JP6135615B2 - Painting equipment - Google Patents

Description

  The technique disclosed here relates to a painting apparatus using a robot.

  2. Description of the Related Art Conventionally, a working device including a robot that performs work on a workpiece is known. For example, the working device described in Patent Document 1 processes a vehicle body. At this time, a camera is attached to the arm of the robot, and processing is performed by the robot while the body to be processed is captured by the camera.

JP 2011-167831 A

  By the way, painting is one of the tasks using a robot. In the painting process, paint is sprayed using a coating machine to paint the workpiece. In the painting booth where such a painting process is performed, spray of paint is scattered. For this reason, when painting is performed using a robot equipped with a camera as described above, the lens surface of the camera may be soiled by spraying. In that case, the accuracy of specifying the position of the workpiece is deteriorated.

  The technology disclosed herein has been made in view of such a point, and an object thereof is to suppress deterioration in imaging performance of the camera due to scattered paint.

The technology disclosed herein is a painting apparatus, which is a painting robot that performs painting on a workpiece, a camera that is arranged so as to image a workpiece or spray sprayed from the painting robot, and the camera. A control unit that controls the painting robot based on the captured image of the above, a first airflow device that generates a downward airflow, and an airflow that is disposed in front of the lens surface of the camera and that is away from the lens surface. A second airflow device .

According to this configuration, the camera images the spray sprayed from the workpiece or the painting robot, and the control unit controls the painting robot based on the captured image. For example, the control unit specifies the position of the work based on the captured image of the work, and causes the painting robot to paint the work. Or a control part grasps | ascertains the state of the spray injected from a painting robot based on the captured image of spray, and adjusts the conditions of injection, etc. In such a configuration, the camera is arranged so as to capture the spray of the workpiece or the painting robot from above, and is provided with a first airflow device that generates a downward airflow. That is, the camera is arranged at a position where the spray is difficult to reach, and the spray is further difficult to reach to the upper position where the camera is located due to the descending airflow. Thereby, it is possible to prevent the camera from being stained from spraying.
In addition, the first airflow device generates an overall downward airflow, whereas the second airflow device generates a local airflow in front of the lens surface of the camera. Specifically, since the second airflow device generates an airflow in a direction away from the lens surface, it is possible to further suppress contamination of the camera due to spraying.

  Further, the coating apparatus further includes a light proof plate for protecting the camera from spraying, and the camera is sprayed from the work and the coating robot via the antifouling plate. The spray may be imaged, and the antifouling plate may be inclined with respect to the horizontal direction.

  According to this configuration, the antifouling plate that protects the camera from spraying is provided. However, if the antifouling plate is soiled by spraying, the imaging performance of the camera is deteriorated. On the other hand, the antifouling plate is inclined with respect to the horizontal direction. Here, when the antifouling plate is provided in parallel with the horizontal direction, it is difficult for the downdraft to flow along the surface of the antifouling plate. However, by tilting the antifouling plate with respect to the horizontal direction, it is possible to make the descending airflow easily flow along the surface of the antifouling plate. As a result, it is possible to prevent the stain from being sprayed from the antifouling plate, and consequently to suppress the deterioration of the imaging performance of the camera. When the paint is an organic solvent-based paint, the antifouling plate also functions as an explosion-proof plate.

  Further, the antifouling plate may be a part of a wall surface defining the painting booth, and the camera may be disposed outside the painting booth.

  According to this configuration, since the camera is provided outside the painting booth, it is possible to further prevent contamination from spraying.

  Furthermore, the coating apparatus further includes a transport unit that transports the workpiece in a predetermined transport direction, and the coating robot performs coating on the workpiece while moving following the workpiece transported by the transport unit. It may be configured.

  According to this configuration, since the coating is performed on the workpiece being conveyed, the accuracy of detecting the position of the workpiece is important. That is, by preventing the camera from being soiled by spraying as described above, it is possible to accurately coat the workpiece being conveyed.

  In addition, a plurality of the cameras are arranged on both sides with respect to the transport direction, and the control unit sequentially switches a camera that captures an image of the workpiece being transported to track the position of the workpiece being transported. Good. Furthermore, the control unit may set a plurality of feature points of the workpiece in advance, and cause the camera to sequentially capture a plurality of feature points.

  The workpiece may be a car body.

  According to the coating apparatus, deterioration of the imaging performance of the camera due to the scattered paint can be suppressed.

It is a schematic plan view of a coating apparatus. It is a schematic front view of a coating device. It is an enlarged view of the camera periphery in FIG. It is a block diagram of a control apparatus. It is a perspective view which shows the feature point of a vehicle body.

  Hereinafter, exemplary embodiments will be described in detail with reference to the drawings.

  FIG. 1 shows a schematic configuration of the coating apparatus 100. The painting apparatus 100 is provided in a painting line that performs painting on the body 1 of the automobile as a workpiece. An undercoat (electrodeposition) coating film, an intermediate coating film, and a top coating film are formed on each panel of the vehicle body 1. The top coating film has a base coating film and a clear coating film on the base coating film. In the coating apparatus 100, clear coating is performed on the inner plate of the vehicle body 1. The coating apparatus 100 is an example of a working device.

  The painting apparatus 100 includes a chain conveyor 2 for conveying the vehicle body 1, painting robots 3 and 3 for painting the vehicle body 1, opening and closing robots 4 and 4 for opening and closing the door of the vehicle body 1, and the position of the vehicle body 1. ... For identification, cameras 6 and 6 for illuminating the vehicle body 1, a chain conveyor 2, a painting robot 3, 3 and a booth 7 for accommodating the opening and closing robots 4, 4, a painting robot 3, 3 and And a control device 10 (see FIG. 4) for controlling the open / close robots 4 and 4.

  As shown in FIG. 2, the painting booth 7 is defined by a ceiling 71, a floor 72, and side walls 73 and 73. Above the ceiling 71, fans 74, 74,... For generating a downdraft are provided. The ceiling 71 is composed of a filter 75. The downdraft by the fans 74, 74,... Passes through the filter 75 and flows into the painting booth 7. The fan 74 is an example of a first airflow device. The floor 72 is formed of a wire mesh, and a paint receiving portion 75 in which a discharge groove for discharging excess paint is formed is provided under the wire mesh. Water flows through the paint receiver 75. The paint scattered in the painting booth 7 flows downward by the descending airflow of the fans 74, 74,..., Passes through the wire mesh of the floor 72, and falls to the paint receiving part 75. And the coating material which fell to the coating material receiving part 75 is discharged | emitted through a discharge groove.

  Each side wall 73 has a step shape, and the interval between the two side walls 73, 73 is narrow at the top and wide at the bottom. Specifically, the side wall 73 includes an upper wall 73a extending in the vertical direction, a lower wall 73c extending in the vertical direction below the upper wall 73a, and an intermediate wall extending in the horizontal direction and connecting the upper wall 73a and the lower wall 73c. 73b. The interval between the upper walls 73a and 73a is narrower than the interval between the lower walls 73c and 73c.

  As shown in FIG. 1, the chain conveyor 2 extends along the reference line X, and conveys the vehicle body 1 in a direction along the reference line X. The chain conveyor 2 is an example of a transport unit. Hereinafter, the reference line X may be referred to as the X axis. A Y axis is defined in a direction orthogonal to the X axis, and a Z axis is defined in a direction orthogonal to both the X axis and the Y axis. The X axis and the Y axis extend horizontally, and the Z axis extends in the vertical direction. In addition, the direction along the reference line X may be referred to as a conveyance direction, and the Y-axis direction may be referred to as a width direction.

  One painting robot 3 is arranged on each side of the chain conveyor 2 with the reference line X in between. The painting robot 3 includes a moving device 31, a base 32 connected to the moving device 31, a first arm 33 connected to the base 32, a second arm 34 connected to the first arm 33, and a second arm. 34, a first joint 36 that connects the base 32 and the first arm 33, a second joint 37 that connects the first arm 33 and the second arm 34, and a second arm 34. And a third joint 38 for connecting the coating machine 35.

  The moving device 31 includes a rail 31a extending in parallel with the reference line X and a gantry 31b that can translate along the rail 31a. The painting robot 3 moves in parallel with the reference line X by moving the gantry 31b along the rail 31a.

  The base 32 is attached to the mount 31b so as to be rotatable around an axis parallel to the Z axis. One end of the first arm 33 is attached to the base 32 via a first joint 36 so as to be rotatable around a horizontal axis. One end of the second arm 34 is attached to the other end of the first arm 33 via a second joint 37 so as to be rotatable around a horizontal axis. A coating machine 35 is attached to the other end of the second arm 34 via a third joint 38 so as to be rotatable around three orthogonal axes. The coating machine 35 is an electrostatic coating machine and has a rotating bell type coating gun.

  The basic configuration of the opening / closing robot 4 is the same as that of the painting robot 3, but a hand unit for opening and closing the door of the vehicle body 1 is provided instead of the painting machine 35. The opening / closing robot 4 shares the rail 31a of the moving device 31, and is configured to be able to translate along the rail 31a.

  8 cameras are arranged on both sides of the chain conveyor 2 with the reference line X in between. The eight cameras 5, 5,... On each side of the reference line X are arranged in parallel with the reference line X at equal intervals. By arranging eight cameras 5, 5,... On both sides of the chain conveyor 2 across the reference line X, the vehicle body 1 being transported can be imaged by any of the cameras 5.

  More specifically, the cameras 5, 5,... Are arranged in a staggered manner with respect to the reference line X. In other words, the X-axis direction position is different between the one camera 5, 5... In addition, the cameras 5, 5,... Are arranged such that the optical axis A of the optical system extends parallel to the YZ plane. As a result, the cameras 5, 5,... Arranged with the reference line X in between are arranged so as to respectively capture portions of the vehicle body 1 that have different positions in the X-axis direction. That is, the X-axis direction position of the center of the visual field of each camera 5 is different.

  Further, as shown in FIG. 2, the camera 5 is arranged at a corner formed by the upper wall 73 a and the intermediate wall 73 b of the painting booth 7, that is, outside the painting booth 7. More specifically, as shown in FIG. 3, inclined walls 73d that are inclined with respect to the horizontal direction are provided at the corners of the upper wall 73a and the intermediate wall 73b. The inclined wall 73d is provided with a light-transmitting (specifically, transparent) antifouling plate 73e. For example, the antifouling plate 73e is formed of a glass plate or an acrylic plate. The lens surface 51 of the camera 5 faces the antifouling plate 73e, and the optical axis A of the optical system of the camera 5 is orthogonal to the antifouling plate 73e. The camera 5 images the vehicle body 1 through the antifouling plate 73e. That is, the antifouling plate 73 e forms a window for the camera 5 to image the vehicle body 1, and protects the camera 5 from the spray of paint scattered in the painting booth 7. When the coating material is an organic solvent-based coating material, the antifouling plate 73e also has an explosion-proof function.

  As shown in FIG. 2, this position is substantially the same position as the painting robot 3 in the Y-axis direction, or a position on the outer side in the width direction (the side away from the chain conveyor 2) than the painting robot 3. Is arranged at a position higher than the upper end of the first arm 33 in a state extending in the Z-axis direction (the state shown in FIG. 2) and lower than the ceiling 71 of the painting booth 7. At that position, the cameras 5, 5,... Are arranged such that the optical axis A faces obliquely downward in the YZ plane. That is, the camera 5 images the vehicle body 1 from obliquely above. The ceiling 71 is provided with fans 74, 74,... And a filter 75, and it is difficult to dispose the camera 5. Therefore, the camera 5 is located at a position lower than the ceiling 71 in the vehicle body. 1 is arranged at a position for imaging 1 from above. In addition, by imaging the vehicle body 1 obliquely from above with the camera 5, it is possible to image both the upper surface and the side surface of the vehicle body 1 with one camera 5. As will be described in detail later, a plurality of feature points for specifying the position of the vehicle body 1 are set in the vehicle body 1. By capturing an image of the vehicle body 1 from above, both the upper and side feature points of the vehicle body 1 can be captured by a single camera 5.

  Moreover, as shown in FIG. 3, the purge box 76 is provided in the surface inside the coating booth 7 of the inclined wall 73d. The purge box 76 is formed in a box shape and has an opening 76a through which the optical axis A of the camera 5 passes. The opening 76 a has a size that does not block the visual field of the camera 5. An air hose 76 b to which air is supplied is connected to the purge box 76. Air is supplied into the purge box 76 through the air hose 76b, and the air flows out of the purge box 76 through the opening 76a. That is, the purge box 76 generates an airflow in a direction away from the lens surface 51 of the camera 5. The purge box 76 is an example of a second airflow device.

  As shown in FIG. 1, the lights 6 and 6 are arranged on both sides of the chain conveyor 2 with the reference line X in between. The illumination 6 includes a plurality of LED lights 61, 61,. The illumination 6 is provided on the side wall 73 of the painting booth 7 as shown in FIG. The lower wall 73c of the side wall 73 is provided with a recess 73f that is recessed in the width direction, and the illumination 6 is disposed in the recess 73f. The optical axis of the illumination 6 is directed obliquely upward in the YZ plane. That is, the illumination 6 irradiates the ceiling 71 of the painting booth 7. The light emitted from the illumination 6 toward the ceiling 71 is reflected by the ceiling 71 and irradiates the vehicle body 1 indirectly. Here, since the filter 71 is provided on the ceiling 71, the light reflected by the ceiling 71 is scattered by the filter 75. Therefore, the vehicle body 1 is irradiated with blurred reflected light.

  The bottom wall that defines the recess 73f is formed of a light shielding plate 73g. The light shielding plate 73g is inclined so as to be located on the upper side in the width direction inner side. That is, the light shielding plate 73g blocks the light of the illumination 6 so that the illumination 6 does not directly illuminate the vehicle body 1.

  Furthermore, the color of the upper wall 73a below the ceiling 71, the middle wall 73b, and the lower wall 73c above the recess 73f is white. That is, the light emitted obliquely upward from the illumination 6 is also reflected on the upper wall 73a, the intermediate wall 73b, and the lower wall 73c, and indirectly illuminates the vehicle body 1. Thereby, even if it is the structure which illuminates the vehicle body 1 with indirect illumination, it is preventing becoming too dark.

  Thus, by irradiating the vehicle body 1 with blurred reflected light, it is possible to suppress the illumination from being reflected on the vehicle body 1 and to suppress the brightness even if the illumination is reflected.

  As shown in FIG. 4, the control device 10 controls the position specifying unit 101 that specifies the position of the workpiece based on the images taken by the cameras 5, 5,. And a robot controller 102. The position specifying unit 101 and the robot controller 102 each have a processor, a memory, and the like, and execute arithmetic processing, a control program, and the like. The control device 10 is an example of a control unit. The position specifying unit 101 and the robot controller 102 may be configured as individual devices or as a single device.

  The position specifying unit 101 causes the camera 5 to capture images at a predetermined time interval and receives a captured image from the camera 5. Then, after performing image processing on the captured image, the position specifying unit 101 extracts feature points of the workpiece and specifies coordinates (camera coordinates) of the feature points in the camera coordinate system. A plurality of feature points are set in advance on the workpiece. For example, in the case of the vehicle body 1, as shown in FIG. 5, an intersection point P between the boundary line of the roof 11, the boundary line of the rear pillar 12, and the boundary line of the lift gate 13 is set as one of the feature points. As described above, since the contrast between the panel and its boundary line is large, setting the feature point on the boundary line makes it easy to extract the feature point from the captured image. The vehicle body 1 is set with a total of 10 feature points, 5 on each side. If the position of any one feature point is known, the position of the vehicle body 1 can be specified. Information on the vehicle body 1 conveyed to the painting booth 7 is input to the position specifying unit 101 from an operator or a host PC. The position specifying unit 101 stores feature points for each vehicle body 1, reads out feature points based on information on the vehicle body 1, and extracts feature points from the captured image. The position specifying unit 101 outputs the camera coordinates of the feature points to the robot controller 102.

  Here, in accordance with the movement of the vehicle body 1, the camera 5 that captures the feature points of the vehicle body 1 is sequentially switched. The order of switching the cameras 5, 5,... Is predetermined according to the shape of the vehicle body 1. The position specifying unit 101 causes the corresponding camera 5 to image the vehicle body 1 according to the set order. At this time, since a plurality of feature points (specifically, five) are provided on the left and right sides of the vehicle body 1, even if one feature point is out of frame from the field of view of the camera 5 due to the movement of the vehicle body 1, It is quite possible that the feature points are present in the field of view. Therefore, when a feature point exists in the field of view of the corresponding camera 5, imaging is continued with the corresponding camera 5. That is, the position specifying unit 101 causes the corresponding camera 5 to sequentially capture a plurality of feature points. When the feature point is not included in the field of view of the corresponding camera 5 or when the corresponding camera 5 cannot properly acquire the captured image due to some error, the position specifying unit 101 determines the position of the position. The camera 5 used for identification is instantly switched to another camera 5. Thus, the position specifying unit 101 always specifies the position of the vehicle body 1 being conveyed by sequentially switching the cameras 5 that capture the feature points of the vehicle body 1.

  The robot controller 102 converts the camera coordinates of the feature points into coordinates (robot coordinates) in the robot coordinate system. The robot controller 102 outputs a command to the painting robots 3 and 3 and the open / close robots 4 and 4 based on the teaching information and the robot coordinates of the feature points. The painting robots 3 and 3 and the open / close robots 4 and 4 operate based on commands from the robot controller 102. For example, when the vehicle body 1 is conveyed into the painting booth 100, the open / close robots 4 and 4 open the door of the vehicle body 1. Thereafter, the painting robots 3 and 3 perform a painting operation on the inner plate portion of the vehicle body 1 while drawing a preset trajectory.

  At this time, the painting robots 3 and 3 and the opening and closing robots 4 and 4 perform work while moving along the rail 31a following the vehicle body 1 being conveyed. At that time, the pair of painting robots 3 and 3 are positioned symmetrically with respect to the reference line X, and perform symmetrical operations with respect to the reference line X. Similarly, the pair of open / close robots 4 and 4 are positioned at symmetrical positions with respect to the reference line X, and perform symmetrical operations with respect to the reference line X.

  In the painting booth 7 configured as described above, sprays of excess paint and the like that are sprayed from the painting robot 3 and do not adhere to the vehicle body 1 are scattered. When this spray stains the camera 5, the imaging performance of the camera 5 deteriorates, and as a result, the position specifying accuracy of the vehicle body 1 may deteriorate. In particular, since the painting booth 7 performs painting on the vehicle body 1 being conveyed, the accuracy of painting deteriorates when the position specifying accuracy of the vehicle body 1 deteriorates.

  Therefore, in the painting booth 7, the cameras 5, 5,. Specifically, the camera 5 is disposed above the transported vehicle body 1 and at a position higher than the upper end of the first arm 33 that extends in the Z-axis direction. As described above, by arranging the cameras 5, 5,... Above the vehicle body 1 and the painting robot 3, it is difficult for the sprays scattered in the painting booth 7 to reach the periphery of the cameras 5, 5,. .

  In addition, fans 74, 74,... Are provided on the ceiling 71 of the painting booth 7, and a downdraft is generated in the painting booth 7. In this way, by generating a downward air flow in the painting booth 7, the spray splashing in the painting booth 7 is more difficult to reach the vicinity of the cameras 5, 5,.

  Further, an antifouling plate 73e is provided in front of the lens surface 51 of the camera 5. The lens surface 51 of the camera 5 is protected from contamination by spraying by the antifouling plate 73e.

  In addition, the antifouling plate 73 e is a part of the side wall 73 that defines the painting booth 7, and the camera 5 is disposed outside the painting booth 7. This prevents the camera 5 itself from being soiled by spraying.

  Here, the antifouling plate 73e is inclined with respect to the horizontal direction. For example, it is difficult for the downdraft to flow on the surface of a wall parallel to the horizontal direction, such as the intermediate wall 73b. Therefore, the spray may stay near the surface of the intermediate wall 73b. On the other hand, since the antifouling plate 73e is inclined with respect to the horizontal direction, the downward airflow that flows along the upper wall 73a easily flows downward along the surface of the antifouling plate 73e. Therefore, an airflow that blows the spray downward is easily generated on the surface of the antifouling plate 73e, and the fouling of the antifouling plate 73e due to the spraying can be suppressed.

  Further, the antifouling plate 73e is inclined so as to be positioned on the outer side in the width direction (the side away from the vehicle body 1) as it goes down. On the other hand, since the camera 5 images the vehicle body 1 from obliquely above the outside of the vehicle body 1, the optical axis A is inclined so that the lower side is located on the inner side in the width direction. Therefore, the angle between the antifouling plate 73e and the optical axis A of the camera 5 can be made closer to a right angle. In the painting booth 7, the antifouling plate 73e and the optical axis A of the camera 5 are orthogonal to each other. Thereby, when imaging the vehicle body 1 with the camera 5 via the antifouling board 73e, it can suppress that a surrounding object reflects in the antifouling board 73e.

  Furthermore, a purge box 76 is provided on the surface of the antifouling plate 73e inside the painting booth 7. Thereby, the airflow in the direction away from the camera 5 can be generated on the surface of the antifouling plate 73e, and the contamination of the antifouling plate 73e due to spraying can be further suppressed.

  With these configurations, contamination of the camera 5 and the antifouling plate 73e due to spraying is suppressed. As a result, deterioration of the imaging performance of the camera 5 can be suppressed, the position of the vehicle body 1 can be specified accurately, and as a result, painting can be performed with high accuracy.

<< Other Embodiments >>
As described above, the embodiment has been described as an example of the technique disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed. Moreover, it is also possible to combine each component demonstrated by the said embodiment and it can also be set as new embodiment. In addition, among the components described in the accompanying drawings and detailed description, not only the components essential for solving the problem, but also the components not essential for solving the problem in order to exemplify the above technique. May also be included. Therefore, it should not be immediately recognized that these non-essential components are essential as those non-essential components are described in the accompanying drawings and detailed description.

  About the said embodiment, it is good also as following structures.

  In the above-described embodiment, the robot that performs the painting work for performing the clear painting is described, but the present invention is not limited to this. For example, the painting robot 3 may perform painting other than clear painting. In addition, the painting robot 3 is not limited to work on a workpiece being transported, and the present technology can also be applied to work on a stationary workpiece.

  The configurations of the camera 5 and the illumination 6 are merely examples, and different configurations may be used. For example, the camera 5 may be arranged on the ceiling 71 when it can be arranged on the ceiling 71. The camera 5 may be disposed in the painting booth 7. In that case, in order to prevent contamination of the camera 5 from spraying, it is preferable to cover the camera 5 with a case or the like. Further, the purge box 76 may be omitted.

  Furthermore, although the camera 5 images the vehicle body 1 that is a workpiece, the imaging target is not limited to the workpiece. For example, the camera 5 may image spray sprayed from the painting robot 3. In that case, the control device 10 may specify the shape of the spray from the captured image and adjust the injection condition and the like based on the shape.

  As described above, the technique disclosed herein is useful for a coating apparatus using a robot.

100 Coating equipment (working equipment)
1 Body (work)
2 Chain conveyor (conveyance unit)
3 Coating robot 4 Opening and closing robot 5 Camera 51 Lens surface 7 Painting booth 73e Antifouling plate 74 Fan (first airflow device)
76 Purge box (second airflow device)
10 Control device (control unit)
P Feature point X Reference line

Claims (7)

A painting robot that paints workpieces;
A camera arranged to take an image of a spray sprayed from a workpiece or the painting robot from above;
A control unit for controlling the painting robot based on a captured image of the camera;
A first airflow device for generating a downdraft ;
A coating apparatus comprising: a second airflow device disposed in front of the lens surface of the camera and generating an airflow in a direction away from the lens surface . The coating apparatus according to claim 1,
It further has a light-transmitting property, further comprising an antifouling plate for protecting the camera from spraying,
The camera images the spray sprayed from the work and the painting robot through the antifouling plate,
The antifouling plate is a coating apparatus inclined with respect to the horizontal direction. The coating apparatus according to claim 2,
The antifouling plate is a part of the wall surface defining the painting booth,
The camera is a painting device arranged outside the painting booth. In the coating device according to any one of claims 1 to 3 ,
A transport unit that transports the workpiece in a predetermined transport direction;
The coating apparatus, wherein the coating robot is configured to perform coating on a workpiece while moving following the workpiece conveyed by the conveyance unit. The coating apparatus according to claim 4 ,
A plurality of the cameras are arranged on both sides with respect to the transport direction,
The control unit is a coating apparatus that sequentially switches a camera that captures an image of a workpiece being conveyed and tracks the position of the workpiece being conveyed. In the coating device according to any one of claims 1 to 5 ,
The control unit is a painting apparatus in which a plurality of feature points of a workpiece are set in advance and the camera sequentially captures a plurality of feature points. The coating apparatus according to any one of claims 1 to 6 ,
The workpiece is a painting device that is the body of an automobile.

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