JP2005279635A - Electrostatic coating machine for coating robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent breaking of a power supply cable caused by twisting of the power supply cable upon rotation action of the wrist part of an arm in a coating robot. <P>SOLUTION: This electrostatic coating machine 1 is mounted on the front end of an arm 17 in a coating robot, and the direction of spraying a coating material is varied by the action of a wrist part 17a in the arm 17. The electrostatic coating machine 1 is provided with a built-in high-voltage generator 4. Electric power is supplied to this high-voltage generator 4 through a low-voltage cable 16 inserted into the arm 17. The low-voltage cable 16 has, in at least a part thereof, for example, a spirally curled stretchable shape part 16a. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an electrostatic painting machine for a painting robot that is attached to the tip of an arm of a painting robot.

  For example, painting robots are frequently used for painting automobile bodies. The arm of the painting robot is configured so that the wrist part can rotate around a plurality of axes, and thereby the direction of the coating machine attached to the tip of the wrist, that is, the direction of spraying the paint can be freely changed. Therefore, it is applied to the painting of a painted surface having a complicated surface structure such as the inner surface of an automobile body.

  Patent document 1 is disclosing the typical electrostatic coating machine for coating robots. As disclosed in Patent Document 1, in this type of electrostatic coating machine, piping and a power supply cable are inserted into the robot arm, and paint and compressed air are supplied to the coating machine through the piping. Power is supplied to the electrostatic coating machine.

  Conventional electrostatic coating machines have a built-in high voltage generator. For this reason, a low-voltage cable is used as the power supply cable in the robot arm, and this low-voltage cable is connected to the connector of the high-voltage generator built in the coating machine and generates high voltage through this low-voltage cable. A low-voltage power supply is supplied to the device.

The low-voltage cable used in the electrostatic coating machine for painting robots is explained. As the low-voltage cable, a twisted pair cable having a shield wire provided on the outer cover is adopted, and the wiring in the outer cover is twisted to each other. It has a structure in which the two combined wires are further twisted together.
JP-A-8-164349

  As described above, the electrostatic coating machine for a painting robot can be freely changed in direction by rotating the wrist part of the robot arm, but this operation causes twisting of the low-voltage cable, An accident in which the wiring included in the low voltage cable is disconnected is likely to occur. Conventionally, a high-voltage generator has been built into the electrostatic coating machine and power is supplied through a low-voltage cable in the robot arm. If the voltage cable is twisted, an excessive force such as a pulling force is applied to the connector of the high voltage generator in the electrostatic coating machine, which may damage the connector or disconnect the connector.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an electrostatic coating machine for a painting robot capable of preventing an accident of disconnection of a power supply cable inserted into the wrist portion of the robot arm in accordance with the rotational movement of the wrist portion of the robot arm. Is to provide.

  A further object of the present invention is to provide electrostatic coating for a painting robot capable of preventing the power supply cable inserted into the wrist portion of the robot arm from being twisted with the rotational movement of the wrist portion of the robot arm. Is to provide a machine.

According to the first aspect of the present invention, the above technical problem is
In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
A power supply cable that is inserted into the robot arm and supplies power to the electrostatic coating machine;
This is achieved by providing an electrostatic coating machine for a painting robot, wherein the power supply cable has at least a part that can be expanded and contracted.

  According to the present invention, even if the power supply cable is twisted as the wrist part of the robot arm rotates, the twisting or pulling force is absorbed by the stretchable shape part of the power supply cable. Can do.

  According to a preferred embodiment of the present invention, the stretchable shape portion of the power supply cable is configured to have a waveform bent shape or a spiral curled shape, and the stretchable shape portion is a wrist portion of the robot arm. Placed in. When the stretchable shape part has a spirally curled shape, an air- or paint-type pipe is inserted into this to allow the cross-sectional area occupied by the stretchable shape part to pass through in the robot arm. The effect of expansion can be substantially reduced.

  In the electrostatic coating machine according to the first aspect of the present invention, the high voltage generator may be built in the electrostatic coating machine as in the conventional case, or the high voltage generator is provided outside, A high voltage generated by an external high voltage generator may be supplied to the electrostatic coating machine through a high voltage cable inserted into the robot arm.

The above technical problem is, according to the second aspect of the present invention,
In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
A high voltage generator is built in an arm of the painting robot, and a high voltage generated by the high voltage generator is supplied to the electrostatic coating machine by a high voltage cable inserted into the arm. This is achieved by providing an electrostatic coating machine for a painting robot.

  According to the second aspect of the present invention, a high voltage generator is arranged on the robot arm side so that a high voltage is supplied to the electrostatic coating machine with a high voltage cable. Even if a twisting force is generated in the high-voltage cable by the operation, the high-voltage cable is strong against twisting because the thickness of the outer skin is sufficient, and the core wire has a relatively large diameter, so there is no risk of disconnection.

  FIG. 1 illustrates an electrostatic coating machine for a coating robot according to a first embodiment. The illustrated electrostatic coating machine 1 is a rotary atomizing type coating machine having a rotary atomizing head 2, and an air motor 3 and a high voltage generator (cascade) 4 that rotate the rotary atomizing head 2 at a high speed, as in the prior art. The valve mechanism 5 is built in. The rear end face 1a of the electrostatic coating machine 1 is provided with ports 10 to 13 to which air and paint pipes 6 to 9 are connected.

  A connector 14 provided on the rear end surface of the high voltage generator 4 is fixed in a state of being fitted to a sleeve 15, and a low voltage cable 16 is connected to the high voltage generator 4 through the connector 14. However, the high voltage generator 4 and the low voltage cable 16 may be connected without the connector 14.

  The electrostatic coating machine 1 is attached to the tip of an arm 17 of a coating robot (not shown). In the wrist portion 17a of the arm 17, the three rotation surfaces 18 to 20 are independently controlled to rotate the axis (three-axis rotation control) as in the prior art, whereby the direction of the electrostatic coating machine 1, that is, the direction of spraying the paint. Is freely controlled. A low voltage cable 16 is inserted into the arm 17 together with the pipes 6 to 9 described above.

  The low voltage cable 16 has a shape portion 16a that can be expanded and contracted at least in part. The stretchable shape portion 16 a is preferably provided at the wrist portion 17 a of the arm 17. As an example of the shape that can be expanded and contracted, a shape bent in a waveform as shown in the figure may be used, or a shape curled in a spiral shape may be used.

  In the electrostatic painting machine 1 for a painting robot according to the first embodiment, a cable including a stretchable shape portion 16a is adopted as the low-voltage cable 16 inserted into the robot arm 17, so that the robot arm 17 The generation of twisting or pulling force of the low voltage cable 16 accompanying the movement of the wrist portion 17a rotating at a high speed can be absorbed by the stretchable shape portion 16a of the low voltage cable 16, which makes the connector 14 impossible. It is possible to prevent force from being applied, and it is possible to prevent disconnection of the wiring included in the low voltage cable 16.

  FIG. 2 shows an electrostatic coating machine 30 for a coating robot according to a second embodiment. In the description of the electrostatic coating machine 30 of the second embodiment, the same elements as those of the electrostatic coating machine 1 of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. 30 characteristic parts will be described.

  As described above, in the electrostatic coating machine 1 of the first embodiment, the high voltage generator 4 is disposed in the electrostatic coating machine 1, but in the electrostatic coating machine 30 of the second embodiment, The high voltage generator 4 is arranged in the arm main body 17b of the robot arm 17, and the high voltage generated by the high voltage generator 4 is supplied to the electrostatic coating machine 30 via the high voltage cable 31. ing. Reference numeral 32 shown in the figure is a connector. The high voltage cable 31 includes a core wire and a thick outer skin (thickness of about 3 to 6 mm) surrounding the core wire, as in the conventional case.

  The high voltage cable 31 inserted into the robot arm 17 may have at least the above-described extendable shape portion 16a on the wrist portion 17a of the robot arm 17, but it is conventionally known as in the second embodiment. The high voltage cable currently used may be employ | adopted.

  According to the electrostatic coating machine 30 for the painting robot of the second embodiment, the high voltage generator 4 is arranged on the robot arm 17 side, and a high voltage is supplied to the coating machine 30 by the high voltage cable 31. Therefore, even if a twisting force is generated in the high-voltage cable 31 due to the operation of the robot arm wrist portion 17a, the high-voltage cable 31 is strong against twisting because the thickness of the outer skin is sufficient, and the core wire has a relatively large diameter. Because it is equipped, there is no risk of disconnection.

  In the first and second embodiments described above, the rotary atomizing electrostatic coating machines 1 and 30 provided with the rotary atomizing head 2 are exemplified, but instead of this, a spray type in which paint is sprayed by compressed air. The electrostatic coating machine may be used.

  In the first embodiment, the low voltage cable 16 includes a cable including a stretchable shape portion 17a, but instead of or in addition to this, as shown in FIG. An additional outer skin 44 surrounding the shield wire 43 may be provided. As the material of the additional outer skin, a plastic material excellent in slipperiness, wear resistance, and flexibility, for example, fluorine resin, nylon resin, etc. A polyolefin resin may be used. The same applies to the second embodiment.

  Further, the additional skin 44 may be made of a translucent or transparent plastic material. According to this, it becomes easy to visually detect the darkening phenomenon due to the bias or rubbing of the shield wire 43 covered with the additional outer skin 44, and maintenance management for preventing disconnection of the internal wiring 41 becomes easy.

  In the first embodiment, the low-voltage cable 16 is a twisted pair cable in which the internal wirings are twisted. Instead, the internal wirings are adjacent to each other and extend in a straight line (not twisted). May be adopted. In this case, a plastic material excellent in slipperiness, wear resistance, and flexibility, for example, a fluorine-based resin, a nylon-based resin, or a polyolefin-based resin may be used for the outer skin of the internal wiring.

  In the first embodiment and the second embodiment, when the spiral shape is adopted as the shape of the stretchable shape portion 16a of the low voltage cable 16 (including the high voltage cable 31), the spiral shape portion 16a One or a plurality of pipes 6 to 9 may be passed therethrough. According to this, the influence (reduction of the space for passing the pipes 6 to 9 in the robot arm 17) due to the expansion of the occupied sectional area due to the adoption of the cable including the spiral portion 16a is reduced. This can be reduced by passing at least one of the pipes 6-9.

  In the first embodiment and / or the second embodiment, the low voltage cable 16 is connected to the high voltage generator 4 via the connector 14, but the high voltage generator 4 is connected without the connector 14. The low voltage cable 16 may be directly connected. Similarly, the high voltage cable 31 may be directly connected to the high voltage generator 4 without the connector 32.

It is a figure which shows the electrostatic coating machine of 1st Example with which the robot arm was mounted | worn. It is a figure which shows the electrostatic coating machine of 2nd Example with which the robot arm was mounted | worn. It is sectional drawing for demonstrating the example which provided the additional outer cover in the low voltage cable.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electrostatic coating machine 1a Rear end face of electrostatic coating machine 4 High voltage generator 6-9 Air system and paint system piping 14 Connector for connecting low voltage cable to high voltage generator 16 Low voltage cable 16a Low voltage Extendable shape part of cable 17 Arm of painting robot 17a Wrist part of arm 31 High voltage cable

Claims (16)

In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
An electrostatic coating machine for a painting robot, wherein a power supply cable that is inserted into the arm and supplies power to the electrostatic coating machine has at least a part that can be expanded and contracted.   The electrostatic coating machine for a painting robot according to claim 1, wherein a shape portion of the power supply cable that can be expanded and contracted has a shape bent in a waveform.   The electrostatic coating machine for a painting robot according to claim 1, wherein the stretchable shape portion of the power supply cable has a spirally curled shape. A plurality of air system and / or paint system pipes inserted into the arm and connected to the rear end surface of the electrostatic coating machine;
The electrostatic coating machine for a coating robot according to claim 3, wherein at least one of the pipes is inserted into a spirally curled shape of the power supply cable.   2. The power supply cable low-voltage cable according to claim 1, wherein the power supply cable low-voltage cable includes a plurality of wirings housed in a skin, a shield wire provided on the skin, and an additional skin covering the shield wire. Electrostatic coating machine for painting robots.   The electrostatic coating machine for a coating robot according to claim 5, wherein the additional skin is made of one material selected from a fluororesin, a nylon resin, and a polyolefin resin.   The electrostatic coating machine for a coating robot according to claim 5 or 6, wherein the additional skin is transparent or translucent.   2. The coating robot according to claim 1, wherein the power supply cable has a plurality of linearly extending internal wirings that are not twisted with respect to each other, and a shell of the internal wiring is made of a relatively slippery material. Electrostatic coating machine.   2. The coating according to claim 1, wherein a high voltage generator is built in the electrostatic coating machine, and power is supplied to the high voltage generator via a low voltage cable inserted into the arm. Electrostatic coating machine for robots.   The high voltage generator is built in the inside of the arm, and a high voltage is supplied to the electrostatic coating machine from the high voltage generator through a high voltage cable inserted into the arm. Electrostatic coating machine for painting robots. In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
A high voltage generator is built in an arm of the painting robot, and a high voltage generated by the high voltage generator is supplied to the electrostatic coating machine by a high voltage cable inserted into the arm. Electrostatic coating machine for painting robots. In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
A high voltage generator built into the electrostatic coating machine;
A low voltage cable inserted into the arm and connected to the high voltage generator;
An electrostatic coating machine for a painting robot, wherein the low-voltage cable has an additional skin surrounding the shield wire. In an electrostatic coating machine that is attached to the tip of an arm of a painting robot, the direction of spraying paint changes by the operation of the wrist part of the arm,
A high voltage generator built into the electrostatic coating machine;
A low voltage cable inserted into the arm and connected to the high voltage generator;
An electrostatic coating machine for a painting robot, wherein the low-voltage cable has an additional skin surrounding the shield wire.   The electrostatic coating machine for a coating robot according to claim 13, wherein the additional skin is made of one material selected from a fluororesin, a nylon resin, and a polyolefin resin.   The electrostatic coating machine for a coating robot according to claim 13, wherein the low-voltage cable has a plurality of internal wirings, and the plurality of internal wirings extend linearly adjacent to each other.   The electrostatic coating machine for a coating robot according to claim 15, wherein a skin of the internal wiring is made of one material selected from a fluororesin, a nylon resin, and a polyolefin resin.

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