JP5437301B2 - Painting robot system - Google Patents

Description

  The present invention relates to a painting robot system, and more particularly to a painting robot system capable of performing a plurality of painting processes with a single robot and reducing the installation area of the entire apparatus.

  Conventionally, when an object to be coated such as a small portable terminal is to be painted, the object to be coated is placed on a rotary jig, and the object is painted using a robot.

Japanese Patent Laid-Open No. 11-290733

  However, in a conventional general coating system, it is necessary to perform painting by arranging different robots for each of a plurality of processes such as undercoating, intermediate coating, and topcoating. Therefore, there is a problem that the installation area of the entire apparatus is widened. Conventionally, since painting is performed by a plurality of robots, it is necessary to teach each robot.

  The present invention has been made in consideration of such points, for example, it is possible to perform a plurality of coating processes from undercoating to overcoating with a single robot, and the installation area of the entire apparatus can be reduced. An object is to provide a painting robot system.

The present invention provides a coating robot system, a robot having a robot arm, a support member attached to the robot arm tip of the robot, to the support member, mounted rotatably around a rotation axis and a spray unit, wherein the spray unit includes a plurality of spray guns for applying paint, the plurality of spray gun is rotated together around the rotation axis, the spray gun to be used The spray unit further includes a manifold to which the plurality of spray guns are attached and which rotates around the rotation shaft, and the paint is supplied to each spray gun in the manifold. A supply pipe is provided, and each spray gun of the spray unit is 45 ° to 180 ° with respect to the rotation axis. The spray guns are arranged at an angle, and the plurality of spray guns are arranged radially around the rotation shaft, and the distance between each spray gun and the rotation shaft is the same, and the plurality of spray guns Is a painting robot system including a first spray gun for undercoating, a second spray gun for intermediate coating, and a third spray gun for overcoating .

The present invention, the one end of the support member, the first spray unit is mounted rotatably mounted about a first pivot axis, the other end of the support member, the second rotation axis A painting robot system characterized in that a second spray unit provided so as to be pivotable about the center is attached.

  According to the present invention, the spray unit attached to the support member so as to be rotatable about the rotation shaft has the plurality of spray guns for applying the paint, and the plurality of spray guns include the rotation shaft. Rotate integrally around the center. As a result, a plurality of painting steps can be executed by a single robot, and the installation area of the entire apparatus can be reduced. Further, since a plurality of painting processes can be executed by one robot, teaching work can be reduced to a minimum.

The front view which shows the robot system for painting by one embodiment of this invention. The bottom view which shows the robot system for coating by one embodiment of this invention (II direction arrow line view of FIG. 1). The side view which shows the robot system for coating by one embodiment of this invention (III direction arrow line view of FIG. 1). The side view which shows the state which is painting the to-be-painted object using the robot system for painting by one embodiment of this invention. The side view which shows the state which is coating the cylindrical to-be-painted object using the robot system for painting by one embodiment of this invention. The side view which shows the state which is coating the cylindrical to-be-painted object using the robot system for painting by one embodiment of this invention. The side view which shows the modification of the robot system for painting. The bottom view which shows the modification of the robot system for painting (the VIII direction arrow figure of FIG. 7). The partial front view which shows the other modification of the robot system for painting.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 5 are diagrams showing an embodiment of the present invention.

  First, the configuration of a painting robot system according to an embodiment of the present invention will be described with reference to FIGS.

As shown in FIGS. 1 to 3, the painting robot system 10 includes a robot 20 having a robot arm 21, a support member 30 attached to a tip 21 a of the robot arm 21 of the robot 20, and left and right of the support member 30. Are provided with a pair of spray units 40A and 40B, which are pivotally mounted about pivot axes J ₁ and J ₂ respectively.

Of these, the pair of spray units 40A and 40B is composed of a first spray unit 40A and a second spray unit 40B. The first spray unit 40A is attached to one end 30a of the support member 30 is provided rotatably on the first about the pivot axis J _1. The second spray unit 40B is attached to the other end 30b of the support member 30 is provided rotatably on the second about the pivot axis _{J 2} (hereinafter, simply spray unit 40A, 40B, rotation also referred to as axis _J 1, _{J 2).}

  In addition, since the robot 20 (for example, vertical articulated robot) generally used can be used as the robot 20, detailed description is abbreviate | omitted here.

  As shown in FIG. 1, a first transmission shaft member 23 is rotatably disposed at the tip 21 a of the robot arm 21. The first transmission shaft member 23 is provided perpendicular to the longitudinal direction of the robot arm 21. The first transmission shaft member 23 is connected to a motor (not shown) provided on the proximal end side of the robot 20 so that the first transmission shaft member 23 is rotated by the driving force from the motor. It has become.

A recess 22 is formed at the distal end 21a of the robot arm 21, and a second transmission shaft member 24 for rotating the spray units 40A and 40B is provided in the recess 22. The second transmission shaft member 24 is freely rotatable around the pivot shaft J _3.

  Further, a bevel gear 26 is fixed to one end of the second transmission shaft member 24, and the bevel gear 26 is engaged with the bevel gear 25 on the first transmission shaft member 23 side in the recess 22. Thereby, when the motive power from the 1st transmission shaft member 23 is transmitted to the 2nd transmission shaft member 24, the rotation direction is changed 90 degrees.

As shown in FIGS. 1 to 3, the support member 30 includes a long support member main body 31 and a pair of attachment portions 32 protruding from the support member main body 31. Among the pair of mounting portions 32, the tip 21a of the robot arm 21 is pivotally connected about a pivot axis J _4. Incidentally, the rotation shaft J ₄ is positioned perpendicular to the rotational axis J ₃ described above.

  The second transmission shaft member 24 is provided perpendicularly to the support member main body 31 at the center of the support member main body 31, and a pulley 27 is attached to the other end of the second transmission shaft member 24. ing.

On the other hand, each spray unit 40A, 40B is provided with a plurality (three) of spray guns 51A-53A, 51B-53B for applying paint, and a plurality (three) of spray guns 51A-53A, 51B-53B, respectively. And manifolds 41 </ _b > A and 41 </ _b > B that rotate about the rotation axes J ₁ and J ₂ . Pulleys 42A and 42B are attached to the outer surfaces of the manifolds 41A and 41B of the spray units 40A and 40B, respectively. The rotation axes J ₁ and J _{2 on which the} manifolds 41A and 41B rotate are located in parallel to the rotation axis J _{3 of} the second transmission shaft member 24.

The timing belt 33 is wound around the pulley 27 on the second transmission shaft member 24 side and the pulleys 42A and 42B of the spray units 40A and 40B. The power from the first transmission shaft member 23 is supplied to each manifold via a belt transmission mechanism including a pulley 27 on the second transmission shaft member 24 side, a timing belt 33, and pulleys 42A and 42B of the spray units 40A and 40B. 41A, 41B, manifolds 41A, 41B, and a plurality of spray guns 51A-53A, 51B-53B connected to the manifolds 41A, 41B are united around the rotation axes J ₁ , J _2. It is designed to rotate.

The spray units 40A and 40B rotate in one direction (for example, the clockwise direction in FIG. 2) around the rotation axes J ₁ and J ₂ and have a direction opposite to the one direction (for example, FIG. 2 (counterclockwise direction 2).

In the present embodiment, the plurality (three) of spray guns 51A-53A, 51B-53B include first spray guns 51A, 51B for undercoating, and second spray guns 52A, 52B for intermediate coating, It consists of third spray guns 53A and 53B for top coating. The plurality (three) of spray guns 51A-53A and 51B-53B rotate integrally around the rotation axes J ₁ and J ₂ , respectively, and the spray guns 51A-53A to be used are used according to the application. , 51B-53B can be switched.

  In this case, the spray guns 51A-53A and 51B-53B are attached to the bottom surfaces of the manifolds 41A and 41B via elongated brackets 43A and 43B, respectively.

Also, each spray gun 51A-53A, 51B-53B are arranged radially around the rotation axis _J 1, _{J 2} (Figure 2). Further, the spray guns 51A-53A, 51B-53B are arranged at equal intervals around the rotation axes J ₁ , J ₂ , and the angle α formed between the adjacent spray guns 51A-53A, 51B-53B is It is 120 ° (FIG. 2). In this case, the distances between the spray guns 51A-53A and 51B-53B and the rotation axes J ₁ and J ₂ are the same. However, the present invention is not limited to this, and the spray guns 51A-53A and 51B-53B may be arranged around the rotation axes J ₁ and J ₂ at unequal intervals.

In the present embodiment, each spray unit 40A, 40B has three spray guns 51A-53A, 51B-53B. However, the present invention is not limited to this, and there are two or four spray units 40A, 40B. You may have more than one spray gun. For example, when the spray units 40A and 40B have two spray guns, the angle α between adjacent spray guns may be 180 °. Alternatively, when the spray units 40A and 40B have four spray guns, the angle α between adjacent spray guns may be 90 °. Also in this case, the spray guns may be arranged around the rotation axes J ₁ and J ₂ at unequal intervals.

As shown in FIG. 3, each of the spray guns 51A-53A, 51B-53B is disposed with an angle β of 45 ° to 180 ° with respect to the rotation axes J ₁ , J ₂ . That is, the direction in which the paint is discharged from each of the spray guns 51A-53A, 51B-53B forms an angle of 45 ° to 180 ° with respect to the rotation axes J ₁ , J ₂ . In particular, the angle β may be selected from any one of 45 °, 60 °, 90 °, 120 °, 135 °, or 180 °, for example. Further, the tip of each spray gun 51A-53A, 51B-53B may be directed to the support member 30 side, or may be directed to the opposite side of the support member 30.

  Supply pipes 44A and 44B for supplying paint to the spray guns 51A-53A and 51B-53B are disposed in the manifolds 41A and 41B. At the upper ends of the supply pipes 44A and 44B, paint hoses 45A and 45B for supplying paint to the spray guns 51A-53A and 51B-53B, and air for the spray guns 51A-53A and 51B-53B, respectively. Are connected to air hoses 46A and 46B.

  In FIG. 1 and FIG. 3, for convenience, the paint hoses 45A and 45B and the air hoses 46A and 46B connected to the manifolds 41A and 41B are shown one by one. In addition, three paint hoses 45A, 45B and three air hoses 46A, 46B corresponding to the three spray guns 51A-53A, 51B-53B are connected.

  Next, the effect | action of this Embodiment which consists of such a structure is demonstrated using FIG. In the following, the first spray unit 40A of the pair of spray units 40A and 40B will be described, but the same operation is simultaneously performed on the second spray unit 40B at the back side of the paper surface of FIG. .

  First, as shown in FIG. 4, the object 60 is placed on a rotatable mounting table 65. Subsequently, the robot arm 21 of the robot 20 is moved to the vicinity of the object to be coated 60 so that the first spray gun 51A for undercoating of the spray unit 40A comes to the side of the object to be coated 60. At this time, the first spray gun 51 </ b> A is located at a distance at which the object 60 can be painted.

  Subsequently, the outer surface 61 of the object to be coated 60 is coated by the first spray gun 51A by rotating the object to be coated 60 by the mounting table 65 and moving the robot arm 21 up and down and left and right (coating for undercoating). . At this time, paint and air are supplied to the first spray gun 51A via the paint hose 45A and the air hose 46A, respectively.

  Thereafter, the robot arm 21 of the robot 20 is stopped and the application of the paint from the first spray gun 51A is stopped, and the undercoat coating is completed.

Next, when the motor (not shown) provided on the proximal end side of the robot 20 is driven, the first transmission shaft member 23 is rotated. The power from the first transmission shaft member 23 is transmitted to the manifold 41A sequentially via the pulley 27 on the second transmission shaft member 24 side, the timing belt 33, and the pulley 42A of the spray unit 40A. Thereby, a manifold 41A, and three spray guns 51A-53A which is connected to the manifold 41A begins to rotate together about the rotary shaft _{J 1.}

Then, the manifold 41A and three spray guns 51A-53A is 120 ° rotated about the pivot axis _{J 1,} when the second spray gun 52A for an intermediate came on the side of the object to be coated 60, shown The motor not to be stopped stops, and the manifold 41A and the three spray guns 51A-53A stop.

  Subsequently, the outer surface 61 of the object 60 is coated using the second spray gun 52A by moving the robot arm 21 up, down, left, and right while the object 60 is rotated by the mounting table 65 (middle). Painting).

After for intermediate coating has been completed, as in the case of switching for intermediate coating from the undercoating paint, to rotate the manifold 41A and three spray guns 51A-53A around the pivot axis J _1, for overcoat The third spray gun 53A is set to the side of the workpiece 60. Thereafter, the outer surface 61 of the object to be coated 60 is painted using the third spray gun 53A (coating for top coating).

  In this manner, a single robot 20 performs a painting process including three processes of undercoating, intermediate coating, and topcoating.

  Examples of the object to be coated 60 include, but are not limited to, a columnar shape, a cylindrical shape, or a rectangular parallelepiped object, and may have any shape. Further, the object to be coated 60 does not necessarily need to be rotated when being painted by the robot 20, and may be kept stationary.

As described above, according to the present embodiment, the spray units 40A and 40B have a plurality (three) of spray guns 51A-53A and 51B-53B for applying paint, and the plurality (three) of spray guns 51A. -53A, 51B-53B is rotated together about the rotary shaft _J 1, _{J 2.} Thus, spray unit 40A, and 40B by rotating about a pivot axis _J 1, _{J 2,} a spray gun 51A-53A to be used, it is possible to switch the 51B-53B easily. Therefore, a plurality of painting processes (for example, a painting process for undercoating, a painting process for intermediate coating, and a painting process for top coating) can be performed by one robot 20, and the installation area of the entire apparatus can be reduced. In addition, since a plurality of painting steps can be executed by one robot 20, teaching work can be reduced to a minimum. Furthermore, the installation cost of the entire apparatus can be reduced.

  Further, according to the present embodiment, the supply pipes 44A and 44B for supplying paint to the spray guns 51A-53A and 51B-53B are disposed in the manifolds 41A and 41B of the spray units 40A and 40B. The structure around the spray units 40A and 40B can be simplified.

Further, according to the present embodiment, the spray guns 51A-53A, 51B-53B of the spray units 40A, 40B are arranged with an angle β of 45 ° to 180 ° with respect to the rotation axes J ₁ , J ₂ . Therefore, the distance between the adjacent spray guns 51A-53A and 51B-53B can be increased. As a result, as shown in FIGS. 5 and 6, particularly when the inner surface 71 of the cylindrical object 70 is painted, the spray guns 51 </ b> A- 53 </ b> A and 51 </ b> B- 53 </ b> B that are not used interfere with the object 70. Can be prevented. 5 shows an example in which the angle β is 45 ° to 90 °, in particular, the angle β is 45 ° to 60 °, and FIG. 6 shows an example in the case where the angle β is 90 ° to 180 °. Yes.

Furthermore, according to the present embodiment, the plurality of spray guns 51A-53A, 51B-53B are arranged radially around the rotation axes J ₁ , J ₂ , and rotate with the spray guns 51A-53A, 51B-53B. Since the distances from the movement axes J ₁ and J ₂ are the same, the spray guns 51A-53A and 51B-53B can be moved to the same position only by rotating the manifolds 41A and 41B without moving the robot arm 21. You can bring it.

Further, according to the present embodiment, one end of the support member 30, a first spray unit 40A is mounted rotatably mounted to the first about the pivot axis J _1, the other end of the support member 30 , since the second spray unit 40B rotatably mounted to the second about the pivot axis J ₂ is mounted, by using a single robot 20, for two coating object 60 At the same time, the same painting work can be performed, and work efficiency can be improved.

Modified Examples Hereinafter, modified examples of the painting robot system according to the present embodiment will be described with reference to FIGS. 7 to 9, the same parts as those of the embodiment shown in FIGS. 1 to 6 are denoted by the same reference numerals, and detailed description thereof is omitted.

  7 and 8 are views showing one modification of the painting robot system. 7 is a side view (a diagram corresponding to FIG. 3) of the painting robot system 10A, and FIG. 8 is a bottom view (a diagram corresponding to FIG. 2) of the painting robot system 10A.

In the modification shown in FIGS. 7 and 8, unlike the embodiment shown in FIGS. 1 to 6, as viewed from the bottom side, the rotary shaft J ₃ for rotating the second transmission shaft member 24, a manifold 41A not located a pivot rotating shaft J ₁ and the manifold 41B on a straight line connecting the rotation axis J ₂ for rotating are located away from the straight line. In this case, a convex portion 31a that protrudes laterally is provided at a substantially central portion of the support member main body 31, and the pulley 27 is disposed in the convex portion 31a. Further, tensioners 29 for guiding the timing belt 33 are disposed on both sides of the pulley 27.

  Further, as shown in FIG. 7, a pair of attachment portions 32 a are provided on the support member main body 31. In this case, each attachment portion 32a is curved by about 90 ° from the support member main body 31 toward the robot arm 21 side. 7 and 8, other configurations are substantially the same as those of the embodiment shown in FIGS. 1 to 6 described above.

  FIG. 9 is a diagram showing another modification of the painting robot system. FIG. 9 is a partial front view showing the painting robot system 10B.

In the modification shown in FIG. 9, unlike the embodiment shown in FIGS. 1 to 6, the support member 30 is provided with a plurality of spray units. In FIG. 9, a total of six spray units, three on each of the left and right sides of the second transmission shaft member 24, are provided (in FIG. 9, three spray units 40A on the right side (that is, one end 30a side). ₁ , 40A ₂ , 40A ₃ ). However, the number of spray units provided on the support member 30 is not limited to this, and may be three or more, for example. Further, different numbers of spray units may be provided on the left and right sides of the second transmission shaft member 24.

In FIG. 9, the spray units 40A ₁ and 40A ₂ have two pulleys 42A ₁ and 42A ₂ , respectively. The coupled pulley 42A ₂ of adjacent spray unit _40A 1, 40A ₂ via a timing belt 33a, and the pulley 42A ₁ between the spray unit _40A 2, 40A ₃ adjacent is connected via a timing belt 33b Yes.

In this case, power from the first transmission shaft member 23, the second transmission shaft member 24 side of the pulley 27, timing belt 33, the pulley 42A ₁ of the spray unit 40A _1, the pulley 42A ₂ of the spray unit 40A _1, a timing belt 33a , the pulley 42A ₂ of the spray unit 40A _2, the pulley 42A ₁ of the spray unit 40A _2, the timing belt 33b, is transmitted in the order of the pulley 42A ₁ of the spray unit 40A _3. In this way, each spray unit _{40A 1, 40A 2, 40A 3} of the manifold 41A and the spray gun 51A-53A is adapted to rotate in synchronism with each other about the rotary shaft _{J 1.}

In addition, since the configuration of each of the spray units 40A ₁ , 40A ₂ , 40A ₃ is substantially the same as the above-described spray units 40A, 40B, detailed description thereof is omitted here.

10, 10A, 10B Coating robot system 20 Robot 21 Robot arm 22 Recess 23 First transmission shaft member 24 Second transmission shaft member 25, 26 Bevel gear 27 Pulley 30 Support member 31 Support member main body 32 Mounting portion 33 Timing belt 40A First First spray unit 40B Second spray unit 41A, 41B Manifold 42A, 42B Pulley 43A, 43B Bracket 44A, 44B Supply pipe 45A, 45B Paint hose 46A, 46B Air hose 51A, 51B First spray gun 52A, 52B Second spray gun 53A, 53B Third spray gun 60 Object to be coated 65 Mounting table 70 Object to be painted

Claims (2)

In the painting robot system,
A robot having a robot arm;
A support member mounted on the robot arm tip of the robot,
The support member, and a spray unit attached rotatably around a rotation axis,
The spray unit has a plurality of spray guns for applying paint,
The plurality of spray guns rotate integrally around the rotation axis, and the spray gun to be used can be switched .
The spray unit further includes a manifold to which the plurality of spray guns are attached and which rotates about the rotation shaft, and a supply pipe for supplying the paint to each spray gun is disposed in the manifold. ,
Each spray gun of the spray unit is disposed at an angle of 45 ° to 180 ° with respect to the rotation axis,
The plurality of spray guns are arranged radially around the rotation shaft, and the distance between each spray gun and the rotation shaft is the same.
The plurality of spray guns include a first spray gun for undercoating, a second spray gun for intermediate coating, and a third spray gun for top coating . One end of the support member, the first spray unit is mounted rotatably mounted about a first pivot axis, the other end of the support member, rotating about a second pivot axis claim 1 Symbol placement coating robot system, characterized in that the second spray unit mounted for movement is mounted.

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