ELECTROSTATIC PAINTING APPARATUS AND ELECTROSTATIC PAINTING METHOD

摘要

To realize prediction of interference with an opening/closing object without provision of a special explosion-proof structure. An electrostatic painting apparatus (1) is configured to electrostatically paint a door (3) provided to a vehicle body (2) using a door painting robot (4) while opening and closing the door by a door opening/closing apparatus (5). The door opening/closing apparatus (5) comprises an articulated robot (12) and an opening/closing tool (13). An opening/closing hook (18) of the opening/closing tool (13) which comes into contact with the door (3) is formed of a resin which is an insulating material. A second arm (16) of the articulated robot (12) is formed of a resin, within which a high-voltage generator (19) is provided. A high voltage generated by the high-voltage generator (19) is applied to the second arm (16), a third arm (17) and the opening/closing tool (13). The third arm (17) is provided with an electrode pin (22) and a wiring (23) for detecting discharge current between the third arm (17) and the door (3). A high-voltage controller (20) judges a positional relationship between the door (3) and the third arm (17) based on the discharge current detected through the electrode pin (22).