JP4291504B2 - Robot teaching bar - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a teaching rod for use in teaching work for storing a spraying distance and a spraying procedure when a painted object is painted on a painting robot at a stage before coating by a painting robot.
[0002]
[Prior art]
When painting with a painting robot, the operator moves the spray gun attached to the tip of the painting robot directly or indirectly with the teaching device while setting the spray gun spraying distance to the paint. Teaching work is required to teach and memorize the painting procedure by setting, spray gun moving speed, spraying sequence and spray ON / OFF setting. And in teaching work, by attaching a teaching rod to the tip of a spray gun attached to the tip of the painting robot, the spraying distance of the spray gun and the center position of the spray pattern are set while visually confirming.
[0003]
Conventionally, as the teaching bar 53, a so-called “feed bar” for pointing to materials such as walls and boards at lectures and briefings has been used. As shown in FIG. 5, the “insert bar” 50 is configured to be steplessly expandable and contractable by combining metal cylinders having different diameters, and the contracted length is about 150 mm and the maximum length can be extended to about 500 mm.
The “insertion bar” 50 is inserted into the holder 2 and is fixed by a fixing screw 2a. A mounting hole 2b is formed inside the holder 2 to be attached to the tip of the spray gun, and an O-ring 4 is inserted into the mounting hole 2b to be pushed into the tip of the spray gun and fixed. ing. In general air spray guns and electrostatic spray guns, the spraying distance is 200 to 300 mm, and the teaching work is performed while changing the spraying distance according to the coating site. Since it can be expanded and contracted in stages, it is possible to freely set the spray distance.
[0004]
At the time of teaching work, a person keeps a substantially constant space of about 5 mm visually between the insertion rod 50 and the coated object 12 while slowly moving the robot 11 with the painted object stopped as shown in FIG. Teaching work is performed, but after the teaching work, the painting robot is regenerated to check whether there are any problems or abnormalities in the spraying distance, painting procedure, etc. while regenerating at the work speed. In general, the movement of the coated material being conveyed by the conveyor is calculated, and the operation learned by the painting robot in the teaching operation is reproduced while following the moving speed of the conveyor.
[0005]
In the teaching work, when the operation efficiency is set as a result of seeking the operation that is close to the limit of the operation performance of the painting robot as a result of pursuing work efficiency, or obtaining the shortest movement time at the stage of moving from one operation to the next. In many cases, the trouble that the teaching rod comes into contact with the painted object occurs. Therefore, the teaching operation is corrected each time and the painting operation of the robot is completed. Since the “insertion bar” 50 can be expanded and contracted steplessly, it has a slight response force to contact. However, in robot painting, the “insertion bar” 50 mainly extends across the surface of the painted object. If the “insert bar” 50 comes into contact with the painted object because of the movement, abnormalities such as damage to the “insert bar” 50, damage to the painted object, damage to the conveyor, or failure of the robot may occur. There were many cases.
[0006]
On the other hand, with the recent increase in protection of the global environment, a great change is required in the painting method, and a low pressure spray gun has been used as one method. Typical examples of low-pressure spray guns used for robot painting are LPA-type low-pressure automatic spray guns from Anest Iwata Co., Ltd., compared with conventional automatic spray guns WA-100 and LA-90. Thus, the internal pressure of the air cap is 0.07 Mpa, which is about ¼, and it has the performance of reducing paint mist scattering and improving coating efficiency by 20 to 30%.
[0007]
In this low pressure spray gun, it is necessary to shorten the spraying distance, and the spraying distance is shortened to 150 to 200 mm as compared with the spraying distance of 200 to 250 mm of the conventional spray gun. Furthermore, in the painting of mobile phones and notebook computers, whose production has been increasing in recent years, the coating distance for the casing made of magnesium alloy is expensive, so the coating distance is shortened to about 70 to 130 mm to increase the coating efficiency. The painting method is generalized.
[0008]
As a result, when the coating distance is about 70 to 130 mm, the length of the “stick” that has been used in robot painting teaching work is 150 mm long, so it is too long to be used. Will occur. In addition, when a non-flexible bar of about 70 to 130 mm is used instead of this “insert bar”, there is no shrinkage or flexibility, and the bar is damaged if it comes into contact with the paint.・ It was in a situation where abnormalities such as broken / dropped paint, damaged conveyors, or robot failures occurred.
[0009]
In addition, when the coating distance is about 70 to 130 mm, it is necessary to reduce the error of the coating distance compared to the case where the conventional coating distance is long. Teaching work needs to be done closer. As a result, when non-flexible bar material is used, the bar material may come into contact with the painted object during teaching work, resulting in broken bar material, damaged / dropped painted object, conveyor damage, or robot It was in a situation where abnormalities such as breakdowns were likely to occur. Similarly, since the robot performs a regenerating operation in a state where the tip of the bar is closer to the painted object, the bar is more likely to come into contact with the painted object during reproduction than in the past.
[0010]
As a solution to these problems, there is a method in which a plurality of laser light projectors 51 are attached to the holder 2 so as to form the intersections 52 coaxially as shown in FIG. It is not necessary to keep the distance to be constant, and the spraying distance can be maintained by aligning the intersection with the surface of the paint. However, in the case of a complex uneven paint, the intersection 5 is not always changed. It was not easy to use.
[0011]
[Problems to be solved by the invention]
The present invention makes it easy to set the short-distance spraying distance when teaching a short-distance painting of a painting robot using a spray gun. / It is a problem that the length can be easily adjusted and replaced with a teaching rod that does not cause abnormalities such as dropping, conveyor damage, spray gun damage, robot failure, teaching rod breakage, etc. It is said.
[0012]
[Means for Solving the Problems]
In the first invention, a teaching rod used to teach the spraying distance of the spray gun and the coating procedure at the time of robot painting to the robot, the holder for attaching to the tip of the spray gun has a rod-like flexibility A teaching rod with a member attached so as to indicate the center direction of the spray pattern is bent into a rod-like shape by bending the flexible strip formed of resin on one side so that the protruding portions are engaged with each other. Configured.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a view of the teaching rod of the present invention attached to the tip of a spray gun. 2A is a front view, a plan view, and a side view showing a resin band having protrusions formed at equal intervals on one side, and FIG. 2B is a diagram showing that the band is bent and attached to a holder in a rod shape. Figure. FIG. 3 is a view showing a state where teaching is performed by attaching a spray gun having a teaching rod fixed to the tip of the robot.
[0014]
FIG. 1 shows an embodiment in which a teaching rod 13a of the present invention is attached to a spray gun 1. The spray gun 1 has an air cap removed from a screw portion 6 at the tip, and a holder 2 is inserted into the screw portion 6 instead. It is attached with an O-ring 4 that serves as a retainer, and a rod 3 is attached to the center of the holder. By using a flexible member such as a shape memory alloy wire rod or a urethane rubber rod having a diameter of about 6 mm, the rod 3 can be easily used even if the rod 3 comes into contact with the paint. Since it can bend, troubles such as paint breakage, conveyor damage or robot failure are avoided. In addition, other flexible rod-like members such as a cylindrical spring may be used as the rod 3, and the same effect can be obtained by flexibility. It is desirable that the robot has an appropriate rigidity so that a large shake does not occur when the robot is operated, such as turning over or stopping.
[0015]
FIG. 2 (B) is a view showing a teaching bar 13b of another embodiment, in which another member 8a is attached to the holder 2 via the guide 7, and FIG. 2 (A) is attached to the tip of the holder 2. It is a figure which shows the member 8a utilized for a stick | rod. The member 8a has a protrusion 10 formed on both ends of one side of the belt-like body 9 in a comb shape. For example, the member 8a is used in place of a rubber bush attached to the entrance / exit hole for use in protecting the electrical wiring at the entrance / exit hole of the sheet metal box. "Free Bush" Shinagawa Shoko Co., Ltd. SG32 type, which is a nylon resin molded product, so it can be bent easily and bent so that the protrusions 10 mesh with each other as shown in FIG. This is an embodiment in which the rod 2 is attached to the holder 2. In this case, since the member 8 has an appropriate rigidity and flexibility, even if the member 8 comes into contact with the painted material, the member 8 is easily bent, so that the painted material is damaged, the conveyor is damaged, the robot is broken, or the like. Trouble is avoided. Moreover, since the member 8 is a commercially available long product and can be easily adjusted by cutting the length with a knife or the like, it is possible to replace and replace the member 8 whose length is adjusted in accordance with the coating site.
[0016]
【The invention's effect】
Since the present invention is configured as described above, the following effects can be obtained. (1) Since the stick attached to the tip of the holder is easily bent, troubles such as damage to the paint, damage to the conveyor, or failure of the robot can be avoided, and the length of the stick attached to the tip of the holder can be easily cut with a knife. Therefore, it is possible to replace and replace by adjusting the length according to the painting site.
[Brief description of the drawings]
FIG. 1 is a diagram of a teaching rod attached to a tip of a spray gun with a flexible rod attached to the tip in an embodiment of the present invention.
FIG. 2 (A) is a diagram showing an example of a member used in another embodiment of the present invention. FIG. FIG. 2B is a side view, and FIG. 2B is a diagram in which this belt-like body is bent and attached to a holder in a rod shape.
FIG. 3 is a view showing a state where teaching is performed by attaching a spray gun having a teaching rod fixed to the tip of the robot.
FIG. 4 is a view showing a state in which a plurality of laser light projectors are attached to a holder so as to form an intersection point coaxially.
FIG. 5 is a view showing a state where a “sticker” having a structure that can be expanded and contracted steplessly by combining metal cylinders having different diameters is used as a teaching rod.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Spray gun 2 Holder 2a Fixing screw 2b Mounting hole 3 Rod 4 O-ring 8, 8a Member 9 Strip body 10 Protrusion 11 Robot 12 Painted matter 13a, 13b Teaching rod

Claims (1)

A teaching rod used to teach the robot the spray gun spraying distance and painting procedure during robot painting, and a stick-shaped flexible member is attached to the holder to be attached to the tip of the spray gun in the direction of the center of the spray pattern. In the teaching rod attached as shown , the flexible member is formed into a rod-like shape by bending a resin-made belt-like body formed with projections at equal intervals on one side so that the projections mesh with each other. Teaching stick.

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