JP2000158377A - Painting robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve painting quality, and to prevent the breakage of painting fluid flowing tubes by preventing the occurrence of a twist in the painting fluid flowing tubes, and preventing the painting fluid flowing tubes from excessively rubbing with the inside other member. SOLUTION: Plural cylindrical bodies 22, 36, 65 have mutually rotatably connected wrist part 90, in which painting fluid flowing tubes 83 are inserted, a painting robot has plural bearings 81, 87 arranged in the wrist parts 90 and plural support tubes 82, 88 rotatably supported by the respective these bearings 81, 87, and the painting fluid flowing tubes 83 are inserted inside these support tubes 82, 88.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating robot in which a coating fluid flow tube for flowing a coating fluid such as paint or air is inserted into a wrist.

[0002]

2. Description of the Related Art In a conventional coating robot, a coating fluid distribution tube for supplying a coating fluid such as paint or air to a coating gun provided at the tip of a wrist is provided outside the wrist. Is provided along with the coating fluid that has rebounded at the time of coating and adhered to the coating fluid distribution tube, and then hardened. Peeled off and dropped on the painted surface, which could impair the coating quality. In addition, since the coating fluid distribution tube is mounted outside the wrist, it is necessary to limit the operation of the robot due to interference with the work. For this reason, a wrist part with a built-in tube that allows a coating fluid distribution tube to pass through the inside of the wrist is being adopted. In a conventional wrist part with a built-in tube, a coating fluid distribution tube is fixed to a wrist part in which a plurality of tubular bodies are connected in a relatively rotatable manner, or is inserted in a completely free state. Let either be with you.

[0003]

In the system in which the coating fluid distribution tube is fixed in the wrist, a twist occurs in the coating fluid distribution tube due to the relative rotation of the cylindrical body of the wrist. As a result, the supply pressure of a coating fluid such as paint or air changes, and the coating quality may be degraded. In addition, in the method in which the coating fluid distribution tube is completely free in the wrist, the coating fluid distribution tube may be excessively rubbed against other members and damaged when the wrist is activated. was there. The present invention can improve the coating quality by preventing the coating fluid flow tube from being twisted and preventing the coating fluid flow tube from excessively rubbing against other members inside. An object of the present invention is to provide a painting robot capable of preventing the damage of the coating fluid distribution tube.

[0004]

In order to achieve the above object, a coating robot according to the present invention has a wrist in which a plurality of cylindrical bodies are connected to be rotatable relative to each other, and a coating fluid is provided in the wrist. A flow tube is inserted therethrough, and has a bearing arranged in the wrist, and a support tube rotatably supported by the bearing, and the coating fluid flow tube is provided inside the support tube. Is inserted. As described above, since the coating fluid distribution tube is supported by the bearing via the support tube, even if the wrist cylindrical body relatively rotates, the coating fluid distribution is performed by rotating the support tube with the bearing. The twist of the coating tube is released to prevent the coating fluid flow tube from being twisted. In addition, since the coating fluid distribution tube is supported via the bearing and the support tube, it is possible to prevent the coating fluid distribution tube from excessively rubbing against other internal members.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a painting robot according to the present invention will be described below with reference to FIGS. As shown in FIG. 1, the coating robot 10 includes a manipulator 11, a controller 13 connected to the manipulator 11 via a cable 12 to control the operation of the manipulator 11, and a cable 14 connected to the controller 13. Manipulator 11 connected via
And a teaching pendant 15 for allowing an operator to create data such as an operation instruction to the user and a setting of a paint discharge amount accompanying the painting work.

The manipulator 11 includes a fixed base 17 installed and fixed on a floor or the like, a turning base 18 provided on the fixed base 17 so as to rotate about a vertical axis by a servo motor (not shown), and a turning base 18. One end of the first arm 20 is rotatably supported on the turning base 18 around a horizontal axis and is rotated by a servo motor (not shown) provided on the turning base 18. The other end of the first arm 20. And a second arm (tubular body) 22 rotatably driven by a servo motor (not shown) provided on one end side of the first arm 20 and rotatably supported on the other end side of the first arm 20. The other end of the second arm 22 is provided with a wrist body 23 that changes the direction of the tip. A coating gun 25 for spraying the paint in a mist state and spraying the work is attached to the tip end side of the wrist body 23.

The second arm 22 has the first arm 20
A color change valve 26 for changing the paint is provided on the side, and the coating fluid flowing through the color change valve 26 is discharged from the color change valve 26 to the wrist body 23 while controlling the flow rate. A flow control pump 27 is provided. Furthermore, the flow control pump 2
A flow meter 28 for measuring the flow rate of the coating fluid discharged by the flow rate control pump 27 and using the measured flow rate for feedback control of the flow rate control pump 27 is provided on the wrist body main body 23 side from the side 7.

[0008] As shown in FIGS.
Has a cylindrical first member 31 having a closing plate portion 30 on the side of the wrist body 23 and a substantially cylindrical second member 32 attached to the closing plate portion 30 side of the first member 31. ing. The distal end of the second member 32 is connected to the cylindrical member 3 via a bearing 33.
4 is rotatably supported with its axis extending along the direction in which the second arm 22 extends, and an external gear 35 is coaxial with the cylindrical member 34 at a position inside the second arm 32. A curved case (tubular body) 36 is attached to a position outside the second arm 22 of the cylindrical member 34 at one end opening side.

Further, bearings 38 and 39 are arranged at both ends in the axial direction inside the cylindrical member 34, and the cylindrical member 40 is disposed via the bearings 38 and 39.
Are coaxially and rotatably supported. The cylindrical member 40
The position where the second arm 2 protrudes outside the bearing 38
An outer gear 41 is coaxially fixed inside 2, and a bevel gear 42 is coaxially fixed outside the second arm 22 at a position protruding outside the bearing 39 of the cylindrical member 40.

Further, bearings 44 and 45 are disposed inside the cylindrical member 40 at both ends in the axial direction, respectively.
6 are coaxially and rotatably supported. The cylindrical member 4
An external gear 47 is coaxially fixed inside the second arm 22 at a position protruding outward from the bearing 44 of the sixth member 44, and is provided at a position protruding outward from the bearing 45 of the cylindrical member 46. Outside of 22, a bevel gear 48 is coaxially fixed.

An external gear 50 is meshed with the external gear 35. The external gear 50 is connected to a servo motor (not shown) via a rod 51 inserted in the second arm 22. Therefore, the rotation of the servo motor causes the cylindrical member 3 to rotate.
4, ie, the case 36 rotates with respect to the second arm 22. The rod 51 is connected to the first member 3 of the second arm 22.
The first closing plate 30 is rotatably instructed via a bearing 52.

An external gear 54 is meshed with the external gear 41, and the external gear 54 is connected to a servo motor (not shown) via a rod 55 inserted in the second arm 22. Therefore, the rotation of the servo motor causes the cylindrical member 4 to rotate.
0, that is, the bevel gear 42 rotates. The rod 55
Is rotatably instructed to the closing plate portion 30 of the first member 31 of the second arm 22 via the bearing 56.

An external gear 58 is meshed with the external gear 47. The external gear 58 is connected to a servo motor (not shown) via a rod 59 inserted in the second arm 22. Therefore, the rotation of the servo motor causes the cylindrical member 4 to rotate.
6, ie, the bevel gear 48 rotates. The rod 59
Is instructed rotatably to the closing plate 30 of the first member 31 of the second arm 22 via the bearing 60.

A cylindrical member 63 is rotatably supported on the distal end side of the case 36 via a bearing 62 with its axis intersecting the axis of the cylindrical member 34 and the like. A bevel gear 64 is coaxially fixed at a position inside 36, and a case (cylindrical body) having a curved shape on the outer diameter side at a position outside the case 36 of the cylindrical member 63.
65 is fixed.

Further, bearings 67 and 68 are disposed inside the cylindrical member 63 at both ends in the axial direction thereof, and the cylindrical member 69 is disposed via the bearings 67 and 68.
Are coaxially and rotatably supported. The cylindrical member 69
A bevel gear 70 is coaxially fixed inside the case 36 at a position protruding outward from the bearing 67 of the cylindrical member 69, and at a position protruding outward from the bearing 68 of the cylindrical member 69,
Outside the case 36, a bevel gear 71 is coaxially fixed on the outer diameter side.

The bevel gear 64 is meshed with the bevel gear 42, and the case 65 is rotated by rotation of the cylindrical member 40 by a servomotor. The bevel gear 48 is meshed with the bevel gear 70, and the bevel gear 71 is rotated by rotation of the cylindrical member 46 by a servomotor.

On the opposite side of the cylindrical member 63 of the case 65, a cylindrical member 74 is rotatably supported via a bearing 73 with its axis crossing the axis of the cylindrical member 63. A bevel gear 75 is coaxially fixed at a position inside the case 65 of the cylindrical member 74, and a disc-shaped gun mounting member 77 is formed at a position outside the case 65 of the cylindrical member 74. Has been fixed.

The bevel gear 75 is meshed with the bevel gear 71, so that the rotation of the cylindrical member 69 by the servomotor causes the gun mounting member 77 to rotate. Gun mounting member 77
, A coating gun 25 is fixed in a direction orthogonal to the rotation axis. Thereby, the gun mounting member 77
Rotates the coating gun 25.

As described above, the rotation of the servomotor causes the rod 51 to rotate the case 36 via the gears 50 and 35 and the cylindrical member 34. The rod 55 rotates the case 65 via the gears 54 and 41, the cylindrical member 40, the bevel gears 42 and 64, and the cylindrical member 63 by the rotation of the servomotor. Further, the rotation of the servo motor causes the rod 59 to move the gears 58 and 47, the cylindrical member 46, and the bevel gears 48 and 7
0, cylindrical member 69, bevel gears 71 and 75, and cylindrical member 7
4, the gun mounting member 77, that is, the coating gun 25 is rotated.

In the above, the cases 36 and 65 and the gun mounting member 77 constitute the wrist body 23, and the wrist body 23 and the first member 3 of the second arm 22 are formed.
A wrist portion 90 is constituted by the first closing plate portion 30 and the second member 32.

In this embodiment, FIG.
As shown in FIG. 4 and FIG.
0, a hole 80 is formed at the center position.
, A bearing 81 is fitted on the outer peripheral side. Also,
A cylindrical support tube 82 is fitted on the inner peripheral side of the bearing 81. As a result, the support tube 82 is
The arm 22 is rotatably supported. A plurality of coating fluid circulation tubes 83 are inserted inside the support tube 82.

As shown in FIG. 5, a disc-shaped closing member 85 is fixed to the inner peripheral side of the opposite cylindrical member 74, and a hole 86 is formed at the center position of the closing member 85. The bearing 87 is fitted in the hole 86 on the outer peripheral side. A cylindrical support tube 88 is fitted on the inner peripheral side of the bearing 87. Thus, the support tube 88 is supported by the closing member 85 so as to be rotatable with respect to the case 65, the cylindrical member 74, and the gun mounting member 77. The plurality of coating fluid distribution tubes 83 described above are inserted inside the support tube 88.

Here, the coating fluid distribution tube 83 is used.
Are supplied from the color change valve 26 to supply the paint, to discharge the paint at the time of washing, to the paint gun 25
And a supply air tube for the switch.

As described above, this painting robot 10
A wrist portion 90 in which a plurality of cylindrical bodies, that is, a second arm 22, a case 36, and a case 65 are connected to be rotatable relative to each other, and a tube 83 for coating fluid distribution is inserted into the wrist portion 90. And a plurality of bearings 81, 87 arranged in the wrist portion 90, and a plurality of support tubes 82, 8 rotatably supported by the bearings 81, 87, respectively.
The coating fluid distribution tube 83 is inserted inside the support tubes 82 and 88.

According to the painting robot 10 of the first embodiment having the above-described configuration, when the manipulator 11 operates to position the painting gun 25 at the target position in accordance with a command from the controller 13, the wrist 90 is Case 3
6, the case 65 and the gun mounting member 77 rotate, but in the wrist 90, a plurality of bearings 81, 8
7 are supported by the support tubes 82, 88 via the support tubes 82, 88, respectively. The support tubes 82, 88 are rotated by the bearings 81, 87, so that the coating fluid circulation tubes 83, 83,. 83, 83, ...
To release the twist of the coating fluid
It is possible to prevent twists from occurring in 3,.

Therefore, the supply pressure of a coating fluid such as paint or air can be stabilized, so that the coating quality can be improved. Moreover, the plurality of bearings 81, 87
Are provided with support tubes 82 and 88, respectively, so that the length of support tubes 82 and 88 can be shortened,
As a result, cost increase and weight increase can be minimized.

Further, the tubes 83 and 8 for flowing the coating fluid are provided via the bearings 81 and 87 and the support tubes 82 and 88.
Support the coating fluid distribution tubes 83, 83, ... to prevent excessive rubbing with other members inside. Therefore, the coating fluid distribution tube 83,
83 can be prevented from being damaged.

As the bearings 81 and 87, it is preferable to use rolling bearings with a built-in rotating body, but it is of course possible to use sliding bearings. Further, of the support tubes 82 and 88, the support tube 82 located at the farthest position on the flow path of the coating fluid with respect to the coating gun 25.
Can be extended to a coating device (for example, a flow meter 28) arranged on the upstream side of the coating fluid flow path of the coating gun 25.

Next, a second embodiment of the painting robot of the present invention will be described below with reference to FIG. 6 focusing on the differences from the first embodiment. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. The coating robot 10 has a structure in which the inside of the wrist 90 is completely sealed. That is, as shown in FIG. 6, a sealing member 93 for sealing a gap between the second member 32 and the closing plate portion 30 of the first member 31, a cylindrical member 74 and a closing member 85
Sealing member 94 and case 36 for sealing the gap between
A seal member 95 and the like for sealing the gap between the housing 65 and the case 65 are provided, and the bearings 33, 52, 56, 60,
62, 73, 81, 87, etc., having a sealing mechanism are also employed. Then, a pressure sensor (tube damage detecting means) 9 for detecting the pressure in the sealed wrist portion 90
6 is attached to the closing plate 30.

According to the coating robot of the second embodiment having such a structure, the same effects as those of the first embodiment can be obtained, and of course, the coating fluid distribution tube 8 can be provided.
The worst case in which the torsion of the coating fluid cannot be completely escaped and the coating fluid flowing tubes 83, 83,... Is damaged, that is, the wrist 90 of the coating fluid such as air or paint caused by the damage. Even if leakage occurs, the pressure sensor 96 detects a change in the pressure inside the wrist 90, so that the coating fluid distribution tube 83,
83,... Can be detected. The controller 1 receives the detection result of the pressure sensor 96 and
3 immediately stops the coating operation and informs the operator, so that the coating fluid distribution tubes 83,
83,.. Can be minimized.

In the first and second embodiments, the case where the coating gun 25 is bent by 90 ° with respect to the gun mounting member 77 has been described as an example. However, as shown in FIGS. Of course, the coating gun 25 may be coaxial with the gun mounting member 77.

[0032]

As described above in detail, according to the coating robot of the present invention, the coating fluid distribution tube is inserted into the wrist through the support tube rotatably supported by the bearing. Even when the cylindrical body at the wrist rotates relatively, the twist of the coating fluid distribution tube is prevented by the rotation of the support tube by the bearing, thereby preventing the coating fluid distribution tube from being twisted. Therefore, the supply pressure of a coating fluid such as paint or air can be stabilized, so that coating quality can be improved. In addition, since the coating fluid distribution tube is supported via the bearing and the support tube, it is possible to prevent the coating fluid distribution tube from excessively rubbing against other internal members.
Therefore, breakage of the coating fluid distribution tube can be prevented.

[Brief description of the drawings]

FIG. 1 is a side view showing a first embodiment of a painting robot according to the present invention.

FIG. 2 is a cross-sectional view showing a wrist of the manipulator according to the first embodiment of the painting robot of the present invention.

FIG. 3 is a partially enlarged sectional view of an arm side of a wrist part of the painting robot according to the first embodiment of the present invention.

FIG. 4 is a cross-sectional view of the wrist of the first embodiment of the painting robot of the present invention, taken along line XX in FIG. 2;

FIG. 5 is a partially enlarged cross-sectional view of the wrist portion of the painting robot according to the first embodiment of the present invention on the painting gun side.

FIG. 6 is a sectional view showing a wrist of a manipulator according to a second embodiment of the painting robot of the present invention.

FIG. 7 is a cross-sectional view showing a modification of the mounting of the coating gun on the wrist of the manipulator according to the first embodiment of the coating robot of the present invention.

FIG. 8 is a cross-sectional view showing a modification of the mounting of the coating gun on the wrist of the manipulator according to the second embodiment of the coating robot of the present invention.

[Explanation of symbols]

 Reference Signs List 10 painting robot 22 second arm (cylindrical body) 36 case (cylindrical body) 65 case (cylindrical body) 82, 88 support tube 83 coating fluid supply tube

Claims (1)

[Claims] 1. A coating robot having a wrist in which a plurality of cylindrical bodies are connected so as to be relatively rotatable, and a coating fluid distribution tube being inserted into the wrist, a bearing disposed in the wrist. And a support tube rotatably supported by the bearing, wherein the coating fluid distribution tube is inserted inside the support tube.