JPH0128856Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to a painting reciprocator that can automatically paint a curved object to be painted.

In a conventional painting reciprocator, a painting unit having a painting gun is guided back and forth in the vertical direction along a vertical guide means by a drive source such as hydraulic pressure, pneumatic pressure, or an electric motor, and during this time it is moved by a conveyor. The painting gun sprays paint onto the object to be painted.

However, according to the above conventional example, since the coating gun simply moves in the vertical direction, the surface to be coated of the object to be coated is limited to a flat surface, and the distance between the coating gun and the surface to be coated changes. This method has the disadvantage that uniform coating cannot be applied to objects to be coated which have so-called curved surfaces in the longitudinal direction.

Another conventional example uses a curved guide rail or cam to move the coating unit in a curved manner to coat the curved surface of the object to be coated, but the shape of the curved surface that can be coated is limited. It has the disadvantage that the types are limited, and in order to paint many types of curved surfaces, many types of guide rails, cams, etc. must be prepared and replaced each time, which is troublesome.

In addition, in the conventional example described above, since there is no swing mechanism for the painting gun, the upper and lower surfaces of the object to be coated,
It is not possible to paint the grooves, etc., so it is necessary to repaint after painting by hand or by a painting robot.Furthermore, since the vertical stroke adjustment is performed using a limit switch, the stroke adjustment cannot be controlled remotely. It was hot.

This invention provides a painting reciprocator that can solve all of the problems of the conventional devices mentioned above. A second hydraulic drive means for driving in the direction and a control means for automatically controlling these first and second hydraulic drive means are provided, thereby automatically controlling a workpiece having an arbitrary curved surface to be painted. This allows for painting.

An embodiment of this invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the structure of a reciprocator for painting according to this invention. In this figure, reference numeral 1 denotes a support base that supports the vertical guide rail 2, and is supported by a longitudinal guide rail 4 fixed to a base 3 via a bearing 5 so as to be movable in the longitudinal direction. The tip of the piston rod 6a of the hydraulic cylinder 6 is attached to the right side of the support base 1, and a rack 7 is attached to the tip of the piston rod 6a.
is fixed, and a pinion 8 that meshes with this rack 7
A potentiometer 9 is attached to the rotating shaft. Here, the hydraulic cylinder 6 drives the support base 1 in the front-back direction, and its ports A and B are respectively connected to oil supply pipes 1 to which pressure oil is supplied via servo valves 11.
2 and a return pipe 13 through which return oil passes. Furthermore, the rack 7, pinion 8, and potentiometer 9 constitute a position sensor 14 that detects the position of the support base 1.

A mounting bracket 17 is attached to the guide rail 2 via a bearing 16 so as to be movable up and down, one end of a rod 18 is fixed to this attachment bracket 17, and a paint gun 19 is attached to the other end of the rod 18 with a shaft 19a as the center. It is rotatably mounted on the Further, one end of a hydraulic cylinder 20 is rotatably attached to the upper part of the mounting fitting 17, and the tip of the piston rod of this hydraulic cylinder 20 is attached to the end of the coating gun 19 with some play. A rack 21 is fixed to the tip of the piston rod, and a potentiometer 23 is attached to the rotating shaft of a pinion 22 that meshes with the rack 21. Here, the hydraulic cylinder 20 is provided to swing (oscillate) the coating gun 19,
Each port A, B is a switching valve 25 and a servo valve 26 respectively.
It is connected to the oil supply pipe 12 and the return pipe 13 via. Furthermore, the rack 21, pinion 22, and potentiometer 23 constitute a position sensor 27 that detects the rotational position of the coating gun 19, and each component 17, 18, 19, and 27 constitutes a coating unit 28. There is. In addition, the mounting bracket 17
can be manually rotated within a 360° range. Therefore, for example, if the mounting bracket 17 is
By rotating it by 90 degrees, it becomes possible to swing the coating gun 19 in the horizontal direction. The switching valve 25 is provided to prevent the coating gun 19 from rotating due to its own weight when the hydraulic pump is turned off.If the oil pressure in the oil supply pipe 12 is above a specified value,
The spool of the switching valve 25 moves to the right in the drawing, and therefore ports A and B of the hydraulic cylinder 20 and ports A and B of the servo valve 26 are respectively connected, while the oil pressure in the oil supply pipe 12 is reduced. When the value becomes less than a specified value, the spool of the switching valve 25 moves to the left, and the piping of ports A and B of the hydraulic cylinder 20 is turned off.

Next, 30 is an endless body such as a chain, a wire, or a belt, which is wound and stretched between a pair of upper and lower rotating bodies 31 and 32, and a bearing 16 is fixed to a front tensioned part, and a rear tensioned part. A counter-eight 33 having the same weight as the coating unit 28 is fixed to the coating unit 28.
A position sensor 34 constituted by a potentiometer is attached to the rotating shaft of the rotating body 31,
Further, a rotating shaft of the rotating body 32 is rotationally driven by a hydraulic motor 35. In this case, the rotating shaft of the hydraulic motor 35 is coupled to the rotating shaft of the rotating body 32 directly or via a gear unit, and the rotating shaft of the hydraulic motor 35 is connected directly or via a gear unit.
Each port A, B of 5 is connected to the oil supply pipe 12 and the return pipe 13 via a servo valve 36, respectively. The oil supply pipe 12 is connected to the oil feed port 39 of the hydraulic unit 38 via a line filter 37, and the return pipe 13 is connected to the return port 40 of the hydraulic unit 38.

The hydraulic unit 38 is conventionally known and will be briefly described below. In the figure, 42 is an oil tank, 43 is a strainer, 44 is a hydraulic pump, and 45
is an electric motor that drives the hydraulic pump 44, and pressure oil output from the hydraulic pump 44 is sent to the oil feed port 39 via a check valve 46 and a switching valve 47. on the other hand,
The return oil supplied to the return port 40 returns to the oil tank 42 via a cooler 48 and a line filter 49.
When the pressure of the pressure oil output from the hydraulic pump 44 exceeds a predetermined value, a portion of the pressure oil returns to the oil tank 42 via the relief valve 50. Also, 52
is an oil pressure gauge, 53 is a throttle, 54 is a pressure switch, 5
5 is an oil temperature gauge with contacts, and 56 is an oil level gauge with contacts.

In addition, in the above-mentioned painting reciprocator, the guide rail 2 and the bearing 16 serve as the first guide means, the hydraulic motor 35 serves as the first hydraulic drive means, the guide rail 4 and the bearing 5 serve as the second guide means, The hydraulic cylinder 6 constitutes a second hydraulic drive means, and the hydraulic cylinder 20 constitutes a third hydraulic drive means. Further, in FIG. 1, reference numerals 58 and 59 each indicate an object to be painted and a conveyor for conveying the object to be painted, and the object to be painted 58 is conveyed in a direction perpendicular to the plane of the paper.

Next, with reference to FIG. 2, the electric circuit of this painting reciprocator will be explained. In FIG. 2, reference numerals 14, 27, and 34 are position sensors shown in FIG.
The output signals are sent to A/D (analog/
The signal is supplied to digital) converters 64, 65, and 66, converted into a digital signal by each A/D converter 64 to 66, and input to a control circuit 67 configured using a microcomputer or the like. The setting device 68 is used to set the movement range of the coating unit 28, the support stand 1, and the coating gun 19, the amount of movement per unit of operation, etc., and its output signal is supplied to the control circuit 67. The control circuit 67 controls the servo valves 11, 26, 36 based on the output signals of the A/D converters 64 to 66 and the output signal of the setting device 68.
(See FIG. 1) control signals S ₁ to _{S 3} are output to the respective terminals (see FIG. 1).
Note that numerals 6, 20, and 35 are a hydraulic cylinder and a hydraulic motor shown in FIG. 1, respectively.

Next, the operation of the above-mentioned painting reciprocator will be explained. First, the vertical movement of the coating unit 28, the longitudinal movement of the support base 1, and the swinging movement of the coating gun 19 will be individually explained.

Regarding the vertical movement of the painting unit 28, first, when the control circuit 67 outputs a signal _S3 instructing upward movement to the servo valve 36, the servo valve 3
Spool 6 moves to the right in Figure 1,
Pressure oil is supplied to port A of the hydraulic motor 35 via the servo valve 36, and the hydraulic motor 35 rotates normally.
As a result, the rotating body 35 rotates counterclockwise,
The coating unit 28 is raised. When the output signal of the A/D converter 66 reaches the upper limit value set by the setting device 44, the control circuit 67
outputs a signal _S3 instructing downward movement to the servo valve 36. As a result, the spool of the servo valve 36 moves to the left, pressure oil is supplied to port B of the hydraulic motor 35 via the servo valve 36, the hydraulic motor reverses, and the coating unit 28 descends. Then, when the output signal of the A/D converter 66 reaches the lower limit value set by the setting device 68,
A signal _S3 from which the control circuit 67 instructs upward movement again.
As a result, the coating unit 28 rises again, and the above operation is repeated thereafter. In addition,
Ascent and descent speed control can be performed by adjusting the gain of the servo valve 36.

Next, regarding the back and forth movement of the support base 1, the control circuit 67 first sends a signal S ₁ instructing forward movement.
When this is output to the servo valve 11, the spool of the servo valve 11 moves to the right, and pressure oil is supplied to the port A of the hydraulic cylinder 6 via the servo valve 11.
As a result, the piston of the hydraulic cylinder 6 moves to the right, and the support base 1 moves forward (moves to the right). When the output signal of the A/D converter 64 reaches the forward limit value set by the setting device 68, the signal _S1 becomes zero, the spool of the servo valve 11 returns to the neutral position, and the support 1 stops moving. Next, when the control circuit 67 outputs a signal _S1 instructing backward movement to the servo valve 11, the servo valve 1
The spool 1 moves to the left, and pressure oil is supplied to port B of the hydraulic cylinder 6. As a result, the piston of the hydraulic cylinder 6 moves to the left, and the support base 1 retreats (moves to the left). And A/
When the output signal of the D converter 64 reaches the backward limit value set by the setting device 68, the signal _S1 becomes zero and the movement of the support base 1 is stopped. Note that forward and backward speed control is performed by adjusting the gain of the servo valve 11.

Next, regarding the swinging motion of the painting gun 19,
First, when the control circuit 67 outputs a signal _S2 instructing an upward swinging motion to the servo valve 26, the spool of the servo valve 26 moves to the right, and pressure oil is supplied to port A of the hydraulic cylinder 20. The piston of the hydraulic cylinder 20 moves to the left. As a result, the coating gun 19 rotates counterclockwise about the shaft 19a. Then, when the output signal of the A/D converter 65 reaches the upper swing limit value set by the setting device 68, the signal _S2 becomes zero, the spool of the servo valve 26 returns to the neutral position, and the painting starts. The upward swing of the gun 19 stops. Next, when the control circuit 67 outputs a signal _S2 instructing downward swing to the servo valve 26, the spool of the servo valve 26 moves to the left, and pressure oil is supplied to port B of the hydraulic cylinder 20. The paint gun 19 rotates clockwise. Then, when the output signal of the A/D converter 65 reaches the downward swing limit value, the signal S ₂ becomes zero,
The spool of the servo valve 26 returns to the neutral position, and the downward swinging of the coating gun 19 stops. Note that the rotational speed of the coating gun 19 is adjusted by adjusting the gain of the servo valve 26.

Next, the actual operation of the painting reciprocator will be explained. Now, the paint gun 19 is marked p in Fig. 3.
-1, the convex curved surface 58a of the object to be coated 58 is located near the lower limit and the forward limit.
Suppose that paint is being applied by spraying paint toward the lower part of the object. Here, the hydraulic motor 35 is operated for a certain period of time under the control of the control circuit 67, and the coating unit 28 is moved upward by the dimension a in FIG. 3 and stopped due to the basic operation, during which coating is performed. Next, while the hydraulic motor 35 is stopped, the control circuit 67
Under the control of , the support stand 1 (painting unit 28) moves back by a distance b-1 in the figure and is stopped, during which time painting is performed. Next, the hydraulic motor 35 is operated again to move the coating unit 28 upward by a dimension a, and then the coating unit 28 is moved backward by a dimension b-2. The above operation is repeated and the painting unit 28 (painting gun 1
9) in Fig. 3, the trajectory k moves upward and backward in a step-like manner (in reality, the above-mentioned vertical and longitudinal movements may overlap in time, so it does not become completely step-like), and the coating gun moves backward. 19 is the code p
After reaching the maximum protrusion of the curved surface 58a as indicated by -2, the locus moves upward while moving forward, and finally reaches a position near the upper limit of movement indicated by p-3. Since this locus k draws a curve that approximately matches the curved surface 58a by gradually varying the values of b-1, b-2, . 58a can be coated with a constant spacing, and good and uniform coating can be achieved. The trajectory k of the coating gun 19 is stored in advance in the control circuit 67, and the starting point and end point of the trajectory k are also set in advance by the setting device 68 and stored in the control circuit 67. Also, contrary to the above case, the dimension b is kept constant and the dimension a is gradually varied to change the locus k to the curved surface 5.
8a may be approximated.

In addition, in FIG. 3, when the coating gun 19 reaches its upper limit of movement, the object 58 to be coated is moved in a direction perpendicular to the paper surface by the operation of the conveyor 59 (FIG. 1), so that the coating gun 19 moves along the above-mentioned trajectory k. This time, move down along the curved surface 58a, paint the next part of the curved surface 58a, and then apply the paint gun 19.
By repeating the vertical movement, the curved surface 58a is painted over the moving direction. Further, when the curved surface 58a is not uniform in the moving direction, by storing each curved surface shape for each unit length in the moving direction in advance in the control circuit 67, the coating gun 19 adjusts to each curved surface shape each time the vertical movement is repeated. What is necessary is to move along different trajectories depending on the situation.

Furthermore, although the oscillating motion of the coating gun 19 is not performed when painting the curved surface 58a, the oscillating motion is necessary if the upper surface 58b of the object to be coated 58 in FIG. 1 is also desired to be coated. becomes. That is, if the coating unit 28 is moved forward while moving further upwards than the upper limit in FIG. 3, and the coating gun 19 is swung downward under the control of the control circuit 67,
8b can be well coated. This paint gun 1
According to the oscillating motion of 9, it is possible to paint not only the top surface of the object to be coated 58, but also the bottom surface, the groove, the back surface, etc. Moreover, if the painting gun 19 is oscillated in the horizontal plane as described above, It is now possible to paint the sides, eliminating the need for manual correction painting, which is very convenient.

Furthermore, for painting the curved surface 58a, in addition to the vertical and longitudinal movements of the painting unit 28, the swinging movement of the painting gun 19 is synchronously incorporated, and the painting gun 1
It is also possible to make the ejection direction of 9 always orthogonal to the curved surface 58a.

Generally, in order to perform the operations in the three directions synchronously, the control circuit 67 stores in advance each operation in the longitudinal direction and the swing direction based on the vertical direction operation, and the limits of each direction operation by the setting device 68. Just let it happen. For example, when there is a maximum movement range of 21 points from 0 to 21 for vertical movement, a maximum of 6 points for longitudinal movement, and a maximum of 6 points for swing movement, as an actual example, if the vertical movement is 2-18
Corresponding to the movement between points, the back and forth movement is performed between 1 to 3 points, and the swinging movement is performed between 3 to 6 points synchronously.

Note that the back and forth movement of the painting gun 19 is controlled by the support base 1.
However, the present invention is not limited to this, but the support stand 1 may be fixed and the coating gun 19 itself may be movable in the front and rear directions and may be driven to move.

However, in the above embodiment, the paint gun 19 alone is not moved in the front-back direction, but the support base 1 is moved in the front-back direction, so there is an advantage that it can be applied as is to a conventional reciprocator that only moves in the vertical direction. .

Further, in the above embodiment, only one driving means for moving the coating unit 19 up and down is provided below the reciprocator, but when the height of the reciprocator becomes large, a pair of driving means are provided above and below and driven synchronously. According to this, the coating unit 28
It is possible to perform stable vertical movement without fluctuation due to inertia.

As described above, according to the painting reciprocator of the present invention, a pair of hydraulic drive means are provided for the vertical direction and the front-back direction, respectively, so that the painting gun can be moved not only in the vertical direction but also in the front-back direction. By driving the pair of driving means alternately or synchronously, the painting gun can be moved in a curved line that matches the curved surface of the object to be painted, and can be applied to various shapes. It is convenient to be able to paint curved surfaces, and since it uses a hydraulic drive means, it has excellent responsiveness and can be applied to complex curved surfaces. In addition, since the painting unit and the painting gun are driven by hydraulic drive means, they can be made smaller and have no danger of explosion compared to those driven by pneumatics, and they operate smoothly and quickly. can be easily changed, and measures to prevent overload can also be easily taken. In addition, it is easy to adapt to different types of curved surfaces by changing the program of the control means, and there is no need to make any mechanical changes, reducing costs.Also, since the coating gun has a swinging function, it is easy to paint curved surfaces. In addition to improving the finish quality of the workpiece, it is also possible to paint not only the front side of the object, but also various parts such as the top, bottom, side, grooves, and back surfaces, eliminating the need for correction painting and reducing man-hours. Because of this, it is extremely effective especially when applied to coatings that are produced in a wide variety of small quantities with different shapes of surfaces to be coated, and also because the limit positions of the coating gun's movement in each direction are set by a setting device connected to the control means. This setting operation can be done by turning a switch, dial, etc. while observing the operation of the paint gun, and compared to manually setting the position of a limit switch, etc., it is easier to set and change the setting remotely. can.

[Brief explanation of drawings]

FIG. 1 is a schematic block diagram showing the structure of an embodiment of this invention, FIG. 2 is a block diagram showing the structure of an electric circuit of the same embodiment, and FIG. 3 is a diagram for explaining the painting operation. 2... Vertical guide rail, 4... Front-back guide rail, 5... Bearing, 6... Hydraulic cylinder, 16... Bearing, 19... Painting gun, 20...
...Hydraulic cylinder, 28...Painting unit, 35...
...Hydraulic motor, 38...Hydraulic unit, 67...
Control circuit, 68...setting device.

Claims (1)

[Scope of Claim for Utility Model Registration] 1. A coating unit having a coating gun, a first guide means for guiding the coating unit so as to be movable in the vertical direction, and a first guide means for driving the coating unit to move reciprocatingly in the vertical direction. a hydraulic drive means; a second guide means for movably guiding the painting unit in the front-rear direction toward and away from the object to be painted; and a second hydraulic drive means for movably driving the paint unit in the front-rear direction. For painting, comprising a drive means, a control means for respectively driving the first and second hydraulic drive means, and a hydraulic unit for supplying pressure oil to the first and second hydraulic drive means. Reciprocator. 2. The painting gun is configured to swing freely within a predetermined plane, and the painting unit has a third hydraulic driving means for swinging the painting gun under the control of the control means. A reciprocator for painting according to claim 1 of the utility model registration claim. 3. The reciprocator for painting according to claim 2, wherein the predetermined plane is variable in a direction of 360 degrees.