JPH02277569A - Five-shaft movable spray gun - Google Patents

Abstract

PURPOSE: To decrease the amt. of the motion and inertia required to be controlled during the operation of a spray gun by combining the motion of a spray gun in X, Y and Z directions and the motion of a spray nozzle independent therefrom. CONSTITUTION: The spray gun 12 is moved along an X-axis, Y-axis and Z-axis by a robot arm. Further, a controller associated with robot arm control controls the operation of an air cylinder 128 in such a manner that the speed and frequency of the rotation of an indexing ring 118 may be changed at need, by which a piston 130, is advanced and retreated rapidly or slowly and/or at high or low frequencies and rotational motion is applied to the spray nozzle 48. Further, a sleeve 176 is moved downward along an extension part 26 by an air cylinder 154 and a nozzle inclining lever 184 is rotated clockwise via a crank arm 188, by which the release port 66 of the spray nozzle 48 is inclined and rotated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a spray gun operated by a robot, and more specifically, a spray gun that moves around five "axes";
i.e. movement in a first plane along the xi3 and Y-axes, movement in a plane perpendicular to the Z-axis, and rotation about an axis approximately parallel to the Z-axis (the so-called "fourth axis"). , and in a vertical plane oriented approximately parallel to its Z axis (so-called "fifth axis" motion). In particular, it relates to a spray gun for coating printed circuit boards. Alternatively, the spray gun may be fixed in the X, Y, and Z directions, and the substrate to be coated may be placed on a table that can be moved relative to the spray gun in the X, Y, and Z directions. It is also an object of the present invention to apply a fifth axis drive mechanism.

Packaged circuit boards for electronic devices are generally coated with a moisture-proof insulating film to protect the circuit boards from moisture, electrical leakage, and dust.

Preferably, the moisture-proof insulating film is a so-called conformable coating, such as an acrylic, polyurethane or epoxy synthetic resin dissolved in a volatile solvent. When applied to a clean printed circuit board, a continuous, uniformly thick insulating film is formed as the solvent evaporates.

Previously, when applying a moisture-proof insulation coating to a printed circuit board,
Five main methods were used. These methods are described in earlier US application Ser. No. 06/941.365.

1986! Filed on February 15th, 1 Title: ``Method for Applying Moisture-Proof Insulating Coating to Packaged Circuit Boards,'' Applicant Takagi Shimada, and a continuation in part of that application, i.e. No. 077206.199, June 13, 1988. Application No. 1, entitled "Method for Applying Moisture-Proof Insulating Coating to Printed Circuit Boards Using a Triangular or Dovetail-shaped Liquid Film Discharged from a Flat Pattern Nozzle," Applicant Takagi Shimada;
It is described in. The disclosures of these patent applications are incorporated herein by reference.

As described in such patent applications.

The main methods for applying moisture-proof insulation coatings to printed circuit boards include:

(a) A dipping method in which a packaged circuit board is immersed in a dip tank containing a moisture-proof insulation material;

(c) a roller method in which the surface of the printed circuit board to be coated is coated with a roll of wool impregnated with a moisture-proof insulating material, +d) a spraying method in which the moisture-proof insulating material is applied to the printed circuit board by a spraying technique. , and (e) a slit die method in which the moisture-proof insulating material is pressurized and extruded through a slit die to apply a film to the surface of the printed circuit board.

Each prior art method has advantages and disadvantages, as described in each of the above-mentioned Shimada patent applications. All methods other than brushing require masking of the uncovered portions of the printed circuit board. Masks must be manually attached and removed from the board, which is an impediment to mass production of circuit boards. Brush application does not require a mask, but is labor intensive and unsuitable for mass production.

In order to meet the demand, spraying is the most widely used insulation coating method for mass production.

Each of the above-mentioned Shimada applications uses a flat pattern nozzle to generate a printed circuit such that there is relative movement between the nozzle and a circuit board in a direction transverse to the plane of the flat pattern emitted from the nozzle. A method of spraying an insulating liquid coating material onto a substrate is disclosed. The supply of coating material to the nozzle is interrupted intermittently to avoid depositing liquid coating material on uncoated areas of the printed circuit board and/or circuit components.

One drawback with the coating method disclosed in the above-referenced Shimada application is that the spray nozzle or circuit board must be moved in relation to each other to obtain the desired pattern of coating material at every location on the board. This is what we are doing. In mass production, a robotic arm is often used to operate a spray gun with a spray nozzle mounted in a fixed position. These robot arms move the spray gun and its spray nozzle in the Z direction, i.e. toward and away from the printed circuit board, and in the X and Y directions, i.e. along the length and width of the circuit board. It can be moved.

To ensure that the coating material is applied by the spray nozzle in the desired pattern in both the X and Y directions of the spray gun's movement, the spray nozzle and therefore the spray gun must be
Each time the direction of movement changed from the X direction to the Y direction or vice versa, a 90° turn was required. A relatively heavy mechanism is required to rotate the entire spray gun,
This is often difficult to support with the robot arm and/or reduces the speed of robot arm movement.

Another difficulty with prior art circuit board coating equipment is that
The circuit board is not necessarily flat, as circuit components and the like may protrude from the surface of the circuit. It may also be desirable to coat the vertical sides of a component mounted on a circuit board or the portion directly below it. This cannot easily be done with a robotic arm that can only move the spray gun in the X, Y and Z directions.

It is therefore an object of the present invention to reduce the amount of motion and inertia that needs to be controlled during operation of a spray gun and to reduce the amount of coating material on a target substrate as well as on parts placed on that substrate. An object of the present invention is to provide a device for operating a spray gun that accurately and effectively deposits a spray gun.

These objectives are to control the movement of the spray gun and the spray nozzle in the This is achieved by combining the movement of the spray nozzle with independently controlled single actuation relative to the gun.

A mechanism associated with a robotic arm supporting the spray gun can move the spray gun and its spray nozzle along the X, Y, and X axes relative to the printed circuit board or other substrate to be coated. In addition to this movement, the device according to the invention includes a mechanism for rotating the spray nozzle of the spray gun about an axis parallel to the X-axis;
and another mechanism for rotating the spray nozzle relative to the spray gun independent of its rotational movement. The device according to the invention therefore provides a three-axis movement of the nozzle of the spray gun, for example movement along each of the X, Y and X axes, rotation about an axis parallel to the and a rotational or swinging (so-called "fifth axis") motion for the spray gun.Alternatively, the device according to the invention has a fourth and fifth axis drive mechanism; It can be used with a spray gun which is fixed in the x, yj5 and Z directions, in which case the circuit board to be coated is placed on a table which is movable in the X, Y and Z directions with respect to the fixed spray gun.

In a preferred embodiment, for example, U.S. Patent No. 4.785.
A spray gun of the type shown in No. 996 has been slightly modified to accommodate an extension;
It is rotatably supported within an internal passageway formed within the gun and extends out from the bottom of the gun body in which the gun's spray nozzle is normally mounted. This extension is integral with a coating material delivery passageway that receives a movable plunger carried by the gun body.

The plunger opens and closes an outlet formed in the extension and returns unused or excess coating material through the hollow interior of the plunger to the gun body through an outlet communicating with a source of coating material. Can be discharged.

A spray nozzle is rotatably mounted at the bottom of the extension and communicates with the coating material passageway of the extension. The spray nozzle has a discharge opening that is offset from the longitudinal axis of the extension and which deposits coating material onto a substrate, such as a printed circuit board, when the plunger is in the open position. discharge.

The spray gun, extension, and spray nozzle are moved together along the X, Y, and Z axes by the robotic arm. In addition to this movement, rotate the extension and spray nozzle relative to the spray gun and shake the spray nozzle relative to the spray gun. That is, a separate mechanism for rotation is provided.

In a preferred embodiment, actuation of an indexing wheel fixed to the extension causes the extension and the spray nozzle to rotate relative to the spray gun.The indexing wheel has a number of circumferentially spaced pins. and each of the pins is adapted to engage a pusher plate movable between an extended position and a retracted position. Each time the pusher plate is extended, it engages one of the pins of the index ring, causing the indexer and extension to rotate relative to the spray gun. When the push ramp returns from its extended position to its retracted position, one indexing wheel is secured by a locking device attached to the indexing wheel. All of these components are relatively lightweight and can be used in a variety of robotic arms without sacrificing the speed of movement of the robotic arm or adding significant inertia due to excessive weight.

Preferably, for each stroke of extension of the push plate, an indexing wheel;
and thereby cause the extension and spray nozzle to rotate through a 90" angle relative to the spray gun. In this way, regardless of whether the spray gun is moving in the X or Y axis, the spray The spray nozzle can be oriented to deposit the coating material in the desired pattern approximately perpendicular to the direction of gun movement, thereby directing the spray pattern in the desired direction relative to the direction of gun movement. There is no need to move the spray gun or one of the target substrates to direct it.

In addition to rotating the extension and spray nozzle relative to the spray gun, a mechanism is provided for rotating the spray nozzle in a plane generally parallel to the axis about which the spray nozzle rotates. In a preferred embodiment, the sleeve is slidably mounted on the extension so that it can be moved up and down vertically along the extension. The sleeve includes a yoke connected to the piston of the pneumatic cylinder. When the cylinder is actuated to extend the piston, the yoke moves with the piston, lowering the sleeve along the extension. The sleeve rises as the piston moves back into the sill, displacing the yoke with it.

The up and down movement of the sleeve along the extension tilts the spray nozzle due to the coupling of the nozzle crank arm and the nozzle tilt lever. The upper end of the nozzle crank arm is rotatably attached to the sleeve, and the lower end is rotatably attached to the nozzle tilting lever.

The nozzle tilting lever is fixed to the projection of the spray nozzle and rotatably supported within an adapter attached to the bottom of the spray nozzle.

When the sleeve is lowered, the nozzle crank arm lowers, rotating one end of the nozzle tilting lever clockwise or counterclockwise. Correspondingly, the spray nozzle rotates in the same direction due to the coupling of the nozzle tilting lever and the nozzle projection.

The sleeve then rises in the opposite direction, causing the nozzle crank arm to rise and rotate the nozzle tilting lever and spray nozzle in the opposite direction.

Therefore, the nozzle crank arm and the nozzle tilting lever are positioned relative to the spray gun so that the discharge orifice of the nozzle swings in an arc relative to the substrate to be coated.
Rotate the spray nozzle. This causes the coating material to be ejected at an angle to a circuit board and the components mounted thereon, so that the sides of such components and/or the components immediately below them can also be coated. can.

The structure, operation, and advantages of one preferred embodiment of the present invention are further described below with reference to the accompanying drawings.

The apparatus 10 of the present invention is a spray gun 1 of the type described in U.S. Pat.
2, the spray gun 12 includes a gun body 14,
The gun body 14 has a stepped bore 16 extending to its bottom end. A support 17 is supported in the hole 16 at the bottom of the gun body 14, and a mounting block 18 rests on the support 17. Both the support 17j5 and the mounting block 18 are provided with through holes 19 and 21, respectively, which receive a movable plunger 22 having a hollow interior 23. Plunger 2
There is a space between the outside of the mounting block 18 and the through hole 21 of the mounting block 18.
It connects to a fluid inlet 25 in the gun body 14 by a passageway 24 formed therein. Covering material is entrance 25j5
and the passage 24, and the installation is through the through hole 2 of the block 18.
1 and flows along the outside of the plunger 22. The gun body 14 is attached to a cylindrical extension 26 which is rotatably supported by the support 17. The upper end of the cylindrical extension 26 is in contact with the seal 27 at the upper end of the support 17. The cylindrical extension 26, which is sandwiched between the support 17 and the annular bottom of the mounting block 18, is formed with an internal passage 28, which is connected at its upper end. , the attachment communicates with the through hole 21 in the block 18 and conveys the coating material. This passageway 28 receives a plunger 22 that extends downwardly toward the bottom end of the extension 26. Preferably, the lower end 30 of the plunger 22 is conical and engages a seat 32 at the lower end of the extension 26. Plunger 22 is shown in the retracted, open position in which its lower end 30 disengages from seat 32 and opens an outlet 34 formed therein, and in the retracted, open position, as shown in the figures, in which the lower end of plunger 22 engages seat 32. , and the advanced position where the discharge port 34 is blocked. This movement of plunger 22 regulates the flow of coating material discharged from extension 25 for deposition onto the substrate, as explained below.

As shown in FIGS. 2 and 4, the coating material flows along the outside of the plunger 22 to the conical lower end 30 where the coating material flows when the plunger 22 is in the retracted, open position. is released.

When plunger 22 is in the closed position and/or to remove excess coating material from extension 26,
Coating material is recirculated upwardly from the bottom of the extension 26 and out of the gun body 14.

In the preferred embodiment, the plunger 22 has a mouth 38 at its lower point, just above the conical end 30. Excess or unused coating material that is not discharged from the outlet 34 is removed from this 03 of the plunger 22.
8, ascends its hollow interior 23, and plunger 2
The coating material exits the port 40 and flows into the second 040 formed at the upper end of the gun body 14, the seal in the form of a washer 43 located at the top of the block 18, and It enters a cavity 42 between it and a similar seal 44 supported by a spring 45. This cavity 42 is located in the gun body 14.
It is connected to a recirculation outlet 47, which is formed in and communicates with a source of coating material (not shown). Even though some of the coating material is discharged from the outlet 34, the coating material is adapted to be continuously recirculated within the plunger 22. This ensures that the coating material is heated to the appropriate temperature during operation of the spray gun 12.

However, the invention is not intended to be limited to hollow plungers 22 or other means of recycling the coating material; the spray gun 12 may also have no means of recycling the coating material, i.e. It can also become a dead end if material is not released from the gun.

4, the spray nozzle 48 is connected to the extension 2.
6, an adapter 46 is screwed onto the lower end of the extension 26.

There is a collar 50 that mates with threads on the outside of the extension 26, and a hole 52 that communicates with the outlet 34 in the seat 32 at the bottom of the extension 26. The adapter 46 is attached to the seat 3
2 and supporting a washer 53 forming a seal therebetween. The adapter 46 has a transverse through hole 54.
is open and the cylindrical projection 56 of the spray nozzle 48 is rotatably mounted therein. O-ring seal 58 between adapter 46 and nozzle projection 56
are sandwiched between them, forming a liquid-tight seal.

The nozzle protrusion 56 has an L-shaped connector hole 60 that connects the adapter 46 at one end.
It communicates with the hole 52 inside, and the spray nozzle 4 at the other end.
It communicates with a liquid conveyance passage 64 formed in 8. A cleaning screw 65 is attached to the nozzle 48, and the passage 6
4 so that the nozzle 48 and the bottom of the extension 26 can be cleaned. The liquid transport passage 64 terminates at an outlet 66 pointing downwardly with respect to the substrate to be coated (not shown). Accordingly, a flow path for the coating material is formed from the extension 26 to the spray nozzle 48 through the hole 52 in the adapter 46 and the nozzle protrusion 56.
The flow of coating material through the flow path, which includes a connector hole 60 therein and a liquid conveying passageway 64 in the body of the spray nozzle 48, is controlled by the retracted, open position of the plunger 22 relative to the outlet 34. Controlled by movement between , extended and closed positions.

The first feature of the present invention is that the X, Y, and Z guns are applied to a target board such as a printed circuit board.
The structure and operation of the mechanism for moving the spray gun 12 and its spray nozzle 48. Mechanisms associated with the robotic arm supporting spray gun 12 move spray gun 12 along the X, Y, and Z axes. The details of such mechanism are not relevant to the invention itself, and the following description of the X, Y and two-axis movement of the spray gun 12 is made only to explain the overall operation of the device IO; In another embodiment, the spray gun 12 is stationary and the drive mechanism is mounted on a table carrying a circuit board.
and equipped for movement along the Z axis.

For purposes of discussion, "top" means the top of spray gun 12, as shown in FIGS. 1 and 2, and "bottom" means the bottom of gun body 14 in those figures. The ``rx axis'' is the axis that extends from left to right as shown in Figure 1, the ``Y axis'' is the axis that extends inside and outside the page in Figure 1, and the ``rz axis'' is the axis that extends from left to right.
refers to the axis extending vertically between the top and bottom of FIG.

1, the spray gun 12 is secured to a gun mounting plate 68 having vertically extending side ends 70, one of which is shown in FIG. Gun mounting is such that plate 68 is sandwiched between four rollers 72, two of which are mounted on each side edge 70 of plate 68. Each roller 72 is rotatable about a pin 74 which is fixed to a frame 76 which is supported by a robotic arm 78 shown diagrammatically in FIG.

A motor 80゜force 5 is attached to the frame 76,
The output shaft of the motor 80 is connected to and drives a pinion gear 84. The pinion gear 84 meshes with a rack 86 fixed to the plate 68 for mounting the gun. When motor 80 operates, binion gear 84 rotates clockwise or counterclockwise relative to rack 86 . The driving action between the pinion gear 84 and the rack 86 causes the gun mounting plate 68 to move vertically, ie, along the Z axis, between rollers 72 mounted at each side end 70. Gun mounting is such movement of plate 68 that moves spray gun 12 and spray nozzle 48 to align spray nozzle 48 with the desired vertical position relative to the substrate, such as a circuit board, to be coated.

The movement of the spray gun 12 and the spray nozzle 48 in the Y direction is obtained as follows. frame 76
There are four bearing blocks 88.90 (
Two of them are shown in the figure) are installed,
The blocks are supported by guide rods or straight tracks 92,94 each attached to a support plate 96 by a post 95. The support plate 96 is attached to a guide rod 100 supported on the robot arm 78 by a bearing fitting 101 by a boss 98, one of which is shown in FIG.

, the motor 102 is fixed to the bottom of the support plate 96,
The motor output shaft 104 is connected to and drives a pinion gear 106. The binion gear 106 is connected to a rack 1 attached to the upper plate of the frame 76 and extending in the Y direction.
It meshes with 08. When the motor 102 operates,
Binion gear 106 drives rack 108 to move frame 76 and move spray gun 12 and spray nozzle 48 in the Y direction along the Y axis described above.

Movement of spray gun 12 and spray nozzle 48 in the X direction, ie, along the X axis, occurs in a manner similar to movement along the Y axis. A pinion gear 114 is attached to an output shaft 112 of a third motor 110 attached to the robot arm 78. This pinion gear 114 meshes with a rack 116 mounted on the support plate 96 and extending in the X direction. When the output shaft 112J and the pinion gear 114 rotate, the support plate 96. frame 76
and thereby all of the spray gun 12g and spray nozzle 48 move in the X direction relative to the fixed robot arm 78.

The above drive mechanism for moving the spray gun 12 and the spray nozzle 48 along the X, Y and Z axes includes:
Such movement in the X, Y, and Z directions can be achieved using various other mechanisms without limitation.

According to the fourth axis - the transformation of the spray nozzle, the third axis
．． The rotation mechanism of the spray nozzle 48 with respect to the spray gun 12 will be explained with reference to FIGS. 3A and 3B and FIG. As described above, the spray gun 12i3 and the spray nozzle 48 are moved as a unit in the X, YJ, and Z directions. However, the fourth axis movement mechanism rotates the spray nozzle 48 independently of the rest of the spray gun 12 and independent of any movement of the robot arm 78.

The indexing ring 118 is fixed to the extension 26 below the bottom of the gun body 14.

Indexing wheels 11 spaced apart from each other by 90°
There are four recesses 122a-d radially aligned with the pins 120a-d, respectively, around the 0 index l18 with four downwardly extending pins 120a-d at equal radial distances from the center of the It is formed.

A support frame 124 is shaped outwardly from one side of the indexing ring 118 at which point the gun attachment is attached to the underside of the root 68 by screws 126. This support frame 124 has a pneumatic cylinder 128 with a piston 130, which piston
It is movable between the extended position shown in the figures and the retracted position shown in FIG. 3, as described in more detail below. The piston 130 is fixed to a yoke 131, which is rotatably attached to the pusher 1134. Push 1134 has a cam surface 136 between one end on one side thereof. A notch 138 is formed at the front end thereof, that is, at the left end as seen in FIG. 3-3B. Pushing 1
Extending upwardly from the upper surface of 34 is a pin 140 for purposes described below.

On the front or left side of the support frame 124 is a fixed arm 142 which is pinned at 144. Fixed arm 14
One end of 2 is bent once and is fitted with a roller 146 that engages with a recess 122 around the index port 118. A spring 148 extends between the fixed arm 142 and a post 150 attached to the support frame 124.
As seen in Figure 3B, by pulling one end of the fixed arm 142 clockwise, the roller 146 is forced around the indexing wheel 118.

The operation of the fourth axis mechanism according to the present invention is as follows.

In the position shown in FIG. 3, the piston 130 of the pneumatic cylinder 128 is in a retracted position, where the push plate 13
The pin 140 on 4 is on the back side of the fixed arm 142,
The pin 120b of the index port 118 is located in the notch 138 in the push plate 134. A spring 152 between push plate 134 and frame 124 pulls push plate 134 toward pin 120b. Additionally, the roller 146 of the fixed arm 142 is located in the recess 122 around the index wheel 118.
Since the indexing ring 118 is housed in the position c, the indexing ring 118 is held at a fixed position.

3A, when pneumatic cylinder 128 is actuated to extend piston 130, two movements occur in succession. First, the pin 140 on the push plate 134
42 and rotates it around the axis 144, so
Roller 146 is removed from recess 122c on index wheel 118. This releases the index port 118 from its fixed position and allows it to rotate.6 As the piston 130 further extends and the push plate 134 moves forward, the notch 138 in the push plate 134 aligns with the pin 12 of the index port 118.
0b, the push plate 134 is indexed by the engagement with the pin 120b, and the attached extension part 2
6 and spray nozzle 48, fixing arm 1
42 rollers 146 run around index wheel 118.

As shown in FIG. 3A, when piston 130 is fully extended, push plate 134 moves indexing wheel 118 approximately 90 degrees, i.e., pin 120b is originally
Come to the position occupied by a. When the push plate 134 moves forward, it moves along an arcuate path because the indexing ring 118 is circular. This is because the push plate 134 and the yoke 131 connected to the piston 130 rotate. This is possible because we are connected to each other. Because of this arcuate path: pin 140 bypasses the distal end of fixed arm 142; allowing fixed arm 142 to be released and reengaged around index ring 118; At the point when the piston 130 is fully extended, the roller 146 of the fixed arm 142 is aligned with the indexing ring 11111.
, that is, the depression 122d in FIG. 3A.

As a result, as the piston 130 retreats, the push plate 13
1 indexing wheel 118 while 4 returns to its initial position
is stopped in its fixed position.

When the push plate 134 returns to its initial position, the push plate 134
cam surface 136 passes along pin 120c, which has been moved to the position originally occupied by pin 120b. 3B, this cam surface 136 forces the push plate 134 outwardly relative to the fixed arm 142, causing the push plate 134 to
The upper pin 140 jumps over the fixed arm 142 and returns to its original position behind the fixed arm 142, as shown in FIG.

In the preferred embodiment, a cam plate 143 rests on index wheel 118 and a trip lever 145 connected to a limit switch 147 is moved over the circumference of cam plate 143 at a predetermined position along cam plate 143. When the limit switch 14 is reached, the trip lever 145
7 to produce a signal indicating that the indexing wheel 118 is in its "original" position, i.e., the four pins 120a-d are lined up in the position shown in FIG.

The above procedure is then repeated, causing indexer 118 to index every 90 degrees with respect to the longitudinal axis of extension 26. A controller (not shown) associated with the robot arm control controls the operation of the pneumatic cylinder 128 so that the speed and frequency of rotation of the indexing wheel 118 is varied as needed. Depending on the specific application conditions,
Pneumatic cylinder 128 is actuated to advance and retract piston 130 faster or slower and/or more or less frequently to obtain the desired rotational movement of spray nozzle 48 .

A mechanism for tilting the spray nozzle 48 relative to the extension 26 and the spray gun 12 will be described with reference to Figures 28 and 2A of one spray nozzle. This mechanism tilts the spray nozzle 48 along an arcuate path independently of the movement of the spray gun 12 along the X, Y, and Z axes described above, and also independently of the rotation of the spray nozzle 48. Or rotate.

Pneumatic cylinder 154 has a piston 156 attached to gun mounting root 68 and secured to yoke 158 by nut 159. A stop plate 160 is attached to the bottom of the pneumatic cylinder 154 and defines a slot or hole that slidably receives a stop bolt 164. The blind bolt 164 is connected to the yoke 158 by an adjacent nut 166 and is movable as the piston 156 moves forward and backward.

The yoke 158 has a pair of arms 16g, one of which is shown, which fit loosely into a groove 170 formed by an upper disc 172 and a lower disc 174 of a sleeve 176. ing. Sleeve 176 is generally cylindrical in shape and is slidably mounted over extension 26 for vertical movement, ie, parallel to the Z-axis.

Preferably, the upper disc 172 and the index port 118 described above
A connector pin 178 extends between the indexing ring 118 and the vertically movable sleeve 176 to maintain the relative rotational position of the indexing ring 118 and the vertically movable sleeve 176.

As mentioned above, the spray nozzle 48 is rotatably supported in a through hole 54 across the adapter 46 with a projection 56 of the spray nozzle 48 extending outwardly therefrom. The projection 5G of the spray gun 12 is connected to a pair of arms 180 forming a part of the nozzle tilting lever 184.
．． It is fixed between 182 and 182. The arms 180, 182 of the tilting lever 184 are spaced apart and have a notch between them into which the nozzle projection 56 is sandwiched. A bolt 185 extends between the arms 180 , 182 and tightens the arms 180 , 182 to secure the nozzle projection 56 so that movement of the nozzle tilting lever 184 is transmitted directly to the spray nozzle 48 .

One end of the nozzle tilting lever 184 is connected by a pin 186.
The nozzle is rotatably mounted to the lower end of the crank arm 188. The opposite upper end of nozzle crank arm 188 is rotatably attached to sleeve 176 directly below lower disk 174 by pin 189 .

2.2Aa and 4, the rotational movement of the spray nozzle 48 is obtained in a first-order manner. As shown in FIG. Moving downwardly, the yoke 158 moves the sleeve 176 downwardly along the extension 26; this movement of the sleeve 176 forces the nozzle crank arm 188 down so that the nozzle crank arm 188 moves the nozzle as shown in FIG. 2A. Rotate the tilt lever 184 clockwise. Since the nozzle tilt lever 184 is fixed to the nozzle projection 156, the spray nozzle 48 rotates in the same direction as the nozzle tilt lever 184. Therefore, the outlet 66 of the spray nozzle 48 tilts or rotates clockwise in an arc corresponding to the rotational momentum of the nozzle tilting lever 184.

Piston 156 moves in the opposite upward direction (and yoke 158
pulls up the sleeve 176 and pulls up the nozzle crank arm 18g with it. Nozzle crank arm 188
, the nozzle tilting lever 184 is rotated one counterclockwise direction to tilt or rotate the spray nozzle 48 counterclockwise. Thus, the vertical up and down movement of the piston 156, yoke 158, sleeve 176 and nozzle crank arm 188 is controlled by the nozzle tilt lever 1.
84, which converts the spray nozzle 48 into a rotation, that is, a tilting motion.

The amount of rotational movement imparted to the spray nozzle 48 is adjusted by a dead bolt 164. As shown in FIG. 2A, the head 165 of the blind bolt 164 is on the upper side of the blind handle 160. As the piston 156 extends and lowers the yoke 158, the stop bolt 164 lowers with the yoke 158. When the head 165 of the stop bolt 164 contacts the stop plate 160, the piston 156 cannot be lowered any further. This controls vertical movement of sleeve 176 along extension 26 and controls movement of nozzle crank arm 1888 and nozzle tilt lever 184. Head 16 of the stop bolt 164 against the fixed stop plate 16G
For position 5, loosen the nut 166 and tighten the blind bolt 16.
31 by moving 4 along the yoke 158.
11 I can do it.

Although the present invention has been described in terms of preferred embodiments, it will be apparent to those skilled in the art that various modifications may be made and components thereof may be replaced by equivalents without departing from the scope of the invention. I understand that there is something. In addition, modifications may be made to the present disclosure to adapt a particular situation or material without departing from the essential scope of the invention.
changes can be made. Therefore, the invention is not limited to the specific embodiments described as the best mode for carrying out the invention, but the invention includes all embodiments falling within the scope of the claims.

[Brief explanation of drawings]

FIG. 1 schematically shows the mechanism for moving the spray gun along the X, Y and Z axes of the "triaxial" invention.
FIG. 2 shows a partially exploded, partially schematic elevational view of the spray gun. FIG.
FIG. 2A is a cross-sectional view partially showing the mechanism for rotating the spray nozzle of the spray gun; FIG.
Figure 3 is a fragmentary view of the lower part of the figure, showing the mechanism for rotating the spray nozzle of the spray gun with the push plate in the retracted position,
-3 Cross-sectional view seen on cotton. FIG. 3A is a view similar to FIG. 3 with the pusher plate in its extended position; FIG. 3B is a view similar to FIGS. 3 and 3A with the pusher plate in the process of being moved to its retracted position; FIG. 4 shows an enlarged cross-sectional view taken along line 4--4 of FIG. 2 showing the lower portion of the extension and the spray nozzle. [Explanation of symbols of main parts] 12--1--Spray gun 14--Gun body 22--Blunger

Claims (1)

Claims: 1. A spraying device having an extension with a passage for conveying the coating material and a spray nozzle connected to the extension for discharging the coating material onto the surface; means for causing relative movement between the spraying device and the surface along the X-axis; and between the spraying device and the surface along the Y-axis perpendicular to the X-axis. means for causing relative movement, about an axis substantially perpendicular to said X-axis and said Y-axis;
means for rotating the extension and the spray nozzle to bring the spray nozzle into position substantially perpendicular to the direction of movement of the spray device along the X-axis and the Y-axis; Apparatus for applying a coating material to a surface, comprising means for independently rotating the spray nozzle relative to the spraying device. 2. Means for causing relative movement between the spray device and the surface along a Z-axis perpendicular to the X-axis and the Y-axis. The device described. 3. The spraying device includes a first member having a liquid inlet and a recirculation outlet, the extension being rotatably mounted to the spraying device, the first member being adapted to receive coating material. , a passageway in communication with the liquid inlet, the passageway terminating in an outlet, the passageway in the first member supporting a hollow plunger, the plunger discharging coating material from the outlet. moving between an open position relative to the outlet in the first member, in which the plunger is released, and a closed position, in which the plunger blocks flow of coating material through the outlet. The plunger may include at one end a first port for conveying coating material from the passageway in the first member into the hollow interior of the plunger; 2. The device of claim 1, further comprising a second port in communication with a recirculation outlet in the spraying device for discharging coating material from the interior of the plunger. 4. The means for rotating the extension includes pins attached to the extension, each radially spaced from the center of the rotation device ring and circumferentially spaced from each other. an indexing ring having an indexing ring; fixing means for releasably fixing the indexing ring against rotation; a push plate movable in a first direction and an opposite second direction, the push plate When moving in the direction of , the securing means is disengaged from the indexing ring and then contacts one of the pins of the indexing ring to rotate the indexing ring and the extension; 2. The indexing wheel of claim 1, wherein the push plate moves in the opposite second direction and engages another one of the pins on the indexing wheel. Device. 5. The indexing wheel comprises spaced indentations on its outer periphery, the securing means comprising a securing arm rotatable relative to the indexing wheel, the securing arm having at one end thereof:
a roller configured to fit within each of the recesses of the indexing wheel, the fixed arm retaining the indexing wheel when the roller is installed in one of the recesses of the indexing wheel; 5. The device according to claim 4. 6. means for rotatably attaching the spray nozzle to the extension, the means including an adapter connected to the extension, the adapter having a hole therein, in which a portion of the spray nozzle is mounted; is rotatably mounted, and the adapter includes at least one passageway connecting the passageway of the extension to the spray nozzle for conveying coating material from the extension into the spray nozzle. 2. The device of claim 1, further comprising: 7. The means for rotating the spray nozzle are internal to the spray nozzle, a sleeve movable along the extension in a first direction and a second direction, the adapter and the spray device a crank arm rotatably connected between the sleeve and the tilt lever, the crank arm rotating the sleeve in the first direction; In response to the movement, the tilting lever is rotated clockwise relative to the adapter and the spraying device, the spray nozzle connected thereto is rotated clockwise, and the crank arm 2. The device of claim 1, wherein the tilting lever is rotated counterclockwise relative to the extension and the spraying device and the spray nozzle is rotated counterclockwise. . 8. The device of claim 7, wherein the sleeve includes an upper disc and a lower disc spaced from each other and defining a groove therebetween. 9. further comprising means for moving the sleeve along the extension, the means comprising a yoke supported at one end in a groove between the upper and lower discs; a fluid cylinder for moving the sleeve in one of the first and second directions, the yoke contacting the lower disc for moving the sleeve in one of the first and second directions; 9. Device according to claim 8, characterized in that it is moved in the other of the first and second directions. 10, the fluid cylinder being connected to a fixed stop plate, the yoke further including stop means extending between the yoke and the fixed stop plate, the stop means being configured to prevent movement of the yoke; 10. The apparatus of claim 9, wherein the stop plate engages the stop plate at a predetermined point to limit movement of the sleeve along the extension, thereby limiting rotational momentum of the spray nozzle. .