JP2540922Y2 - Painting robot - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot.

[0002]

2. Description of the Related Art FIG. 3 is a view showing a structure of an arm portion of a conventional painting robot, and FIGS. 4 and 5 are a plan view and a side view for explaining problems of the conventional painting robot. 2. Description of the Related Art In recent years, the use of a painting robot to automatically paint a work such as an automobile body has increased. Such a painting robot applies two painting guns attached to an arm to a workpiece 2
In general, the coating is performed by moving in the dimensional direction.

More specifically, as shown in FIG. 3, the painting robot is provided with an arm body [reciprocator (2)] movably provided in a direction perpendicular to the plane of the drawing and an arm body (2). The movable parts 5, 5 are provided so as to be movable in the vertical direction, and the coating guns 13, 13 attached to the movable parts 5, 5 are configured. (62-1
No. 60671).

In FIG. 3, only the movable part 5 and the paint gun 13 on the near side in the figure are shown, and the movable part 5 and the paint gun 13 are separated from each other by a predetermined distance in a direction perpendicular to the plane of the drawing. The movable part 5 and the coating gun 13 are not shown. Further, a gun elevating device 11 is interposed between the coating gun 13 and the movable portion 5 so that the height position of the gun 13 can be changed. In FIG. 3, reference numeral 15 denotes a support cylinder, 16 denotes a holder, and 12 denotes an elevating member.

In the above painting robot, the arm body (2) is horizontally moved at a predetermined movement pitch in the direction of arrow X along the painting surface (width dimension L1) of the work W1, and the movable parts 5, 5 are moved up and down. In the predetermined stroke range (Y1
By moving the paint gun 13 within the range (-Y1 'range), each paint gun 13 is moved two-dimensionally to paint the paint surface.

Immediately before the position of the projection Q of the W1 is set, the height position of each coating gun 13 with respect to the movable portion is changed by using the drive cylinder 14 of the elevating device 11 so that the projection Q is not touched. As shown in FIG.
1 ') to (Y3-Y3').

[0007]

In the above-mentioned painting robot, when painting works W2 (width dimension L2) having different painting widths as shown by a two-dot chain line in FIG. 4, overspray is performed at the final stage of painting. The paint may be wasted. To avoid such inconvenience, it is conceivable to appropriately change the moving pitch of the gun 13 according to the width dimension (L1, 2) of the painted surface of the work (W1, W2). High quality coating may be hindered.

[0008] The object of the present invention is to reduce the size of the device.
It is an object of the present invention to provide a coating robot capable of adjusting the distance between two coating guns in accordance with the coating width of a workpiece while reducing the weight, and performing coating quickly and efficiently.

[0009]

According to the present invention, there is provided a painting robot in which two painting guns are mounted on an arm via a gap adjusting mechanism, and the arm is moved to at least two painting guns.
A coating robot that performs coating while moving in a three-dimensional direction, wherein the interval adjusting mechanism is provided with a pair of spindles symmetrically disposed at a predetermined distance from a base axis, a pair of L-shaped link bars, and an arm. And a moving body linearly driven by the cylinder device, and a pair of link bars are provided so that a mounting portion formed at the tip of each long side portion can be separated from and approached to the base axis. It is characterized in that it is mounted on a support shaft and the ends of the short sides of both link bars are engaged with the moving body.

[0010]

In the present invention having the above construction, when the moving body is linearly driven by a predetermined stroke using the cylinder device, the pair of link bars are rotated about the support shaft, and the mounting portions are separated (or separated) from the base axis. Move in the direction of approaching).
Therefore, the interval between the coating guns attached to the respective attachment portions is changed.

Therefore, the interval between the coating guns can be adjusted according to the width of the coated surface of the work, and the coating can be performed quickly and efficiently.

When the distance between the coating guns is adjusted, the larger the ratio of the long side of the link bar to the short side, the larger the amount of movement of the mounting portion (therefore, the coating gun). Therefore, even if the movement stroke of the cylinder device is reduced to reduce the size and weight of the interval adjusting mechanism, the interval between the coating guns can be largely changed.

[0013]

FIG. 1 is a plan view for explaining a main part of an embodiment of the present invention, and FIG. 2 is a plan view showing a state of painting a painted surface of a work.

As shown in FIG. 1, the coating robot according to the present embodiment mounts a pair of coating guns 3 and 3 on the arm 1 via a gap adjusting mechanism 30 and moves the coating guns 3 and 3 at least by the movement of the arm 1. It is configured to paint while moving in two-dimensional directions. In this embodiment, the arm 1
It is formed so as to be movable in the vertical direction (X direction) in FIG. 1 and to be able to move up and down within a predetermined stroke range in a direction orthogonal to the plane of the paper in the figure.

Here, the interval adjusting mechanism 30 includes a main body 30.
D, a pair of support shafts 31, 31, a pair of link bars 32, 3
2, including a cylinder device 38 and a moving body 39. Specifically, the support shafts 31 are symmetrically disposed at a predetermined distance from the base axis BL. Further, the pair of link bars 32, 32 are formed in an L-shape, and the pair of support shafts 31 are formed so that the mounting portion 35 formed at the tip of each long side portion 33 can approach and separate from the base axis BL. , 31
It is attached to. Each mounting portion 35 is provided with a respective link bar 32.
The long side 33 is engaged with the tip of the long side 33 so as to allow the rotation of the long side 33 about the support shaft 31.
1 so as to be movable in the vertical direction in FIG.
The coating gun 3 is detachably attached to each mounting portion 35 via an appropriate holder.

Further, in the present embodiment, the cylinder device 38
The dimension ratio of the long side 33 to the short side 34 of each link bar 32 is set so that the position adjustment amount of each coating gun 3 can be increased even if the size and weight are reduced by using a small stroke type. 1 is selected such that the amount of movement of the tip of the long side 33 in the vertical direction in FIG. 1 is large even if the amount of movement of the tip of the tip 34 in the direction of the base axis BL is small.

The cylinder device 38 is fixed to the arm 1 side, and a moving body 39 is mounted on a rod 38a. Therefore, when the cylinder device 38 is driven to protrude (retreat) the rod 38a only by a predetermined stroke, the moving body 39 is linearly moved on the base axis BL.

The short side 34 of each link bar 32 is engaged with the moving body 39. More specifically, mobile unit 3
The distal end of the short side 34 of each link bar 32 is fitted into the groove 39a of the ninth so as to be rotatable about each support shaft 31. The arm 1, the coating gun 3, the interval adjusting mechanism 30 and the like are driven and controlled by a control device (not shown) according to a predetermined program.

Next, the operation of this embodiment will be described. When the moving body 39 is linearly driven by a predetermined stroke using the cylinder device 38, the pair of link bars 32, 32
Each of the mounting portions 35, 35 is rotated about the reference numerals 1, 31, and moves in a direction of separating (or approaching) from the base axis BL. Therefore, the interval b between the coating guns 3 attached to the attachment portions 35 is changed.

Therefore, as shown in FIGS. 2A and 2B, the width dimensions (L1, L2) of the painted surface of the work (W1, W2) are determined.
The interval (b1, b2) between the coating guns 3, 3 can be adjusted according to 2), and coating can be performed quickly and efficiently. In the case of FIG. 2A, the amount of paint sprayed from the coating gun 3 is increased as compared with the case of FIG. 2B.

When adjusting the distance between the coating guns 3, 3, the larger the ratio of the length of the long side 33 to the short side 34 of the link bar 32, the larger the amount of movement of the mounting portion 35 (therefore, the coating gun 3). growing. Therefore, the moving stroke of the cylinder device 38 is reduced to reduce the distance adjusting mechanism 30.
The distance b between the coating guns 3 can be greatly changed even if the size and weight of the paint gun are reduced.

Thus, according to this embodiment, the interval adjusting mechanism 30 includes a pair of support shafts 31 and 31 symmetrically disposed at a predetermined distance from the base axis BL and a pair of L-shaped link bars. A pair of link bars 32, 32 are formed at the end of each long side portion 33, including a pair of link bars 32, 32, a cylinder device 38 fixed to the arm 1 side, and a moving body 39 linearly driven by the cylinder device 38. Mounting part 35 is the base axis BL
Are mounted on the support shaft 31 and the ends of the short sides 34 of the link bars 32, 32 are engaged with the moving body 39, so that the coating gun can be adjusted according to the width of the coating surface of the work. The interval b of 3, 3 can be adjusted, and coating can be performed quickly and efficiently. In addition, each link bar 3
By increasing the dimensional ratio of the two long sides 33 to the short sides 34, the distance b between the mounting parts 35, 35 (painting guns 3, 3) can be greatly changed.

Therefore, small size. The distance b between the two coating guns 3 and 3 can be adjusted according to the coating width of the workpiece W while reducing the weight, and coating can be performed quickly and efficiently.

[0024]

According to the present invention, the distance adjusting mechanism is fixed to a pair of support shafts symmetrically disposed at a predetermined distance from the base axis, a pair of L-shaped link bars, and the arm side. A pair of link bars mounted on a support shaft such that a mounting portion formed at the end of each long side portion can be separated from and approached to the base axis, and a moving body linearly driven by the cylinder device. Because the short ends of both link bars are engaged with the moving body, the distance between the coating guns can be adjusted according to the width of the painted surface of the work, enabling quick and efficient painting. it can. In addition, by increasing the dimensional ratio of the long side to the short side of each link bar, the interval between the mounting portions (paint gun) can be greatly changed.

Therefore, small size. The distance between the two coating guns can be adjusted according to the coating width of the workpiece while reducing the weight, so that the coating can be performed quickly and efficiently.

[Brief description of the drawings]

FIG. 1 is a plan view illustrating a main part of an embodiment of the present invention.

FIG. 2 is a plan view showing a manner of painting a painted surface of a work.

FIG. 3 is a view showing a structure of an arm portion of a conventional painting robot.

FIG. 4 is a plan view for explaining a problem of the conventional painting robot.

FIG. 5 is a side view for explaining a problem of the conventional painting robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Arm 3 Painting gun 30 Interval adjustment mechanism 31 Support shaft 32 Link bar 38 Cylinder device 39 Moving body

Claims (1)

(57) [Scope of request for utility model registration] 1. A coating robot which mounts two coating guns on an arm via an interval adjusting mechanism and performs coating while moving the coating gun in at least two-dimensional directions by movement of the arm, wherein the interval adjusting mechanism comprises a base shaft. A pair of support shafts symmetrically disposed at a predetermined distance from the line, a pair of L-shaped link bars, a cylinder device fixed to the arm side, and a moving body linearly driven by the cylinder device. A pair of link bars are attached to a pair of support shafts so that an attachment portion formed at the tip of each long side can be separated and approached to the base axis, and the short ends of both link bars are engaged with the moving body. A coating robot characterized by being configured by: