while waiting.

[0034] Here, the standby areas 65a and 65b are standby areas where the transport robots 10 and 20 wait while the conveyor device 40 is transporting the object to be painted 90. For example, while the transport robot 10 is painting the object to be painted 90 held by the transport robot 10, the transport robot 20 transports the object to be painted 90 to the conveyor device 40 after painting. The control unit 24 controls the operation of the transport robot 20 to transport the object to be painted 90 after painting to the attachment / detachment position 64 of the conveyor device 40 and transfer the object to be painted 90 after painting to the conveyor device 40. When the transfer is complete, the control unit 24 outputs a transfer signal to the control unit 41 of the conveyor device 40 indicating that the object to be painted 90 has been transferred. Then, the control unit 24 moves the transport robot 20 to the standby area 65b. Then, the control unit 24 outputs a standby signal to the control unit 41 of the conveyor device 40 indicating that the transport robot 20 has completed its movement to the standby area 65b. The control unit 41 performs a transport operation for the multiple coating targets 90, thereby moving the next coating target 90 to be coated to the attachment / detachment position 64 and stopping the transport operation. The control unit 41 outputs a signal indicating that the transport operation has been stopped to the control unit 24. The control unit 24 causes the transport robot 20 to wait in the standby area 65b until the conveyor device 40 completes the transport operation of the coating targets 90. When the conveyor device 40 completes the transport of the coating targets 90 and stops its operation, the control unit 24 causes the transport robot 20 to receive the next coating target 90 to be coated that is located at the attachment / detachment position 64 based on a signal from the control unit 41. The control unit 24 then waits while holding the coating target 90 held by the transport robot 20 in the standby area 62b. When the coating target 90 held by the transport robot 20 is to be painted, the transport robot 10 similarly transfers the coating target 90 between the conveyor device 40 and the coating target 90. Even in this case, the control unit 14 of the transport robot 10 causes the transport robot 10 to wait in the waiting area 65a while the conveying operation by the conveyor device 40 is being performed, and receives the object to be painted 90 at the attachment / detachment position 64.

[0035] As shown in FIG. 7 , in the first embodiment, the transport robots 10 and 20 move the coating target 90 held by them from the conveyor device 40 upward in the Z1 direction and then transport the coating target 90 along a transport path that overlaps with the transport robots 10 and 20 in a plan view. For example, while the transport robot 20 is painting one coating target 90 held by the transport robot 10, the transport robot 20 moves another coating target 90 forward and upward from the conveyor device 40 to wait in the standby area 62b while holding the other coating target 90. After the transport robot 20 has finished painting the one coating target 90 held by the transport robot 10, the transport robot 20 moves the other coating target 90 forward and downward from the standby area 62b to the coating area 61. The coating preparation positions 63a and 63b are positions along the transport path from the standby areas 62a and 62b to the coating area 61, respectively. In the first embodiment, the painting preparation positions 63a and 63b are disposed at positions higher in height in the Z direction than the painting area 61, similar to the standby areas 62a and 62b, respectively.

[0036] 8 , in the first embodiment, when the painting robot 30 paints the objects 90, the pair of transport robots 10 and 20 hold each of the multiple objects 90 in the painting area 61 and change at least one of the position and angle of each of the multiple objects 90 in accordance with the painting operation of the painting robot 30. That is, in the painting system 100, each of the multiple objects 90 is painted by the painting robot 30 while being held and moved by the transport robots 10 and 20.

[0037] For example, when a cubic painting target 90 held by the transport robot 10 is to be painted, the painting robot 30 paints one side of the held painting target 90. Then, when painting of the one side is completed, the control unit 34 of the painting robot 30 communicates with the control unit 14 of the transport robot 10 holding the painting target 90, and outputs a signal instructing a change in the posture of the painting target 90. The control unit 14 of the transport robot 10 changes the posture of the painting target 90 based on the signal from the control unit 34. Then, the control unit 14 outputs a signal indicating that the posture change has been completed to the control unit 34. Based on the signal indicating that the posture change has been completed, the control unit 34 controls the painting operation of the painting robot 30 to paint a new side of the painting target 90. The painting operation is performed while changing the posture of the painting target 90 by the control unit 34 of the painting robot 30 and the control unit 14 of the transport robot 10 communicating with each other. In this case, while paint is being discharged from the discharge section 32 of the painting robot 30, the transport robot 10 does not move the object 90 to be painted, and instead alternates between discharging paint and changing the posture of the object 90 to be painted.

[0038] Furthermore, each of the transport robots 10 and 20 may change the position and angle of the object 90 while the painting robot 30 is painting. For example, each of the transport robots 10 and 20 may move the object 90 in a direction opposite to the direction in which the discharge unit 32 is moving while the painting robot 30 is painting. For example, when the painting robot 30 paints while moving the discharge unit 32 along the Y1 direction, the transport robots 10 and 20 move the object 90 they are holding along the Y2 direction opposite to the Y1 direction in the painting area 61. When the painting robot 30 paints while moving the discharge unit 32 along the X1 direction, the transport robots 10 and 20 move the object 90 they are holding along the X2 direction opposite to the X1 direction in the painting area 61. The transport robots 10 and 20 may change the position and angle of the object 90 in accordance with changes in the position and angle of the discharge unit 32 during the painting operation of the painting robot 30.

[0039] (Method of painting an object to be painted according to the first embodiment) With reference to Figure 9, a method of painting an object to be painted 90 by the painting system 100 according to the first embodiment will be described based on a flowchart. Note that the control processes from step S101 to step S109 are executed by the control unit 14 of the transport robot 10. The control processes from step S201 to step S207 are executed by the control unit 24 of the transport robot 20. The control processes in steps S301 and S305 are executed by the control unit 34 of the painting robot 30. The control processes in steps S401 and S402 are executed by the control unit 41 of the conveyor device 40. The method of painting an object to be painted 90 according to the first embodiment is executed while the control units 14, 24, 34, and 41 transmit and receive signals to and from each other. In the method for painting the object 90 by the painting system 100 in the first embodiment, control processes from step S101 to step S103, step S201, step S301, and step S401 to step S402 are performed when the painting system 100 is started up. Then, during operation of the system in which the operation of painting a plurality of objects 90 in sequence is repeatedly performed, each of the control processes from step S104 to step S109, step S202 to step S207, step S302 to step S305, and step S401 to step S402 is repeatedly performed.

[0040] <Startup Operation> First, in step S101, the conveyor device 40 is placed on standby for transport movement at startup. In step S101, the control unit 14 of the transport robot 10 waits, for example, in the standby area 65a, until the conveyor device 40 transports the object to be painted 90 to the attachment / detachment position 64. Similarly, in step S201, the transport robot 20 waits, for example, in the standby area 65b. Similarly, in step S301, the painting robot 30 waits, for example, in the standby position. While the transport robot 10, the transport robot 20, and the painting robot 30 are waiting in steps S101, S201, and S301, respectively, in step S401, the conveyor device 40 transports one of the multiple objects to be painted 90 to the attachment / detachment position 64. Then, in step S402, after one of the plurality of objects to be painted 90 has been transported to the mounting / unmounting position 64, the conveyor device 40 stops moving the plurality of objects to be painted 90. In step S402, the control unit 41 of the conveyor device 40 waits in a state where the movement of at least the object to be painted 90 arranged at the mounting / unmounting position 64 has been stopped, and outputs a stop signal to the transport robots 10 and 20 indicating that the transport to the mounting / unmounting position 64 has been completed and the transport operation has been stopped.

[0041] Then, in step S102, one of the pair of transport robots 10 and 20, the transport robot 10, holds one of the multiple objects to be coated 90 continuously transported by the conveyor device 40, thereby performing an unloading operation in which the object to be coated 90 is removed from the conveyor device 40. In this case, the transport robot 20 continues step S201 and waits, for example, in the waiting area 65b. The painting robot 30 also continues step S301 and is in a standby state. Furthermore, the conveyor device 40 continues step S402 and waits with at least the object to be coated 90 arranged at the attachment / detachment position 64 stopped from moving.

[0042] Then, in step S103, the transfer robot 10 carries the object 90 to the painting area 61. Specifically, the object 90 to be painted, which has been placed at the attachment / detachment position 64 of the conveyor device 40, is held by the transfer robot 10 and transported to the painting area 61.

[0043] <Operation During Operation> Next, after the carry-in operation in step S103 is completed, in step S302, painting of the object to be painted 90 held by the transport robot 10 is started, and the transport robot 20 starts transporting a new object to be painted 90, thereby starting an operation during operation in which multiple objects to be painted 90 are repeatedly painted in sequence. After the carry-in operation in step S103 is completed, in step S302, one object to be painted 90 held by the transport robot 10 is painted by the paint robot 30. Also, while the painting operation in step S302 is being performed, in step S104, the transport robot 10 changes the posture of the object to be painted 90 being painted. That is, the control unit 34 of the paint robot 30 and the control unit 14 of the transport robot 10 send and receive signals to each other, thereby changing the position and angle of the object to be painted 90 while the painting operation is being performed.

[0044] After the carry-in operation in step S103 is completed, a transport operation in step S401 is performed again in parallel with steps S104 and S302. For example, in the carry-in operation by the transport robot 10 in step S103, the control unit 14 outputs a signal to the control unit 41 of the conveyor device 40 indicating that the object to be painted 90 held by the transport robot 10 has been carried into the painting booth 50 and into the painting area 61. Then, the conveyor device 40 performs the transport operation in step S401. In the transport operation in step S401, the next object to be painted 90 to be painted is transported to the mounting / unmounting position 64. Then, after the object to be painted 90 has been transported to the mounting / unmounting position 64, the conveyor device 40 stops the transport operation and waits in step S402. Also, in step S402, a stop signal indicating that the transport operation has been stopped is transmitted to the transport robot 20.

[0045] Furthermore, in step S202, while the conveyor device 40 is performing the transport operation in step S401, a standby operation of the conveyor device 40 is performed. In step S202, similar to step S101, the control unit 24 of the transport robot 20 causes the transport robot 20 to wait, for example, in the standby area 65b, until the conveyor device 40 transports the object to be coated 90 to the attachment / detachment position 64. Then, after the loading operation in step S402 is completed, in step S203, the other transport robot 20 of the pair of transport robots 10 and 20 holds one object to be coated 90 different from the object to be coated 90 held by the transport robot 10, and performs an unloading operation. Specifically, based on the stop signal from the conveyor device 40 in step S402, the transport robot 20 performs the holding operation of the object to be coated 90 in step S203. In step S203, the transfer robot 20 receives and unloads the object 90 to be painted from the conveyor device 40, and moves the object 90 to the standby area 62b. Then, in step S204, while the object 90 held by the transfer robot 10 is being painted, the object 90 moved to the standby area 62b by the transfer robot 20 waits in the standby area 62b while being held there. During the period when the painting operation in step S302 and the posture changing operation in step S104 are being performed, the standby state of the transfer robot 20 in the standby area 62b in step S204 continues.

[0046] Next, in step S303, after the painting operation of the object to be painted 90 held by the transport robot 10 is completed, the operation of the painting robot 30 is put on standby. For example, while in the standby state, the painting robot 30 stops in a retracted position upward in the Z1 direction so as not to interfere with the operation of the transport robots 10 and 20. Simultaneously with step S303, in step S105, a painting completion signal is output from the control unit 14 to the control unit 24, and the transport robot 10 removes the object to be painted 90 from the painting area 61. Then, in step S205, the transport robot 20 starts moving toward the painting area 61 to carry the object to be painted 90. Note that the painting completion signal may be transmitted from the control unit 34 of the painting robot 30.

[0047] When the painting completion signal is acquired, the unloading operation of step S105 is initiated, and the movement of the loading operation of step S205 is initiated. For example, when painting of the painting target 90 held by the transfer robot 10 is completed, the transfer robot 10 outputs the painting completion signal and begins changing the holding position of the painting target 90 from the painting position to a position for starting unloading. Concurrently, when painting of the painting target 90 held by the transfer robot 10 is completed, the transfer robot 20 begins moving the other painting target 90 from the waiting area 62b in step S205. In other words, when the painting robot 30 finishes dispensing paint, the transfer robot 20 begins the loading operation. In other words, while the painting target 90 held by the transfer robot 10 remains in the painting area 61, the transfer robot 20 begins moving the painting target 90 held by the transfer robot 10 from the waiting area 62b.

[0048] In the painting system 100 according to the first embodiment, the painted object 90 is removed from the painting area 61 after painting is completed, and the unpainted object 90 is brought into the painting area 61 at the same time. In step S205, the transfer robot 20 starts moving from the standby area 62b and waits at the painting preparation position 63b until the painted object 90 held by the transfer robot 10 is removed from the painting area 61. For example, in step S105, the control unit 14 outputs a removal completion signal to the control unit 24, indicating that the painted object 90 held by the transfer robot 10 has been removed from the painting area 61. In step S205, the control unit 24 causes the painted object 90 held by the transfer robot 20 to enter the painting area 61 from the painting preparation position 63b based on the removal completion signal.

[0049] Then, in step S304, painting of the object 90 held by the transport robot 20 is started. Also, while the painting operation in step S304 is being performed, in step S206, as in step S104, the control unit 34 of the painting robot 30 and the control unit 24 of the transport robot 20 send and receive signals to each other, thereby causing the transport robot 20 to change the posture of the object 90 being painted. During the period when the painting operation in step S304 and the posture changing operation in step S206 are being performed, the transport robot 10 performs the operations from step S105 to step S108.

[0050] In step S105, the painted object 90 is transported out and transferred to the conveyor device 40 at the loading / unloading position 64 (a receiving operation). After the transport operation in step S105 is completed, the transport robot 10 moves to the standby area 65a and waits in step S106. The control unit 14 outputs a transfer signal indicating that the painted object 90 has been transferred to the conveyor device 40 at the loading / unloading position 64 in the transport operation in step S105, and a standby signal indicating that standby in the standby area 65a has started in step S106, to the control unit 41 of the conveyor device 40. From the standby state due to the stop operation in step S402, the control unit 41 of the conveyor device 40 performs the transport operation in step S401 and the stop operation in step S402 again based on the transfer signal in step S105 and the standby signal in step S106. That is, by the transport operation in step S401, the painted object 90 is moved from the mounting / unmounting position 64, and a new object 90 to be painted is transported to the mounting / unmounting position 64. Then, in step S402, the movement of at least the object 90 to be painted arranged at the mounting / unmounting position 64 is stopped and the process waits. Then, in step S107, the transport robot 10 holds and unloads the next new object 90 to be painted, and similarly to step S203, a transport operation is performed to transport the new object 90 to the waiting area 62a. Then, in step S108, while the object 90 held by the transport robot 20 is being painted, the new object 90 to be painted is held in the waiting area 62a and waits.

[0051] Then, after painting of the object 90 held by the transfer robot 20 in step S304 is completed, in step S305, the painting robot 30 is put on standby, as in step S303. Then, in step S207, as in step S105, a painting completion signal is output from the control unit 24 of the transfer robot 20 to the control unit 14, and the transfer robot 20 performs a carry-out operation. Furthermore, based on the painting completion signal from the control unit 24, in step S109, as in step S205, the transfer robot 10 performs a carry-in operation. In the carry-in operation of step S109, as in step S205, after starting to move the object 90 to be painted from the standby area 62a, the transfer robot 10 moves to the painting preparation position 63a and waits until a carry-out completion signal is received from the transfer robot 20. Based on the carry-out completion signal from the transfer robot 20, the object 90 to be painted held by the transfer robot 10 moves to the interior of the painting area 61. After step S109, the process returns to steps S104 and S302, where the object 90 to be painted held by the transport robot 10 is painted. Also, in step S207, the transport robot 20 performs a carry-out operation, as in step S105, and then performs a receiving operation at the attachment / detachment position 64, where the painted object 90 is transferred to the conveyor device 40. Then, the process returns to step S202, where the transport robot 20, after transferring the object 90 to be painted, is moved to the standby area 65b, and the transport robot 20 waits in the standby area 65b until the conveyor device 40 performs the transfer operation of step S401 and the stopping operation of step S402.

[0052] Thereafter, the control unit 14 of the transport robot 10 repeats the operations from step S104 to step S109, and the control unit 24 of the transport robot 20 repeats the operations from step S202 to step S207. The control unit 34 of the painting robot 30 repeats the operations from step S302 to step S305, and the control unit 41 of the conveyor device 40 repeats the operations from step S401 to step S402. In this way, the multiple painting objects 90 are alternately transported to the painting area 61 by the transport robots 10 and 20 and painted by the painting robot 30.

[0053] [Effects of the First Embodiment] In the first embodiment, the following effects can be obtained.

[0054] As described above, in the painting system 100, during a period in which one transfer robot 10 holds one painting target 90 in the painting area 61, the other transfer robot 20 at least one of transports the other painting target 90 and waits while holding the other painting target 90 in the standby area 62b. As a result, when painting multiple painting targets 90, during a period in which one painting target 90 is held in the painting area 61 by the transfer robot 10, the transfer robot 20 at least one of transports the other painting target 90 and waits while holding the other painting target 90 in the standby area 62b. Therefore, while the transfer robot 10 is transporting the one painting target 90 that has been painted, the transfer robot 20 can start moving to transport the other painting target 90 to the painting area 61 where painting will be performed. Therefore, compared to a case in which the transfer operation of the one painting target 90 that has been painted is completed and then movement to transport the other painting target 90 to the painting area 61 is started, an increase in the time required for sequentially painting multiple painting targets 90 can be suppressed. As a result, when a plurality of objects 90 to be painted are painted by the painting robot 30, work efficiency can be improved.

[0055] The painting system 100 includes a conveyor device 40 as a painting target placement section where multiple painting targets 90 are placed. While a painting robot 30 is painting one painting target 90 held by one transport robot 10 in the painting area 61, another transport robot 20 receives another painting target 90 from the conveyor device 40 and waits while holding the other painting target 90 in the waiting area 62b. This improves work efficiency compared to when the other painting target 90 is received from the conveyor device 40 after painting of one painting target 90 is completed.

[0056] The painting system 100 includes a conveyor device 40 as a painting target placement unit that continuously transports multiple painting targets 90. This improves work efficiency when painting multiple painting targets 90 continuously transported by the conveyor device 40 in sequence, compared to when painting one painting target 90 is completed before receiving another painting target 90 from the conveyor device 40. Furthermore, by alternately transporting the multiple painting targets 90 continuously transported by the conveyor device 40 to the painting area 61 using the transport robots 10 and 20, the range of the painting area 61 onto which paint is dispensed can be made smaller than when the painting robot 30 directly paints the multiple painting targets 90 while they are being transported by the conveyor device 40. Furthermore, compared to when the painting robot 30 directly paints the multiple painting targets 90 while they are being transported by the conveyor device 40, the range contaminated by paint can be made smaller, and fewer objects can be contaminated by paint.

[0057] The pair of transport robots 10 and 20, while holding each of the multiple objects 90 to be painted in the painting area 61, change at least one of the position and angle of each of the multiple objects 90 to match the painting operation by the painting robot 30. In this way, when paint is to be applied to the objects 90 from multiple positions and angles, the pair of transport robots 10 and 20 change at least one of the positions and angles of the multiple objects 90 to be painted, thereby reducing the operating range of the painting robot 30 during the painting operation. This reduces the range of space into which paint is dispensed by the painting robot 30, thereby preventing the configuration for collecting the dispensed paint from becoming larger.

[0058] While one painting target 90 held by one transport robot 10 is being painted, the other transport robot 20 waits while holding the other painting target 90 in the waiting area 62b, which is separated from the painting area 61 to avoid paint adhesion. As a result, while one painting target 90 is being painted, the other painting target 90 waits in the waiting area 62b, which is separated from the painting area 61 to avoid paint adhesion, thereby preventing paint from adhering to the unpainted painting target 90 waiting in the waiting area 62b. Therefore, a deterioration in the painting quality of the painting target 90 due to paint adhering to the unpainted painting target 90 can be prevented.

[0059] While one painting target 90 held by one transport robot 10 is being painted, the other transport robot 20 waits while holding the other painting target 90 in a waiting area 62b that is located between the installation position of the transport robot 20 and the painting area 61 in a plan view. As a result, since the waiting area 62b is located between the installation position of the transport robot 20 and the painting area 61, the time required to move the next painting target 90 to be painted from the waiting area 62b to the painting area 61 after painting of the one painting target 90 is completed can be further reduced. Therefore, the time from the time painting of the one painting target 90 is completed to the time painting of the other painting target 90 is started can be further reduced, thereby further improving work efficiency when painting multiple painting targets 90.

[0060] While one of the objects 90 to be painted held by one of the transport robots 10 is being painted, the other transport robot 20 waits while holding the other object 90 in a waiting area 62b that is higher than the painting area 61. Since the paint dispensed by the painting robot 30 in the painting area 61 falls downward due to gravity, the next object 90 to be painted is made to wait in the waiting area 62b that is higher than the painting area 61, thereby easily preventing paint from adhering to the unpainted object 90 waiting in the waiting area 62b. This easily prevents paint from adhering to the unpainted object 90, thereby easily preventing a deterioration in the quality of the painting of the object 90. Furthermore, the pair of transport robots 10 and 20 wait while holding the object 90 in waiting areas 62a and 62b behind the painting area 61 in the painting booth 50, where the conveyor device 40 is located and air is exhausted from the rear toward the front. As a result, the paint ejected onto the painting robot 30 moves forward, in the exhaust direction, due to the air flow in the painting booth 50, so by having the other painting objects 90 to be painted next wait in waiting areas 62a and 62b behind the painting area 61, it is easy to prevent paint from adhering to the painting objects 90 waiting in waiting areas 62a and 62b before painting.

[0061] While one of the transfer robots 10 is painting one of the objects 90 to be painted, the other transfer robot 20 waits in the standby area 62b by moving the other object 90 upward from the conveyor 40, which serves as a paint object placement unit. After the transfer robot 20 has finished painting the one of the objects 90 to be painted held by the transfer robot 10, the other transfer robot 20 moves the other object 90 downward from the standby area 62b to the painting area 61. By transporting the object 90 to be painted upward from the conveyor 40 to the standby area 62b and downward from the standby area 62b to the painting area 61, the transfer robot 20 can move the object 90 to be painted from the conveyor 40 to the painting area 61 while passing through a transport path that overlaps with the transfer robot 20 itself in a plan view. Therefore, when transporting the object 90 to be painted from the conveyor 40 to the painting area 61, the area occupied by the operation range of the transfer robot 20 can be reduced in a plan view. As a result, it is possible to prevent the area occupied by the painting system 100 from increasing in plan view. Furthermore, the pair of transport robots 10 and 20 move the object 90 to the waiting areas 62a and 62b by moving it forward and upward from the conveyor device 40, and move it to the painting area 61 by moving it forward and downward from the waiting areas 62a and 62b. This allows the width of the painting booth 50 to be reduced in the left-right direction relative to the direction from the conveyor device 40 toward the painting area 61.

[0062] The painting system 100 includes a control unit 14 as a first control unit that controls the operation of one transport robot 10, and a second control unit that controls the operation of the other transport robot 20. The control unit 14 and the control unit 24 control the operation of the pair of transport robots 10 and 20 while communicating with each other. As a result, since the control unit 14 that controls the operation of the transport robot 10 and the control unit 24 that controls the operation of the transport robot 20 are provided, the processing burden of control processing on each of the control units 14 and 24 can be reduced compared to when the operations of the transport robots 10 and 20 are controlled by a common control unit. Furthermore, because the control units 14 and 24 control the operation of the pair of transport robots 10 and 20 while communicating with each other, physical interference between the transport robot 10 and the transport robot 20 can be easily prevented when alternately transporting multiple objects to be painted 90 to the painting area 61.

[0063] When a signal indicating that painting of one of the painting targets 90 has been completed is received from the control unit 14, serving as the first control unit, of the first transfer robot 10, the control unit 24, serving as the second control unit, causes the other transfer robot 20 to start moving the other painting target 90 from the standby area 62b to the painting area 61. This allows the other transfer robot 20 to start moving the other painting target 90 from the standby area 62b to the painting area 61 when painting of the one painting target 90 is completed and the painting robot 30 has finished discharging paint. This prevents the painting robot 30 from starting moving while the painting robot 30 is discharging paint, thereby further preventing paint from adhering to the next painting target 90. Furthermore, since the other painting target 90 can start moving from the standby area 62b when painting of the one painting target 90 is completed, the movement of the other painting target 90 can be started quickly. This prevents an increase in the time required for painting multiple painting targets 90 in sequence. As a result, work efficiency can be improved when painting multiple painting targets 90 using the painting robot 30.

[0064] When a signal indicating that one painting object 90 that has been completely painted has been carried out of the painting area 61 is received from the control unit 14 that serves as the first control unit of one transport robot 10, the control unit 24 that serves as the second control unit causes the other transport robot 20 to move the other painting object 90 into the painting area 61. This allows the other painting object 90 to be moved into the painting area 61 after the one painting object 90 that has been completely painted has been carried out of the painting area 61, thereby preventing the painting object 90 that has been carried into the painting area 61 from physically interfering with the painting object 90 that has been completely painted.

[0065] The pair of transport robots 10 and 20 are arranged side by side on the floor surface 50a with their backs facing each other, between the conveyor device 40 serving as a painting target placement section and the painting area 61, in a direction perpendicular to the direction from the conveyor device 40 toward the painting area 61. Because the pair of transport robots 10 and 20 are arranged side by side on the floor surface 50a with their backs facing each other, it is easy to prevent the transport paths of the painting targets 90 transported by each of the pair of transport robots 10 and 20 from overlapping with each other. Furthermore, because the pair of transport robots 10 and 20 are arranged side by side on the floor surface 50a with their backs facing each other, physical interference between the transport robots 10 and 20 is suppressed. Therefore, the pair of transport robots 10 and 20 can be arranged closer to each other, further suppressing the area occupied by the painting system 100 from becoming larger.

[0066] The painting robot 30 is disposed between the pair of transport robots 10 and 20, whose backs face each other, as viewed from the conveyor device 40, which serves as the painting object placement section. Because the painting robot 30 is disposed between the pair of transport robots 10 and 20, whose backs face each other, when each of the pair of transport robots 10 and 20 transports the painting object 90, the painting robot 30 is prevented from physically interfering with each of the pair of transport robots 10 and 20. As a result, the pair of transport robots 10 and 20 can more easily transport the painting object 90 because interference with the painting robot 30 does not need to be considered. Furthermore, because the painting robot 30 is prevented from physically interfering with each of the pair of transport robots 10 and 20, the painting robot 30 and the pair of transport robots 10 and 20 can be disposed closer to each other. This further prevents the area occupied by the painting system 100 from becoming larger.

[0067] The painting system 100 includes a painting booth 50 that defines a painting area 61. The painting system 100 also includes an exhaust fan 51 that guides air within the painting booth 50 from the standby area 62b toward the painting area 61. This allows the exhaust fan 51 to guide air within the painting booth 50 from the standby area 62b toward the painting area 61, thereby preventing paint from flowing from the painting robot 30 from the painting area 61 toward the standby area 62b. This further prevents paint from adhering to the unpainted painting target 90 waiting in the standby area 62b, thereby further preventing a deterioration in the painting quality of the painting target 90 due to paint adhering to the unpainted painting target 90.

[0068] The painting robot 30 is placed on the floor surface 50a. This allows the painting robot 30 to be placed at a set position more easily than when the painting robot 30 is placed on a wall or ceiling surface. Therefore, when painting the object 90 transported by the pair of transport robots 10 and 20, the painting robot 30 can be easily placed at a set position, making it easy to control the operation of the painting robot 30.

[0069] 10 and 11 , a painting system 200 according to a second embodiment will be described. In the second embodiment, unlike the first embodiment in which the standby areas 62a and 62b were located between the painting area 61 and the installation positions of the transport robots 10 and 20, the standby areas 262a and 262b are located closer to the conveyor device 40 than the painting area 61. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and their description will be omitted.

[0070] 10 , in a painting system 200 according to the second embodiment, similarly to the first embodiment, a pair of transfer robots 10 and 20 alternately transfers a plurality of objects to be painted 90 to a painting area 61. While one of the objects to be painted 90 transferred by one of the pair of transfer robots 10 and 20 is being painted in the painting area 61, the other of the pair of transfer robots 10 and 20 waits while holding the other object to be painted 90 in waiting areas 262 a and 262 b. In the second embodiment, the waiting areas 262 a and 262 b are located closer to the conveyor device 40 than the painting area 61 in the painting booth 50.

[0071] 11 , while one coating target 90 held by the transport robot 10 is being painted, the transport robot 20 waits while holding another coating target 90 in a waiting area 262b closer to the conveyor device 40 than the painting area 61. The waiting areas 262a and 262b may be located at a height lower than the painting area 61 or at the same height as the painting area 61. That is, in the second embodiment, the painting booth 50 is provided with spaces for the waiting areas 262a and 262b, in which the coating targets 90 are placed, closer to the conveyor device 40 than the installation positions of the pair of transport robots 10 and 20. Note that other configurations of the second embodiment are similar to those of the first embodiment.

[0072] In the second embodiment, as described above, the painting system 200 includes a conveyor device 40 as a painting target placement section where multiple painting targets 90 are placed. While one painting target 90 held by one transport robot 10 is being painted, another transport robot 20 waits while holding the other painting target 90 in a waiting area 262b closer to the conveyor device 40 than the painting area 61. As a result, while one painting target 90 is being painted, the other painting target 90 waits in the waiting area 262b closer to the conveyor device 40 and away from the painting area 61. This further reduces paint adhesion to the unpainted painting target 90 waiting in the waiting area 262b. Therefore, a reduction in the quality of the painting of the painting target 90 due to paint adhesion to the unpainted painting target 90 can be further reduced. Other advantages of the second embodiment are similar to those of the first embodiment.

[0073] [Modifications] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and includes all modifications (modifications) within the meaning and scope of the claims.

[0074] For example, in the first and second embodiments, the painting systems 100 and 200 are configured to include a pair of transport robots 10 and 20 and a painting robot 30. However, the present disclosure is not limited to this. In the present disclosure, three or more transport robots may be provided. Furthermore, two or more painting robots may be provided. In this case, the pair of painting robots may be disposed opposite each other across the painting area, or may be disposed side by side across the painting area. Furthermore, the pair of painting robots may be disposed in a staggered zigzag pattern across the painting area. Furthermore, the transport robots may be disposed opposite each other across the painting area. When multiple painting robots are provided, the multiple painting robots do not need to be disposed in the center of the painting booth. When the painting robots are not disposed in the center, the painting area in which the painting targets held by each of the pair of transport robots during painting are disposed may be disposed in the center of the painting booth.

[0075] Furthermore, in the first and second embodiments described above, an example was shown in which the pair of transport robots 10 and 20 were arranged on the floor surface 50a with their backs facing each other, but the present disclosure is not limited to this. In the present disclosure, the pair of transport robots may be arranged on a ceiling surface or a wall surface. Furthermore, the pair of transport robots may be arranged in a direction different from the state in which their backs face each other. For example, the pair of transport robots may be arranged facing each other. Furthermore, the pair of transport robots may be arranged in a state in which the direction in which they are arranged toward the painting target placement section or the painting area is tilted from the state in which their backs face each other. Furthermore, the pair of transport robots may be arranged in positions that are diagonally offset from each other.

[0076] Furthermore, in the first and second embodiments, the painting robot 30 is disposed on the floor 50a, but the present disclosure is not limited to this. In the present disclosure, the painting robot may be disposed on a ceiling or wall. When the painting robot is disposed on a wall or ceiling, a pair of transport robots can be disposed in the space below the painting robot. This can further reduce interference between the transport robot and the painting robot, making it easier to control the operation of the transport robot.

[0077] In the first and second embodiments, the standby areas 62a, 62b, 262a, and 262b are positioned away from the painting area 61 to avoid paint deposition, but the present disclosure is not limited to this. In the present disclosure, the standby areas may be positioned at positions where paint from the painting area is deposited. For example, the standby areas may be positioned between the installation positions of the pair of transport robots and the painting area, at a height lower than the painting area.

[0078] In the first and second embodiments, the pair of transport robots 10 and 20 move the target 90 from the conveyor device 40 serving as the target placement section forward and upward to hold and wait in the waiting areas 62a and 62b, and move the target 90 to the painting area 61 by moving the target 90 forward and downward from the waiting areas 62a and 62b. However, the present disclosure is not limited to this. In the present disclosure, the pair of transport robots may transport the target 90 from the target placement section to the waiting area horizontally, or may transport the target 90 downward from the target placement section to the waiting area. The pair of transport robots may also transport the target 90 from the waiting area horizontally to the painting area, or may transport the target 90 upward from the waiting area to the painting area. Furthermore, the pair of transport robots may move the target 90 to the waiting area by moving upward rather than forward from the conveyor device, or may move the target 90 to the painting area by moving downward rather than forward from the waiting area.

[0079] In the first and second embodiments, the control unit 24 of the transport robot 20 starts moving the object 90 to be painted from the standby area 62b when a signal indicating that painting is complete is received from the control unit 14 of the transport robot 10. However, the present disclosure is not limited to this. In the present disclosure, the signal indicating that painting is complete may be received from the painting robot rather than the transport robot. Alternatively, one of a pair of transport robots may start moving from the standby area without receiving a signal indicating that painting is complete from an external source by detecting the movement of the other transport robot or the movement of the painting robot. Alternatively, the movement from the standby area may be started by measuring the passage of time.

[0080] In addition, in the first embodiment, an example was shown in which the exhaust fan 51 was provided as a fan that guides air within the paint booth 50 from above, where the waiting areas 62a and 62b are located, to below, where the painting area 61 is located. However, the present disclosure is not limited to this. In the present disclosure, an intake fan that takes in air from outside the paint booth may be provided, or natural intake without an intake fan may be used. Furthermore, a fan provided separately from the exhaust fan may be used to guide air within the paint booth from the waiting area toward the painting area. The configuration of the paint booth is not limited to the configuration of the first and second embodiments.

[0081] Furthermore, in the above-described first and second embodiments, an example was described in which multiple objects to be painted 90 were continuously transported by the conveyor device 40, which is a belt conveyor device. However, the present disclosure is not limited to this. In the present disclosure, the conveyor device serving as the object to be painted placement unit may be a roller conveyor, a slat conveyor, or a ceiling-suspended transport device. Furthermore, without a conveyor device, multiple objects to be painted may be placed by an operator or a robot at a painting object placement unit located at a position where the objects to be painted are held by a pair of transport robots. Furthermore, multiple conveyor devices may be arranged as the object to be painted placement unit. Furthermore, when a conveyor device is provided as the object to be painted placement unit, the moving objects to be painted may be held by a pair of transport robots from the conveyor device during the transport operation.

[0082] In the first and second embodiments, the transport robots 10 and 20 are disposed between the painting robot 30 and the conveyor device 40 serving as the painting target placement section, but the present disclosure is not limited to this. In the present disclosure, the painting robot and the transport robot may be disposed side by side with respect to the painting target placement section. Furthermore, the painting robot and the pair of transport robots may be disposed vertically.

[0083] In the first and second embodiments, the removal of the painted object 90 from the painting area 61 and the introduction of the unpainted object 90 to be painted into the painting area 61 are performed at the same time, but the present disclosure is not limited to this. In the present disclosure, the next unpainted object to be painted may start moving from the waiting area after the painted object 90 is removed from the painting area.

[0084] In the first and second embodiments, examples have been described in which the transport robots 10 and 20 change the position and angle of the object 90 to match the painting operation by the painting robot 30, but the present disclosure is not limited to this. In the present disclosure, the transport robot does not have to change the position and angle of the object to be painted to match the painting operation by the painting robot. Furthermore, the transport robot may change only one of the position and angle of the object to be painted, rather than both, to match the painting operation by the painting robot.

[0085] In the first and second embodiments, the pair of transport robots 10 and 20 transfer the coating target 90 to the conveyor device 40 serving as the coating target placement unit at the common attachment / detachment position 64. However, the present disclosure is not limited to this. In the present disclosure, the pair of transport robots may transfer the coating target 90 to the coating target placement unit at different positions. Furthermore, the position at which the transport robot receives the coating target from the coating target placement unit and the position at which the transport robot transfers the coating target to the coating target placement unit may be different from each other.

[0086] Furthermore, in the first and second embodiments, the transport robots 10 and 20 include six-axis vertical joints with a common structure, and the painting robot 30 includes a six-axis vertical joint. However, the present disclosure is not limited to this. In the present disclosure, at least one of the transport robot and the painting robot may include five or fewer joints or seven or more joints. Furthermore, at least one of the transport robot and the painting robot may be a robot of another type, such as a horizontally articulated robot. Furthermore, the transport robot and the painting robot may have a drive mechanism other than a robot arm with a parallel link structure or a linear motion mechanism, such as a serial link structure. Furthermore, the multiple transport robots do not necessarily have to share a common structure.

[0087] Furthermore, in the first and second embodiments, examples have been described in which the pair of transport robots 10 and 20 and the painting robot 30 have explosion-proof structures, but the present disclosure is not limited to this. In the present disclosure, at least one of the pair of transport robots and the painting robot does not have to have an explosion-proof structure. Furthermore, the painting booth does not have to have an explosion-proof structure. For example, when non-explosion-proof painting is performed, the pair of transport robots, the painting robot, and the painting booth do not have to have an explosion-proof structure.

[0088] In the first and second embodiments, examples have been described in which the wrist portions of the pair of transport robots 10 and 20 have a BBR structure and the wrist portion of the painting robot 30 has a 3R structure, but the present disclosure is not limited to this. In the present disclosure, the pair of transport robots may have other types of structures, such as a 3R structure or an RBR structure (roll-bend-roll structure), in the wrist portions. Furthermore, the painting robot may have other types of structures, such as a BBR structure or an RBR structure, in the wrist portion.

[0089] Furthermore, in the first and second embodiments, an example in which a cubic object 90 to be painted is painted is described, but the present disclosure is not limited thereto. In the present disclosure, the object to be painted may have another shape, such as a plate shape. Furthermore, the object to be painted may be an object that has been processed by bending, cutting, or the like. The object to be painted may be a metal product, a resin product, or a product made of other materials. Furthermore, a single object to be painted held by a transport robot may be configured by arranging multiple components to be painted on a jig.

[0090] In the first and second embodiments, the control unit 14 that controls the operation of the transport robot 10, the control unit 24 that controls the operation of the transport robot 20, and the control unit 34 that controls the operation of the painting robot 30 are arranged separately from one another. However, the present disclosure is not limited to this. In the present disclosure, the operation of the transport robot and the operation of the painting robot may be controlled by a common control device. Furthermore, the operation of a pair of transport robots may be controlled by a common control device. Furthermore, the control units of the pair of transport robots may not directly transmit and receive signals to each other, but may transmit and receive signals via a separately arranged higher-level control unit. Furthermore, the control unit as a control device may have multiple arithmetic units such as CPUs, or may have a single arithmetic unit.

[0091] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0092] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0093] (Mode 1) A painting system comprising a pair of transport robots that alternately transport each of a plurality of objects to be painted to a painting area; and a painting robot that paints each of the plurality of objects to be painted held in the painting area by the pair of transport robots, wherein during a period when one of the pair of transport robots is holding one of the plurality of objects to be painted in the painting area, the other of the pair of transport robots at least one of transporting another of the plurality of objects to be painted and waiting while holding the other object to be painted in a waiting area.

[0094] (Aspect 2) The painting system described in Aspect 1 further includes a painting object placement section in which the plurality of painting objects are placed, and during a period in which the painting robot is painting the one painting object held by the one transport robot in the painting area, the other transport robot receives the other painting object from the painting object placement section and waits while holding it in the waiting area.

[0095] (Aspect 3) The painting system described in Aspect 2, wherein the painting object placement section includes a conveyor device that continuously transports the plurality of painting objects, and during a period when the painting robot is painting the one painting object held by the one transport robot in the painting area, the other transport robot receives the other painting object from the conveyor device and waits while holding it in the waiting area.

[0096] (Aspect 4) The painting system according to any one of Aspects 1 to 3, wherein the pair of transport robots change at least one of the position and angle of each of the plurality of objects to be painted in accordance with the painting operation of the painting robot while holding each of the plurality of objects to be painted in the painting area.

[0097] (Aspect 5) A painting system described in any one of Aspects 1 to 4, wherein during a period in which painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area, away from the painting area to avoid paint being applied thereto.

[0098] (Aspect 6) A painting system as described in Aspect 5, wherein during a period in which painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area located between the installation position of the other transport robot and the painting area in a planar view.

[0099] (Aspect 7) A painting system as described in Aspect 5 or Aspect 6, wherein during a period when painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area, which is at a higher height than the painting area.

[0100] (Aspect 8) A painting system as described in Aspect 5, further comprising a painting object placement section in which the plurality of painting objects are placed, wherein during the period in which painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area closer to the painting object placement section than the painting area.

[0101] (Aspect 9) A painting system as described in Aspect 2 or Aspect 3, wherein the other transport robot waits while holding the other object to be painted in the waiting area by moving the other object to be painted upward from the painting object placement section during a period when painting is being performed on the one object to be painted held by the one transport robot, and after painting of the one object to be painted held by the one transport robot is completed, moves the other object to be painted downward from the waiting area to the painting area.

[0102] (Aspect 10) A painting system described in any of Aspects 1 to 9, further comprising a first control unit that controls the operation of the one transport robot and a second control unit that controls the operation of the other transport robot, wherein the first control unit and the second control unit control the operation of the pair of transport robots while communicating with each other, and wherein the second control unit, when receiving a signal from the first control unit indicating that painting of the one painting object has been completed, causes the other transport robot to start moving to transport the other painting object from the waiting area to the painting area.

[0103] (Aspect 11) In the painting system according to Aspect 10, when a signal indicating that the one painting object that has been completely painted has been transported out of the painting area is acquired from the first control unit, the second control unit causes the other transport robot to move the other painting object into the painting area.

[0104] (Aspect 12) The painting system according to Aspect 2 or Aspect 3, wherein the pair of transport robots are arranged side by side on a floor surface between the painting target placement section and the painting area, with their backs facing each other, along a direction perpendicular to the direction from the painting target placement section toward the painting area.

[0105] (Aspect 13) The coating system according to aspect 12, wherein the coating robot is disposed between the pair of transport robots whose back surfaces face each other when viewed from the coating target placement section.

[0106] (Aspect 14) The coating system according to any one of Aspects 1 to 13, further comprising: a coating booth that defines the coating area; and a fan that guides air in the coating booth in a direction from the standby area toward the coating area.

[0107] (Aspect 15) The painting system according to any one of Aspects 1 to 14, wherein the painting robot is disposed on any one of a floor surface, a wall surface, and a ceiling surface.

Claims

1. A painting system comprising a pair of transport robots that alternately transport each of a plurality of objects to be painted to a painting area, and a painting robot that paints each of the plurality of objects to be painted held in the painting area by the pair of transport robots, wherein, during a period when one of the pair of transport robots is holding one of the plurality of objects to be painted in the painting area, the other of the pair of transport robots at least one of transporting another of the plurality of objects to be painted and waiting while holding the other object to be painted in a waiting area.

2. The painting system of claim 1, further comprising a painting object placement section in which the plurality of painting objects are placed, wherein during the period in which the painting robot is painting the one painting object held by the one transport robot in the painting area, the other transport robot receives the other painting object from the painting object placement section and waits while holding it in the waiting area.

3. The painting system described in claim 2, wherein the painting object placement section includes a conveyor device that continuously transports the plurality of painting objects, and during the period when the painting robot is painting the one painting object held by the one transport robot in the painting area, the other transport robot receives the other painting object from the conveyor device and waits while holding it in the waiting area.

4. The painting system described in claim 1, wherein the pair of transport robots change at least one of the position and angle of each of the plurality of objects to be painted in accordance with the painting operation by the painting robot while holding each of the plurality of objects to be painted in the painting area.

5. A painting system as described in claim 1, wherein, during the period when painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area, away from the painting area to avoid paint being applied thereto.

6. A painting system as described in claim 5, wherein, during the period when painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area located between the installation position of the other transport robot and the painting area in a planar view.

7. A painting system as described in claim 5, wherein, during the period when painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area, which is at a higher height than the painting area.

8. A painting system as described in claim 5, further comprising a painting object placement section in which the plurality of painting objects are placed, wherein during the period in which painting is being performed on the one painting object held by the one transport robot, the other transport robot waits while holding the other painting object in the waiting area closer to the painting object placement section than the painting area.

9. The painting system described in claim 2, wherein the other transport robot waits while holding the one painting object held by the one transport robot in the waiting area by moving the other painting object upward from the painting object placement section during a period when painting is being performed on the one painting object held by the one transport robot, and after painting of the one painting object held by the one transport robot is completed, moves the other painting object from the waiting area downward to the painting area.

10. A painting system as described in claim 1, further comprising a first control unit that controls the operation of the one transport robot and a second control unit that controls the operation of the other transport robot, wherein the first control unit and the second control unit control the operation of the pair of transport robots while communicating with each other, and wherein the second control unit, when a signal indicating that painting of the one painting object has been completed is obtained from the first control unit, causes the other transport robot to start moving to transport the other painting object from the waiting area to the painting area.

11. A painting system as described in claim 10, wherein the second control unit, when receiving a signal from the first control unit indicating that the one painting object that has been completely painted has been transported out of the painting area, causes the other transport robot to move the other painting object into the painting area.

12. A painting system as described in claim 2, wherein the pair of transport robots are arranged side by side on the floor surface between the painting object placement area and the painting area, with their backs facing each other, in a direction perpendicular to the direction from the painting object placement area toward the painting area.

13. A coating system according to claim 12, wherein the coating robot is disposed between the pair of transport robots whose back faces face each other when viewed from the coating object placement section.

14. The painting system according to claim 1, further comprising: a painting booth that defines the painting area; and a fan that directs air in the painting booth in a direction from the waiting area toward the painting area.

15. The painting system according to claim 1, wherein the painting robot is disposed on one of the floor, wall, and ceiling surfaces.

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