JPH02115060A - Robot for coating shape steel having complex section - Google Patents

Abstract

PURPOSE:To apply coating at a high efficiency by providing a coating gun unit holding a plurality of different kinds of coating guns, a robot arm supporting the coating gun unit, and further a unit for controlling the coating gun unit. CONSTITUTION:A coating gun unit 2 is provided with A-coating gun 5 and B-coating gun 6, wherein coating sprays are oriented in different directions. A control unit 4 includes such functions that control the coating gun unit 2, whereby, when signals to select the A-coating gun 5 are delivered to the unit 2 from the control unit 4, the A-coating gun 5 is set at a specific position so as to be applied to the coating operation of the inside 10 of L-claw of a shape steel having complex section 9 and when signals to select the B-coating gun are delivered to the coating gun unit 2 from the control unit 4 based on stored coating gun selection, said gun 6 is applied to the coating operation of a base part 11 and the lower part 12 or T-claw.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to a robot device for painting complex-shaped steel materials, and in particular, when automatically painting quick-drying two-component mixed paint onto complex-shaped steel materials, one pump is used to automatically coat complex-shaped steel materials. This invention relates to a robot device that is devised so that it can paint with high efficiency without having to be reassembled, and can also reliably guarantee the film thickness.

[Prior Art and Problems to be Solved by the Invention] When painting with a quick-drying two-component mixed paint, generally one paint gun is used for one pump.

Therefore, when painting complex-shaped steel materials, depending on the part, it is either done with a single paint gun without guaranteeing the film thickness, or the painting can is changed to a steel pipe for each part. .

However, the conventional robot apparatus for painting complex-shaped steel materials has the following problems. That is, 1) When painting with 71 paint guns, it is difficult to guarantee the film thickness depending on the area, and the quality of the painting must eventually deteriorate.

2) If the painting gun is replaced or reassembled, the processing efficiency will be significantly reduced, which will further increase the painting cost.

Furthermore, Japanese Patent Application Laid-Open No. 61-33255 discloses a painting robot that paints with two painting guns.
There are the following problems.

1) When painting articles of the same shape with different colors,
Multiple paint guns are used to paint according to the paint color, but since the structures of multiple guns are the same, even when painting complex-shaped steel materials, it is not possible to guarantee the film thickness for each part. do not have. It is necessary to use a special gun to hold and paint each part of the complexly shaped steel material.

This invention enables complex-shaped steel materials to be coated with a quick-drying two-component mixed paint on complex-shaped steel materials by immediately preparing a coating gun suitable for each part and ensuring the film thickness for each part while painting with high efficiency. The purpose is to provide a painting robot device.

[Means for Solving the Problems] The robot device for painting complex-shaped steel materials of the present invention holds different types of painting guns in a complicated manner, one of which is a painting gun that holds a low discharge nozzle capable of spraying a wide-angle pattern. Yes, 1
The first is a paint gun that has a high discharge nozzle that can spray in a narrow angle pattern. Each of these has a coating gun unit and a switching device, but all are attached to a robot arm, which alternately selects the appropriate coating gun depending on the location of the steel material and moves it to a predetermined position.

Further, it is configured to have a control unit that stores painting gun selection data, painting position data, etc., and controls the painting gun unit, switching device, and robot arm based on the data.

[Examples and effects] A more detailed explanation will be given below based on the example apparatus shown in the figures.

FIG. 1 is a perspective view of a robot apparatus for painting complex-shaped steel materials according to an embodiment of the present invention, and FIG. 2 is an operating state diagram of a coating gun unit in the embodiment apparatus shown in FIG.

As shown in Figure 1, robot device 1 for painting complex-shaped steel materials.
is composed of a coating gun unit, a robot arm 3, a control unit 4, and a coating machine 8.

Paint gun unit 2 changes the direction of paint spray,
A painting gun 5 and a painting gun B 6 are attached.

The robot arm 3 is a conventionally known multi-jointed robot arm, and holds the painting gun unit 2 at its wrist.

The control unit 4 is similar to a conventionally known control unit, but has an added function for controlling the coating gun unit 2. When a signal to select the A paint gun 5 is given to the paint gun unit 2 from the control unit 4, the A paint gun 5 is set to the position shown in FIG. It will be used for painting work.

Next, based on the memorized painting gun selection, B painting gun 6
Control unit 4 sends a signal to select painting gun unit 2
When this is applied, the B paint gun 6 is set at the position shown in FIG. 2(b), and is used for painting the base material 11 of the complex-shaped steel material and the T-claw upper part 12 of the complex-shaped steel material. .

The switching from the painting operation shown in FIG. 2(a) to the painting operation shown in FIG.
Switched by.

[Effects of the Invention] The robot device for painting complex-shaped steel materials of the present invention holds a plurality of painting guns, moves the painting guns according to a selection signal, and moves one selected painting gun to a predetermined position. It is made up of a painting gun unit that positions the painting gun unit, a robot arm that holds the painting gun unit, and a control unit that stores painting gun selection data, painting position data, etc. and controls the painting gun unit based on them. Therefore, when automatically painting complex-shaped steel materials with a quick-drying two-component mixed paint, it is now possible to do the painting with high efficiency without changing parts midway with one pump, and to ensure the film thickness.Furthermore, This has the remarkable effect of reducing painting costs.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a robot apparatus for painting complex-shaped steel materials according to an embodiment of the present invention, and a plan view showing the state in which the embodiment apparatus shown in FIG. 21n1 is working on painting complex-shaped steel materials. ...For painting complex-shaped steel materials...Painting gun unit...A painting gun...Paint switching device...Complex-shaped steel robot device 3...Control device 5...B painting gun 8...・Painting machine (4 others) Fig. 1 Robot device for painting complex-shaped steel materials Painting gun unit Robot arm control device A Painting gun B Painting gun e Category switching device Painting stone

Claims (1)

[Claims] 1. A robot device that applies quick-drying two-component mixed paint to complex-shaped steel materials includes a paint gun unit that holds multiple different types of paint guns, a robot arm that holds the paint gun units, and a paint gun that The present invention further includes a control unit that stores painting gun selection data, painting position data of the painting gun, painting pattern, etc. in order to select and paint the painting gun unit, and controls the painting gun unit based on them. A robot device for painting complex-shaped steel materials.