JPH0335413Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field This invention supports a spray gun at the tip of an arm that moves in three dimensions by driving a plurality of actuators, and moves the spray gun against a model of the object to be painted. The movement of each actuator accompanying the learning movement of the spray gun is stored in the control device by manually operating the learning movement at a predetermined interval, and the actuator is driven by the stored signal to cause the spray gun to perform the learning movement. During the learning exercise of a painting robot with a learning method that repeats the same movement as the learning exercise and paints an object of the same shape as the model, it is attached to the tip of the spray gun and the spray gun and model are connected. This invention relates to a copying rod for learning exercises that is used to maintain a constant distance from each surface to be painted.

Problems to be Solved by the Prior Art and Ideas When spraying paint from a spray gun, an elongated pattern must be maintained in a direction perpendicular to the direction in which the spray gun travels. However, the learning copying rod of the conventional painting robot was
As described in Publication No. 51970, since it is a hollow or solid rod and the posture around the axis of the copying rod cannot be visually determined, the posture around the axis of the spray gun during learning exercises cannot be determined. I was unable to maintain the correct posture, and when actually spraying the paint,
The problem was that it was not possible to maintain an elongated pattern in the direction perpendicular to the direction of travel of the spray gun, resulting in uneven coating.

The present invention aims to eliminate these drawbacks.

Embodiment Hereinafter, an embodiment of the present invention will be described based on the accompanying drawings.

The painting robot 1 shown in FIG. 1 has a box-shaped base 2.
A first arm 6 is pivotally supported at the tip of a first arm 6 which is pivotally supported by a turntable 3 which is driven by a rotary actuator installed inside and rotates within a predetermined angular range, and which is oscillated by a hydraulic cylinder 5. The two arms 7 are swing-driven by a hydraulic cylinder 8 to move in three-dimensional directions,
A similar actuator 14 is further attached to the output shaft 13 of a similar actuator 12 attached to the output shaft 11 of the rotary actuator 10 attached to the tip of the second arm 7, and is fixed to the tip of the output shaft 15. support arm 1
6 are these three actuators 10, 12, 1
The spray gun 17 is supported by the support arm 16, and an operating handle 18 for learning is detachably attached to the support arm 16. During the learning movement of the painting robot 1, the actuator of the turntable 3, both hydraulic cylinders 5 and 8, and each actuator 1
0, 12, and 14 are left in a free state, and the spray gun 17 is operated by the operation handle 1 on a model a of the object to be painted, which is suspended in the painting device from the conveyor 20 that suspends the object to be painted and conveys it to the painting position.
8, the actuator of the turntable 3, the hydraulic cylinders 5, 8, and each actuator 10, 12, 1 move accordingly.
4 is input to a control device (not shown) to store the movement progress of the spray gun 17, and each actuator is driven by the stored signal so that the spray gun 17 repeats the same movement as the learning movement. As shown in FIG. 2, the spray gun 17 has a nozzle holder 2 at the tip of the gun body 21.
The paint supplied to the tip of the nozzle 24, which is attached by tightening the hub nut 23 through the hub nut 2, is transferred between the outer periphery of the tip of the nozzle 24 and the nozzle holder 2.
The airflow ejected from between the center hole of
The airflows ejected diagonally forward toward the center from the upper and lower ejection holes 25, 25 on the front surface of the paint 2 form a vertically flat fan shape, and the electrode 26 in the nozzle 24 to which a high voltage is applied causes paint particles to be The spray gun 17 is of an air electrostatic type that is charged with electricity and efficiently coats the object to be coated using the electrostatic force. It's summery.

The structure of the copying rod 27 will be explained with reference to FIG. 2. A spring wire is attached to the outer bottom surface 30 of a cup-shaped mounting portion 28 that fits approximately tightly around the outer periphery of the hub nut 23 of the spray gun 17. A coil spring 33 is connected to a mounting part 32 which is closely wound in a cylindrical shape on the tip of a conical coil part 31 which is gradually reduced in diameter and spirally wound. Three metal tubes 36, 37, and 38, each having a slightly different diameter, are inserted into the tip of the coil spring 33 so that they can slide freely and cannot come out. A length-adjustable adjustment rod 40 forming a three-stage telescopic antenna structure has a metal tube 36 at its maximum diameter.
The rear end of the metal tube 38 is connected by fitting into the attachment part 32 of the coil spring 33, and the tip of the metal tube 38 having the smallest diameter has adjacent flat parts 41 each having a rectangular cross section, as shown in FIG. A resilient contact 43 made of synthetic rubber whose side surfaces are color-coded is attached by fitting a fitting portion 45 formed at its rear end into the hollow of the metal tube 38 .

When performing a learning movement on the spray gun 17, the mounting portion 28 is fitted into the hub nut 23 of the spray gun 17 so that the flat direction of the flat portion 41 of the contactor 43 matches the flat direction of the paint ejection pattern of the spray gun 17. After adjusting the length to a predetermined length determined by the coating conditions by expanding and contracting the adjustment rod 40, move the vertical coating surface The orientation of the spray gun 17 around the axis is flattened by tracing the surface Y and the lower vertical surface to be painted Z with the tip of the contactor 43, while visually checking the orientation of the flattened part 41 of the contactor 43. The spray gun 17 is made to perform a learning movement using the operating handle 18 while being held so that the flat surface of the portion 41 always faces the movement direction. By doing this, the corresponding distance of the spray gun 17 to each painting surface X, Y, Z of the model a can be maintained at an appropriate spray distance, and the spray gun 17 can be maintained in an appropriate posture for painting. The spray gun 17 can be made to perform learning movements without causing unevenness.

In this embodiment, the adjustment rod 40 is attached to the mounting portion 28.
Since the adjustment rod 40 is attached to the coil spring 33 through the coil spring 33, even if the adjustment rod 40 accidentally collides with the model a etc. during the learning movement of the spray gun 17, the impact will be transferred to the coil spring 3.
This has the advantage that the adjusting rod 40 and the spray gun 17 are prevented from being damaged by being absorbed by the spray gun 3.

In this embodiment, since the flat portions 41 of the contactors 43 are color-coded between adjacent side surfaces, their orientations can be easily confirmed, and the attitude of the spray gun 17 around its axis can always be maintained correctly with respect to the direction of movement. However, instead of forming the flat part 41 on the contactor 43, as shown in FIG. The copying rod 27 with such a contact 43 attached thereto may be attached to the spray gun 17 so that it protrudes from both sides of the shaft portion 46, and the direction of the flat surface of the rubber plate 47 is aligned with the paint ejection pattern of the spray gun 17. By attaching the rubber plate 47 so as to match the flat direction, the rubber plate 47 serves as an index of the attitude of the spray gun 17 around its axis, and similarly to the embodiment described above, the attitude of the spray gun 17 can be adjusted in the direction of its movement. can be held correctly.

Structure and effects of the device As specifically explained in the above embodiments,
The learning copying rod of the painting robot using the learning method of the present invention has a structure in which the copying bar has a mark for visually determining the posture around the axis. By operating the spray gun so that its posture around the axis is always constant in the direction of movement, it is possible to maintain an elongated pattern in the direction perpendicular to the direction of travel of the spray gun when actually spraying paint. , which has the effect of being able to perform uniform coating.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a painting robot equipped with a copying rod according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of a portion thereof, FIG. 3 is an enlarged perspective view of a portion of the copying rod, and FIG. The figure is a perspective view of a modified example of the contactor. 5, 8: Hydraulic cylinder, 7: Second arm, 1
7: Spray gun, 27: Copying rod, 28: Mounting part, 40: Adjustment rod, 43: Contact, a: Model of object to be painted, X, Y, Z: Surface to be painted.

Claims (1)

[Scope of utility model registration request] A spray gun is supported at the tip of an arm that moves in three dimensions due to the drive of multiple actuators.
By manually performing a learning movement of the spray gun while maintaining a predetermined interval with respect to the model of the object to be painted, the movement of each of the actuators accompanying the learning movement of the spray gun is stored in the control device, and the storage signal is stored in the control device. During the learning movement of the learning-type painting robot, the spray gun repeats the same movement as the learning movement by driving each of the actuators to paint a workpiece having the same shape as the model. A copying rod for learning exercise that is attached to the tip of a spray gun and used to maintain a constant corresponding distance between the spray gun and each surface to be painted of the model, and the copying rod can be visually inspected to determine the distance around the axis. A copying rod for learning exercise of a painted robot, characterized by having a mark for determining the posture.