CN102921581A - Coating system and door opening-closing hand of door opening-closing robot - Google Patents
Coating system and door opening-closing hand of door opening-closing robot Download PDFInfo
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- CN102921581A CN102921581A CN2011102273226A CN201110227322A CN102921581A CN 102921581 A CN102921581 A CN 102921581A CN 2011102273226 A CN2011102273226 A CN 2011102273226A CN 201110227322 A CN201110227322 A CN 201110227322A CN 102921581 A CN102921581 A CN 102921581A
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Abstract
The invention discloses a coating system and a door opening-closing hand of a door opening-closing robot. The invention relates to the coating system comprising a car body conveying appliance, a coating robot fixedly arranged in a first height place and the door opening-closing robot fixedly arranged in a second height place different from the first height place, wherein the coating robot at least coats the interior of a door of a car body when changing gestures to follow the car body conveying appliance conveying the car body.
Description
Technical field
The present invention relates to the ON/OFF hand of a kind of finishing system and door open-close robot, and relate in particular to a kind of ON/OFF hand that comprises the finishing system of door open-close robot and the door open-close robot in this finishing system.
Background technology
The finishing system that comprises the door open-close robot is usually known.International monopoly discloses WO2008/108401 number and discloses a kind of finishing system, this finishing system comprises the car body conveying device of carrying car body, door open-close and the paint robot of the inside of the door of switch car body (side door) and coating door, and support door ON/OFF and the paint robot moving device that allows simultaneously this door open-close and paint robot to advance along the throughput direction of car body.Disclose that WO2008/108401 number finishing system is formed so that when moving device is followed the car body moving door ON/OFF and paint robot that is transferred according to this international monopoly, door open-close and paint robot open car body door, coating door inside and close door.In the situation of the inside that discloses WO2008/108401 number described robot painting's door such as this international monopoly and opening and closing door, need to carry out following steps: on car body, install in advance for making door remain on the special fixture of open mode.Therefore; for in the situation that there is not special fixture to make door remain on open mode; usually known a kind of structure also, this structure are provided for opening and closing door and make door remain on the door open-close robot of open mode and for the paint robot of the inside of coating door.In this case, paint robot and door open-close robot the two all must be able to advance by moving device.
Yet, in disclose WO2008/108401 number finishing system according to aforementioned international monopoly, must be provided for moving device that door open-close and paint robot are advanced, therefore the structure of paint booth is adversely complicated, adversely increase the size of paint booth, and adversely needed to safeguard moving device.And, be similar to and disclose WO2008/108401 number aforementioned structure according to international monopoly, in the usually known structure that paint robot and door open-close robot and employing moving device are set respectively, paint booth adversely complicates and the size of paint booth increases, and adversely needs to safeguard this moving device by moving device is set.
Summary of the invention
To have proposed the present invention in order addressing the above problem, and to have the object of the present invention is to provide a kind of in the situation that do not have the finishing system of the inside that moving device can coating door and the ON/OFF hand of the door open-close robot in described finishing system.
In order to achieve the above object, according to a first aspect of the invention finishing system comprises: the car body conveying device of carrying car body; Be arranged on regularly the paint robot of the first At The Height, described paint robot is changing posture with when following the conveying of described car body conveying device to described car body, at least the inside of the door of the described car body of application; And door open-close robot, described door open-close robot is arranged on the second At The Height that is different from described the first height regularly, be formed so that its working range can be overlapping with the working range of described paint robot, changing posture with when following the conveying of described car body conveying device to described car body, the described door of the described car body of switch and make described door remain on open mode.
As mentioned above, in the described finishing system according to first aspect, be provided with paint robot and door open-close robot, described paint robot is arranged on described the first At The Height regularly, changing posture with when following the conveying of described car body conveying device to described car body, at least the inside of the described door of the described car body of application, described door open-close robot is arranged on the second At The Height that is different from described the first height regularly, be formed so that its working range can be overlapping with the working range of described paint robot, changing posture with when following the conveying of described car body conveying device to described car body, the described door of the described car body of switch and make described door remain on open mode, thereby can be in the situation that the inside of the described door of mobile described paint robot and the described car body of described door open-close robot application, therefore can be in the situation that there be the inside of the described door of moving device application.In addition, the working range of described door open-close robot that the working range and being arranged on that is arranged on the described paint robot of described the first At The Height is different from described second At The Height of described the first height can overlap each other, therefore can easily carry out the described car body of application described door inside operation and make described door remain on the operation of open mode.Therefore, therefore needs moving device not in according to the described finishing system of first aspect does not need to safeguard described moving device, the structure that can simplify and dwindle paint booth simultaneously.
The ON/OFF hand of door open-close robot according to a second aspect of the invention, described ON/OFF hand is used in described door open-close robot for described car body to open and close the door of car body in described finishing system, described ON/OFF hand comprises the wherein stacking attraction instrument that a plurality of permanent magnets are arranged, and being formed by described attraction instrument attracts the described door of described car body to open and close described door, wherein, at least a portion in described a plurality of permanent magnets of described attraction instrument is stacked as so that the same pole of contiguous described permanent magnet is faced mutually along stacking direction.
As mentioned above, in the ON/OFF hand according to the described door open-close robot of second aspect, at least a portion in described a plurality of permanent magnets of described attraction instrument is stacked as so that the same pole of contiguous described permanent magnet is faced mutually along stacking direction, thereby at least a portion in described a plurality of permanent magnets of described attraction instrument is stacked as mutual repulsion, therefore can form the magnetic field of opposite direction at the opposed facing various piece of same pole place.Thereby a plurality of magnetic fields arrange along stacking direction, therefore can reduce the dispersion of attraction at the position (pars intermedia and end) of described attraction instrument.Therefore, by having the described ON/OFF hand of the described attraction instrument that little attraction disperses, described door can stably be attracted at the attraction position of described attraction instrument Anywhere, and therefore described door open-close robot can open and close the described door of described car body more reliably.
By reference to the accompanying drawings, by following detailed description of the present invention, aforementioned and other purposes of the present invention, feature, aspect and advantage will be clearer.
Description of drawings
Fig. 1 is the integrally-built stereogram of the finishing system of schematically illustrated first embodiment of the invention;
Fig. 2 is the front view according to the finishing system of the first embodiment shown in Figure 1;
Fig. 3 is the schematic diagram be used to the ON/OFF hand of the finishing system that first embodiment of the invention is shown;
Fig. 4 is the schematic diagram that makes an opening and closing by the ON/OFF hand according to the finishing system of the first embodiment shown in Figure 3 be used to illustrating;
Fig. 5 is the schematic diagram that illustrates according to the attraction instrument of the ON/OFF hand of the finishing system of the first embodiment shown in Figure 3;
Fig. 6 is the plane be used to the opening door operation of the finishing system that first embodiment of the invention is shown;
Fig. 7 is the plane for the door open mode of the operation of the finishing system that is illustrated in first embodiment of the invention;
Fig. 8 is the plane be used to the application operation of the finishing system that first embodiment of the invention is shown;
Fig. 9 is the plane be used to the application operation of the finishing system that first embodiment of the invention is shown;
Figure 10 is the plane be used to the state of the finishing system that first embodiment of the invention is shown when application is finished;
Figure 11 is the plane be used to the opening door operation that finishing system second embodiment of the invention is shown;
Figure 12 is the plane for the door opening state of the operation that is illustrated in finishing system second embodiment of the invention;
Figure 13 is the plane be used to the application operation that finishing system second embodiment of the invention is shown; And
Figure 14 is be used to the plane that the state of finishing system when application is finished second embodiment of the invention is shown.
The specific embodiment
Referring now to accompanying drawing embodiments of the present invention are described.
(the first embodiment)
At first, describe structure for the system of application car body referring to figs. 1 through Fig. 6 and Figure 10, this structure is the embodiment of the finishing system 100 of first embodiment of the invention.
As shown in Figure 1, be for the system in the inside of door (side door) 121 of paint booth 110 application car bodies 120 according to the finishing system 100 of the first embodiment.In paint booth 110, removed the air of dust etc. by the supply of air regulator (not shown), and the air of supply flow from the top down (along direction Z2).The application of car body 120 comprises a plurality of application steps, and the application of door 121 the inside of car body is performed as the part of so-called inner panel application step, and so-called inner panel application step comprises the inside of application hood 122 and the inside of luggage-boot lid 123.Omitted the description to the inside of the inside of application hood 122 and luggage-boot lid 123.
Finishing system comprises conveyer 10 and paint robot 20 and the door open-close robot 30 that carries car body 120 along throughput direction (direction Y2), and the two is arranged in a side (along direction X2) of conveyer 10 paint robot 20 and door open-close robot 30.Paint robot 20 and door open-close robot 30 also are arranged on the opposition side (along direction X1) of conveyer 10.The both sides of conveyer 10 have identical structure, and therefore description thereof is omitted and description.Each controls the conveyer 10 of finishing system 100, paint robot 20 and door open-close robot 30 by the control device (not shown).Conveyer 10 is embodiment of " car body conveying device ".
Conveyer 10 is provided in the paint booth 110 and extends point-blank along the throughput direction (direction Y2) of stipulating.As shown in Figure 2, conveyer 10 is formed in car body 120 remained under the state of specified altitude H1 and carries car body 120 along throughput direction.In the application step, car body 120 is not interruptedly carried continuously by the constant speed with regulation.Therefore, conveyer 10 is transported to car body 120 the downstream survey from upstream side with constant speed when, carry out the application of the inside of opposite house 121.
According to the first embodiment, door open-close robot 30 is outstanding along direction X1 at height H 3 places, and is fixed on the side wall 111 of paint booth 110.Door open-close robot 30 is 2-connecting rod horizontal articulated robot (so-called SCARA robot).Door open-close robot 30 is formed so that its working range can be overlapping with the working range of paint robot 20.Door open-close robot 30 is along throughput direction (along direction Y2) and paint robot 20 D1 spaced apart (seeing Fig. 6) that are positioned at the downstream.Door open-close robot 30 is formed in the moment that application operation can be carried out effectively and opens and closes door 121, and is following to carry out in the conveying (motion) of car body 120 in the application operation of paint robot 20 and be used for making 121 operations that remain on open mode.Door open-close robot 30 be formed so that its horizontal movement scope greater than the horizontal movement scope of paint robot 20.
As shown in Figure 1, door open-close robot 30 comprises the first joint 31, the first arm (connecting rod) 32, second joint 33, the second arm (connecting rod) 34, the 3rd joint (wrist joint) 35 and is arranged on ON/OFF hand 40 on the 3rd joint 35.
The first joint 31 is installed on the side wall 111 of paint booth 110 and is formed in rotatably supports the first arm 32 in the horizontal plane.Second joint 33 is arranged on the front end of the first arm 32.Second joint 33 is formed in and rotatably supports the second arm 34 in the horizontal plane.The 3rd joint 35 is arranged on the front end of the second arm 34.The 3rd joint 35 is provided with the mounting base 42 (seeing Fig. 3) of the ON/OFF hand 40 of describing after a while.The 3rd joint 35 has for the wrist flex axle (pivot) that ON/OFF hand 40 is rotated at horizontal plane and is used for making ON/OFF hand 40 at the wrist rotating shaft (rotating shaft) of vertical plane around this axle rotation.
Door open-close robot 30 is folding or open these first arms 32 and the second arm 34, thereby has the large range of movement (horizontal movement scope) of distance of carrying car bodies 120 than conveyer 10 during the application step of the inside of door 121.More specifically, door open-close robot 30 makes door 121 remain on the range of movement of open mode when forming and following the car body 120 of being carried by conveyer 10 in the scope (scope of along continuous straight runs and throughput direction) that has at distance D 2 (seeing Figure 10), and wherein car body 120 is moved distance D 2 during the inside of coating door 121.
As shown in Figure 2, the door open-close robot 30 that is arranged in height H 3 places is formed, so that the height of ON/OFF hand 40 is substantially equal to the height H 3a of lower end of door 121 the window section of car body 120.Therefore, ON/OFF hand 40 can open and close door 121, and need not in door open-close robot 30 vertical axis (Z axis) to be set.
As shown in Figure 3, ON/OFF hand 40 comprises that clavate attracts instrument 41, a plurality of permanent magnet 41a to be stacked on this clavate and attracts in instrument 41 and be formed by the inner surface by the door 121 of the magnetic attraction car body 120 of attraction instrument 41 to open and close door 121 and make door 121 remain on open mode (seeing Fig. 4).ON/OFF hand 40 has the mounting base 42 that is connected with the 3rd joint 35, is attached to the susceptor posts 44 of mounting base 42 and is installed on the end of susceptor posts 44 and supports the rotary mechanism part 45 of attraction instrument 41 by safety pin 43.In addition, ON/OFF hand 40 has for detection of ON/OFF sensor 46, the test rod 47 of the existence of door 121 and makes test rod 47 and connecting rod 48 that ON/OFF sensor 46 is coupled to each other.ON/OFF sensor 46 is embodiment of " mechanical pick-up device " among the present invention.
One end of the susceptor posts 44 of the pedestal of more close ON/OFF hand 40 is attached to mounting base 42 by safety pin 43.Safety pin 43 is formed when excessively loading to destroy to stop by it excessive loads is put on ON/OFF hand 40.Be formed with the hollow bulb (not shown) in safety pin 43 inside, and safety pin 43 is formed so that the air pressure of stipulating is applied in this hollow bulb.When safety pin 43 is destroyed, by the air that discharges in the hollow bulb air pressure is reduced.Based on this variation of air pressure, can detect the destruction of safety pin 43.Safety pin 43 is embodiment of " load blocking portion " among the present invention.
As shown in Figure 5, attraction instrument 41 has stainless steel cage 41b tubulose and non-magnetic.A plurality of permanent magnet 41a are stacked among this stainless steel cage 41b.The a plurality of permanent magnet 41a that are stacked in the attraction instrument 41 are stacked as, so that the same pole of contiguous permanent magnet 41a is faced mutually along stacking direction (direction A) in stainless steel cage 41b.In other words, permanent magnet 41a is stacked as so that the north magnetic pole of contiguous permanent magnet 41a along direction A mutually in the face of and in addition the south magnetic pole of contiguous permanent magnet 41a mutually face along direction A, and be formed so that contiguous permanent magnet 41a repels mutually.Therefore, in attraction instrument 41, each permanent magnet 41a has formed flux loop.Attraction instrument 41 is formed in this clavate and attracts Anywhere (along the direction A) at the attraction position of instrument 41 to obtain substantially invariable attraction (magnetic force) by these flux loop.
As shown in Figure 3, attraction instrument 41 is formed and can centers on by the rotary mechanism part 45 on the end that is installed in susceptor posts 44 major axis (along the central shaft of the direction A) rotation that clavate attracts instrument 41.As shown in Figure 4, the inner surface (surface) of door 121 forms the irregularly shaped of complexity, therefore attraction instrument 41 center on the central shaft rotation by rotary mechanism part 45, attract thus instrument 41 can be vertically with the inside of door 121 be subjected to inhale surperficial (or being inhaled a little) and contact.According to this structure, when attraction instrument 41 attracted the inner surface of door 121, ON/OFF hand 40 was opened door 121, and when attraction attracted the inner surface side of door 121, ON/OFF hand 40 was closed door 121.Among the permanent magnet 41a of attraction instrument 41 each made by the magnet with strong magnetic force (for example neodium magnet).Therefore, ON/OFF hand 40 is formed, and is opening and closing door 121 o'clock, can also mutually not contact but under the states that mutually slightly separate at attraction instrument 41 and door 121, opens and closes 121 by attracting 121.
The ON/OFF sensor 46 of ON/OFF hand 40 is made of mechanical limit switch.The test rod 47 that connects with ON/OFF sensor 46 by connecting rod 48 is formed and can rotates around rotating part 47a along direction R and be configured to respect to vertical direction and at finger tip side (being furnished with a side of the attraction instrument 41) regulation that tilts angle α.Therefore, opening door at 121 o'clock, when test rod 47 touched the outer surface of door 121, test rod 47 was opened 46 (existence of detecting gate 121) of ON/OFF sensor around rotating part 47a rotation thereby pass through connecting rod 48.In Fig. 4, omitted the diagram of ON/OFF sensor 46, test rod 47 and connecting rod 48.
Referring now to Fig. 3,4 and Fig. 6 to 10 the application operation of the finishing system 100 of first embodiment of the invention is described.
At first, as shown in Figure 6, finishing system 100 begin to carry the car body 120 that is arranged on the conveyer 10 and from upstream side along direction Y2 (throughput direction) with constant speed moving body 120.Car body 120 is not interruptedly carried until the application operation is finished continuously with constant speed.
When the car body 120 of being carried by conveyer 10 arrived the starting position P1 of regulation, when continuing to carry car body 120, door open-close robot 30 opened door 121.More specifically, the attraction instrument 41 of ON/OFF hand 40 is rotated into substantially horizontal by the 3rd joint 35 of door open-close robot 30, simultaneously the first arm 32 and second arm 34 of door open-close robot 30 are opened, and are arranged on thus the window section of attraction instrument 41 by door 121 on the end of ON/OFF hand 40.At this moment, as shown in Figure 3, test rod 47 contacts with the outer surface of door 121, and ON/OFF sensor 46 detects the rotation of test rod 47, the thus existence of detecting gate 121 by connecting rod 48.
After this, as shown in Figure 4, based on the detection of ON/OFF sensor 46 opposite houses 121, the 3rd joint 35 makes attraction instrument 41 turn back to substantially vertical state, and the inner surface of door 121 is attracted attraction (magnetic force) attraction of instrument 41.As shown in Figure 7, the first arm 32 of door open-close robot 30 and the second arm 34 are actuated to fold in this state, and door 121 is opened when attraction instrument 41 attracts the inner surface of door 121.At this moment owing to being placed on the position deviation etc. of the car body 120 on the conveyer 10, with the on/off operation of door open-close robot 30 center of predefined bow-shaped route with can mutually depart from the center of the bow-shaped route of opening 121 o'clock doors 121 of door.And in this case, attraction instrument 41 can slide by the inner surface at door 121 in by magnetic attraction (holding) door 121, and attraction instrument 41 and door 121 are interfixed, therefore can prevent owing to departing between the path of the path of revolving door 121 and ON/OFF hand 40 puts on ON/OFF hand 40 with excessive power.As shown in Figure 7, when door 121 was opened, car body 120 advanced to position P2.
After door 121 was opened, paint robot 20 was actuated to begin the inside of the door 121 of application car body 120.At this moment, shown in Fig. 8 and 9, the first arm 32 and second arm 34 of door open-close robot 30 are actuated to follow the car body 120 that moves with constant speed, thereby make door 121 remain on open mode.Paint robot 20 also is actuated to follow car body 120 by arm 21, thereby carries out the application of the inside of opposite house 121 when car body 120 is transferred along direction Y2.Therefore, paint robot 20 and door open-close robot 30 when following the car body 120 that is transferred and changing separately posture, carry out respectively opposite house 121 inside application and make 121 to remain on open mode.
After this, as shown in figure 10, the application of the inside of the door 121 of 20 pairs of car bodies 120 of paint robot is finished.During the inside of coating door 121, the car body 120 of being carried by conveyer 10 is the position P3 from position P2 to the downstream (along the direction Y2) distance D 2 of having advanced only.Therefore, at least in the scope of distance D 2, in the motion of following car body 120, make door 121 remain on open mode according to the door open-close robot 30 of the finishing system 100 of the first embodiment.Further, in the motion of following car body 120, make the door 121 door open-close robots 30 that remain on open mode close the door 121 of car body 120.Therefore, finished the application step of door 121.
As indicated above, according to the first embodiment, finishing system 100 is provided with: paint robot 20, this paint robot 20 is arranged on height H 2 places regularly, and change posture with the conveying of following 10 pairs of car bodies 120 of conveyer in the inside of door 121 of application car body 120; With door open-close robot 30, this door open-close robot 30 is arranged on height H 3 places that are different from height H 2 regularly, form so that the working range of this door open-close robot 30 can be overlapping with the working range of paint robot 20, and when the change posture is with the conveying of following 10 pairs of car bodies 120 of conveyer, open and close the door 121 of car body 120 and make door 121 remain on open mode, thus can be in the situation that the inside of the door 121 of not mobile paint robot 20 and door open-close robot 30 application car bodies 120.Therefore, can be in the situation that there be the inside of moving device coating door 121.In addition, be arranged on height H 2 places paint robot 20 working range and be arranged on the working range of the door open-close robot 30 at height H 3 places that are different from height H 2 can be overlapped, so paint robot 20 and door open-close robot 30 can be easily the inside of the door 121 of application car body 120 and make door 121 remain on open mode respectively.Therefore, therefore needs moving device not in according to the finishing system 100 of the first embodiment does not need to safeguard moving device, the structure that can simplify and dwindle paint booth simultaneously.
As indicated above, according to the first embodiment, door open-close robot 30 is made of horizontal articulated robot, fold and open the first arm 32 and the second arm 34 by along continuous straight runs thus, can along continuous straight runs enlarge the range of movement of door open-close robot 30, this is the feature of horizontal articulated robot.Therefore, in the structure with the door open-close robot 30 that arranges regularly, door open-close robot 30 can easily open and close the door 121 of car body 120 and make door 121 remain on open mode in the conveying of following 10 pairs of car bodies 120 of conveyer equally.
As indicated above, according to the first embodiment, door open-close robot 30 is disposed in height H 3 places, so that the height of the ON/OFF hand 40 of door open-close robot 30 (position of finger tip) is substantially equal to the height H 3a of the door 121 of the car body 120 carried by conveyer 10, drive simply the door 121 that horizontal articulated type door open-close robot 30 can ON/OFF car body 120 by along continuous straight runs thus, therefore in horizontal articulated type door open-close robot 30, do not need vertically the driving shaft of (direction Z).
As indicated above, according to the first embodiment, paint robot 20 is arranged on height H 2 places on the side wall 111 of paint booth 110 regularly, and door open-close robot 30 is arranged on height H 3 places on the side wall 111 of paint booth 110 regularly, in paint booth 110, do not need thus moving device, be used for to support the pillar of paint robot 20 and door open-close robot 30 etc., therefore can reduce from car body 120 to paint booth the distance of 110 side wall 111.Therefore, can dwindle the size of whole paint booth 110.
As indicated above, according to the first embodiment, paint robot 20 is arranged on the side wall 111 of paint booth 110 regularly by fixed support 20a, when pillar that in paint booth 110, is not provided for supporting paint robot 20 etc., also can utilize fixed support 20a that paint robot 20 easily is fixed on the side wall 111 of paint booth 110 thus.
As indicated above, according to the first embodiment, paint robot 20 is arranged on height H 2 places of height H 3 tops of door open-close robot 30, and paint robot 20 can be carried out application in height H 2 places above the door open-close robot 30 that is arranged on height H 3 places thus.At this moment, in paint booth 110, can carry out such as the application operation of spraying paint by paint robot 20 downwards from height H 2, wherein form sinking (air-flow from the top down) by air regulator, can improve thus the tack of paint, thereby can improve the workability of application.
As indicated above, according to the first embodiment, horizontal articulated type door open-close robot 30 and vertical joint type paint robot 20 are provided, and make the horizontal movement scope of door open-close robot 30 greater than the horizontal movement scope of paint robot 20, thus before application and also can make afterwards must operation with the range of movement of the door open-close robot 30 that opens and closes door 121 range of movement (scope of application operation) greater than paint robot 20.Therefore, door open-close robot 30 can open door 121 reliably before application car body 120, can make door 121 remain on open mode during application car body 120, and closes door 121 after application car body 120.
As indicated above, according to the first embodiment, door open-close robot 30 carries the direction (direction Y2) of car body 120 to be disposed in the downstream with respect to paint robot 20 along conveyer 10, thus open the door 121 o'clock doors 121 positioned internal in the situation of the upstream side of the throughput direction (along direction Y1) of car body 120, the paint robot 20 that is arranged in the upstream side of throughput direction can be carried out application at upstream side, and the door open-close robot 30 that is arranged in the downstream of throughput direction can open and close door 121 and make door 121 remain on open mode in the downstream.Therefore, can easily carry out the application operation.
As indicated above, according to the first embodiment, finishing system 100 is formed, so that the range of movement of door open-close robot 30 along continuous straight runs and direction Y2 (throughput direction) is greater than distance D 2, wherein during door 121 the inside of paint robot 20 application car bodies 120, conveyer 10 makes car body 120 displacement D2.Therefore, do not have in the structure of moving device having the two paint robot that is all arranged regularly 20 and door open-close robot 30 equally, can need not to stop provisionally carrying continuously car body 120 with constant speed the conveying of 10 pairs of car bodies 120 of conveyer or change in the transporting velocity of car body 120, carry out the application to the inside of the door 121 of car body 120.
As indicated above, according to the first embodiment, a plurality of permanent magnet 41a of the attraction instrument 41 of ON/OFF hand 40 are stacked as, so that the same pole of contiguous permanent magnet 41a is faced mutually along stacking direction (direction A).According to this structure, can in each part of the opposed facing attraction instrument 41 of same pole, locate to form the magnetic field of opposite direction.Therefore, a plurality of magnetic fields are arranged along stacking direction (direction A), therefore can reduce the attraction at the position of attraction instrument 41 and disperse (along direction A).Therefore, door 121 can stably be attracted by the ON/OFF hand 40 with attraction instrument 41 that little attraction disperses in the attraction position of attraction instrument 41 Anywhere, so door open-close robot 30 can open and close the door 121 of car body 120 more reliably.
As indicated above, according to the first embodiment, door 121 mechanical ON/OFF sensor 46 for detection of car body 120 is arranged on the ON/OFF hand 40, the situation that is different from thus the proximity sensor etc. of the impact that is subject to the magnetic field that produced by attraction instrument 41 etc. can accurately detect the door 121 of car body 120 and not be subjected to the impact in magnetic field etc.
As indicated above, according to the first embodiment, attraction instrument 41 forms clavate, and rotary mechanism part 45 is arranged on the ON/OFF hand 40, this rotary mechanism part 45 supports attraction instrument 41 and allows simultaneously attraction instrument 41 around major axis (along the central shaft of the direction A) rotation of this attraction instrument 41, by make attraction instrument 41 around the central shaft rotation by means of rotary mechanism part 45, attraction instrument 41 can vertically contact with the inner surface of the door 121 that forms complicated erose car body 120 thus.Therefore, attraction instrument 41 can attract the door 121 of car body 120 more reliably.
As indicated above, according to the first embodiment, safety pin 43 is arranged on the ON/OFF hand 40, and these safety pin 43 preventions put on ON/OFF hand 40 with excessive load when the large load on of ON/OFF hand 40 quilts, when ON/OFF hand 40 during by excessive loads, also can stop ON/OFF hand 40 destroyed thus.
As indicated above, according to the first embodiment, test rod 47 is arranged on the ON/OFF hand 40 and forms by making this test rod 47 and the outer surface of the door 121 of car body 120 contact to detect the door 121 of car body 120, this test rod 47 is attached to the ON/OFF sensor 46 that is arranged on the ON/OFF hand 40, and the simple structure that has thus the test rod 47 that is attached to ON/OFF sensor 46 allows ON/OFF sensor 46 to detect the door 121 of car body 120.
(the second embodiment)
Then, with reference to Fig. 2 and Figure 11 to Figure 14 second embodiment of the invention finishing system 200 is described.Be different from aforementioned the first embodiment paint robot 20 and door open-close robot 30 along throughput direction (direction Y2) distance D 1 that is spaced from each other, paint robot 20 and door open-close robot 30 are arranged to vertically overlapped in according to the finishing system 200 of the second embodiment.
In the finishing system 200 according to the second embodiment, as shown in figure 11, the door open-close robot 30 that is arranged on regularly the paint robot 20 at height H 2 places (seeing Fig. 2) and is arranged on regularly height H 3 places (seeing Fig. 2) is disposed in the same position of along continuous straight runs (throughput direction, direction Y) with vertically overlapped.Finishing system 200 is formed, so that the horizontal working range of the horizontal working range of paint robot 20 and door open-close robot 30 is overlapping.
Door open-close robot 30 is formed and can opens and closes door 121 and make door 121 remain on open mode during the inside that is coated with entrucking 121, follows simultaneously the car body 120 of being carried with constant speed by conveyer 10.More specifically, door open-close robot 30 is formed and can during the inside of paint robot 20 coating door 121, makes door 121 remain on open mode in the scope (scope of along continuous straight runs and throughput direction) of the distance D 12 (seeing Figure 14) that car body 120 is moved.Door open-close robot 30 is formed, at conveyer 10 door 121 of car body 120 is advanced under the state in the downstream (along the side of direction Y2) along throughput direction with respect to door open-close robot 30, also can make door 121 remain on open mode and close door 121.
All the other structures of the second embodiment and all the other structures of aforementioned the first embodiment are similar.
Referring now to Figure 11 to Figure 14 application operation according to the finishing system 200 of the second embodiment is described.
As shown in figure 11, finishing system 200 begins to carry the car body 120 that is arranged on the conveyer 10, and from the upstream side of throughput direction along direction Y2 with constant speed moving body 120.Car body 120 is not interruptedly carried until the application operation is finished continuously with constant speed.
When the car body 120 of being carried by conveyer 10 arrived the starting position P11 of regulation, door open-close robot 30 opened door 121 and continues simultaneously to carry car body 120.Therefore, door 121 is opened, and door open-close robot 30 makes door 121 remain on open mode.Opening door operation is similar to the opening door operation of aforementioned the first embodiment.As shown in figure 12, when door 121 was opened, car body 120 advanced to position P12.
As shown in figure 13, after door 121 was opened, paint robot 20 was actuated to begin the inside of the door 121 of application car body 120.Paint robot 20 and door open-close robot 30 when following the car body 120 that is transferred and changing separately posture, carry out respectively opposite house 121 inside application and make 121 to remain on open mode.
After this, as shown in figure 14, the application of the inside of the door 121 of 20 pairs of car bodies 120 of paint robot is finished.During the inside of coating door 121, the car body 120 of being carried by conveyer 10 only from position P12 to the downstream (along direction Y2) position P13 travel distance D12.According to the second embodiment, paint robot 20 and door open-close robot 30 are arranged to overlapping mutual vertically, therefore, be arranged in downstream (along direction Y2) with respect to paint robot 20 with distance D 1 with door open-close robot 30 in the first embodiment and compare, door open-close robot 30 relatively is arranged in upstream side (along direction Y1).Therefore, according to the second embodiment, passed through at the hinge position of door 121 under the state of position of door open-close robot 30, by effectively utilizing the large range of movement of horizontal articulated type door open-close robot 30 along continuous straight runs, door open-close robot 30 also can make door 121 remain on open mode.Therefore, during the inside of coating door 121, door open-close robot 30 can make door 121 remain on open mode in the distance D 12 that car body 120 is not interruptedly moved.After the application of the inside of opposite house 121 is finished, in the motion of following car body 120, make the door 121 door open-close robots 30 that remain on open mode close the door 121 of car body 120.Thereby, finished the application step of door 121.
According to the second embodiment, as indicated above, door open-close robot 30 is formed, be moved beyond along under the state of the desired location of the door open-close robot 30 of throughput direction (direction Y2) in the position of the door 121 of the car body 120 of carrying along the throughput direction (along direction Y2) of conveyer 10, can make door 121 remain on open mode, thus, arrive along under the state in the downstream of throughput direction (direction Y2) at the desired location that the car body 120 that is transferred has been moved beyond door open-close robot 30, paint robot 20 also can be carried out the application operation.Therefore, door 121 can easily be remained on open mode long apart from interior, therefore, only compare in the situation of upstream side execution application operation with the desired location with respect to door open-close robot 30, need not to increase the size of robot carrying out the required time inside door 121 of application operation easily to be remained on open mode.
According to the second embodiment, paint robot 20 and door open-close robot 30 are arranged to overlapping mutual vertically, can reduce thus to be provided for the robot of coating door 121 the zone (along throughput direction in the distance that is used between the robot of coating door 121).Therefore, for example, when the inside of application luggage-boot lid 123 and open and close the robot of luggage-boot lid 123 and the inside of application hood 122 and the robot that opens and closes hood 122 when being arranged along throughput direction, can reduce along the interval between the robot of throughput direction.Therefore, when building the finishing system of carrying out whole inner panel application step by employing according to the finishing system 200 of the second embodiment, can reduce to build the required distance along throughput direction of finishing system, the size (can reduce the length of paint booth) that therefore can dwindle paint booth.
All the other effects of the second embodiment are similar to those effects of aforementioned the first embodiment.
Although described and illustrated the present invention in detail, obviously should be appreciated that this only as an illustration and for example, and as restriction, the spirit and scope of the present invention are only by the term restriction of appended claim.
For example, although the paint robot inside of coating door only in each in aforementioned the first embodiment and the second embodiment the invention is not restricted to this.The present invention can be selectively used for the situation of the outside of paint robot coating door.
Although horizontal articulated type door open-close robot all is set in each in aforementioned the first embodiment and the second embodiment, the invention is not restricted to this.In the present invention, door open-close robot except horizontal articulated type optionally is set.As long as be arranged on regularly in the door open-close robot under the state of the second height, the door open-close robot can open and close door and make door remain on open mode in the conveying of following car body, the door open-close robot can optionally be the robot with any structure.
In in aforementioned the first embodiment and the second embodiment each, although door open-close robot 30 is disposed in height H 3, thereby so that the height of ON/OFF hand 40 is substantially equal to the height H 3a of lower end of door 121 the window section of car body 120, but the invention is not restricted to this.In the present invention, the door open-close robot can optionally be arranged in the At The Height of the height that is different from door 121.In this case, the door open-close robot can be formed to have and allow it to open and close the range of movement vertically of door.
In in aforementioned the first embodiment and the second embodiment each, although paint robot 20 and door open-close robot 30 are arranged on the side wall 111 of paint booth 110 regularly, the invention is not restricted to this.In the present invention, for example, can in paint booth, optionally be provided for stationary machines people's pillar etc., so that paint robot and door open-close robot are fixed on these pillars.
In in aforementioned the first embodiment and the second embodiment each, although paint robot 20 is arranged on height H 2 places of height H 3 tops, wherein door open-close robot 30 is arranged on height H 3 places, the invention is not restricted to this.In the present invention, paint robot can optionally be arranged on the below of door open-close robot.
In in aforementioned the first embodiment and the second embodiment each, although paint robot 20 is made of the vertical articulated robot of 6-axle (6DOF), and door open-close robot 30 is made of 2-connecting rod horizontal articulated robot, but the invention is not restricted to this.In the present invention, paint robot can be optionally by having no more than 5 axles or consisting of more than the robot of 6 axles, perhaps the door open-close robot can optionally be made of the horizontal articulated robot with the connecting rod more than 2.
In aforementioned the first embodiment, although door open-close robot 30 the invention is not restricted to this at downstream and paint robot 20 D1 spaced apart along throughput direction (along direction Y2).In the present invention, the door open-close robot can be optionally be arranged in upstream side along throughput direction with respect to paint robot.
In in aforementioned the first embodiment and the second embodiment each, although a plurality of permanent magnet 41a that are stacked in the attraction instrument 41 are stacked as, so that the same pole of near permanent magnet 41a is faced mutually along stacking direction (direction A), still the invention is not restricted to this.In the present invention, it is one group a plurality of groups that two or three permanent magnets can be provided, it is arranged such that mutually different magnetic poles is mutually contiguous, and these groups can be stacked as so that identical magnetic pole is faced (mutually repelling) mutually along stacking direction (direction A).
In in aforementioned the first embodiment and the second embodiment each, although consisted of by mechanical limit switch for detection of the ON/OFF sensor 46 of the existence of door 121, the invention is not restricted to this.In the present invention, the ON/OFF sensor can optionally be made of the other mechanical switch except limit switch.Optionally, the ON/OFF sensor can be made of the sensor of the other type except mechanical pick-up device.
Claims (20)
1. finishing system, described finishing system comprises:
Carry the car body conveying device of car body;
Be arranged on regularly the paint robot of the first At The Height, described paint robot change posture with follow described car body conveying device to the conveying of described car body in the inside of the door of the described car body of application at least; And
Be arranged on regularly the door open-close robot of the second At The Height that is different from described the first height, described door open-close robot forms so that the working range of described door open-close robot can be overlapping with the working range of described paint robot, is changing posture with the described door that opens and closes described car body when following the conveying of described car body conveying device to described car body and is making described door remain on open mode.
2. finishing system according to claim 1, wherein, described door open-close robot is horizontal articulated robot.
3. finishing system according to claim 2, wherein, described door open-close robot is disposed in described the second At The Height, so that the position of the finger tip of described door open-close robot equals the height of the described door of the described car body carried by described car body conveying device.
4. finishing system according to claim 1, wherein, described paint robot is arranged on regularly for described the first At The Height on the side wall of the paint booth of described car body, and described door open-close robot is arranged on regularly for described the second At The Height on the described side wall of the described paint booth of described car body.
5. finishing system according to claim 4, wherein, described paint robot is arranged on described side wall for the described paint booth of described car body regularly by fixed support.
6. finishing system according to claim 1, wherein, described paint robot residing described first highly is positioned in the top of described the second height.
7. finishing system according to claim 1, wherein, described door open-close robot is horizontal articulated robot, and described paint robot is vertical articulated robot, and the horizontal movement scope of described door open-close robot is greater than the horizontal movement scope of described paint robot.
8. finishing system according to claim 1, wherein, described door open-close robot is disposed in the downstream of carrying the direction of described car body along described car body conveying device with respect to described paint robot.
9. finishing system according to claim 1, wherein, described door open-close robot and described paint robot are disposed in such position: so that described door open-close robot and described paint robot are overlapped in plane.
10. finishing system according to claim 1, wherein, the range of movement of the throughput direction of described door open-close Robot horizontal direction and described car body moves the distance of described car body greater than described car body conveying device during described described inside of the described car body of described paint robot application.
11. finishing system according to claim 1, wherein, described door open-close robot is formed, under the state that advances along described throughput direction in the position that has been set up with respect to described door open-close robot in the position of the described door of the described car body of carrying along the throughput direction of described car body conveying device, can make described door remain on open mode.
12. finishing system according to claim 1, wherein, described door open-close robot comprises the ON/OFF hand be used to the described door that opens and closes described car body, described ON/OFF hand has the wherein stacking attraction instrument that a plurality of permanent magnets are arranged, and be formed the described door that attracts described car body by described attraction instrument opening and closing described door, and at least a portion in described a plurality of permanent magnets of described attraction instrument is stacked as so that the same pole of contiguous described permanent magnet is faced mutually along stacking direction.
13. finishing system according to claim 12, wherein, described ON/OFF hand also has the mechanical pick-up device for detection of the described door of described car body.
14. finishing system according to claim 12, wherein, described attraction instrument is formed clavate, and described ON/OFF hand also has rotary mechanism part, and described rotary mechanism part supports described attraction instrument and allows simultaneously described attraction instrument around the major axis rotation of described attraction instrument.
15. finishing system according to claim 12, wherein, described ON/OFF hand also has the load suppressing portion, and when by large load on, described load suppressing portion prevention puts on described ON/OFF hand with excessive load.
16. the ON/OFF hand of a door open-close robot, described ON/OFF hand is used in finishing system for the door open-close robot of car body to open and close the door of described car body, and comprise the wherein stacking attraction instrument that a plurality of permanent magnets are arranged, and being formed by described attraction instrument attracts the described door of described car body to open and close described door, wherein, at least a portion in described a plurality of permanent magnets of described attraction instrument is stacked as, so that the same pole of contiguous described permanent magnet is faced mutually along stacking direction.
17. the ON/OFF hand of door open-close according to claim 16 robot, described ON/OFF hand also comprise the mechanical pick-up device for detection of the described door of described car body.
18. the ON/OFF hand of door open-close according to claim 17 robot, described ON/OFF hand also comprises the test rod that is attached to described mechanical pick-up device, wherein, described mechanical pick-up device is formed the described door that contacts to detect described car body by described outer surface of described test rod and described car body.
19. the ON/OFF hand of door open-close according to claim 16 robot, wherein, described attraction instrument is formed clavate, the described ON/OFF hand of described door open-close robot also comprises rotary mechanism part, and described rotary mechanism part supports described attraction instrument and allows described attraction instrument around the major axis rotation of described attraction instrument.
20. the ON/OFF hand of door open-close according to claim 16 robot, described ON/OFF hand also comprises the load suppressing portion, and when by large load on, described load suppressing portion stops excessive load is put on described ON/OFF hand.
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| CN201110227322.6A CN102921581B (en) | 2011-08-09 | 2011-08-09 | Coating system and door opening-closing hand of door opening-closing robot |
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| CN201110227322.6A CN102921581B (en) | 2011-08-09 | 2011-08-09 | Coating system and door opening-closing hand of door opening-closing robot |
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| CN102921581A true CN102921581A (en) | 2013-02-13 |
| CN102921581B CN102921581B (en) | 2015-07-22 |
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| CN106246025A (en) * | 2016-09-18 | 2016-12-21 | 上海发那科机器人有限公司 | A kind of magnetic door opener |
| CN112676118A (en) * | 2020-12-07 | 2021-04-20 | 机械工业第九设计研究院有限公司 | Automatic door opening device for cavity wax filling and application |
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| Publication number | Publication date |
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| CN102921581B (en) | 2015-07-22 |
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