JPH0435235B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a rotary spray painting robot that is equipped with a plurality of spray guns and performs painting by rotating the spray guns.

<Prior Art> Conventionally, one spray device usually installed in a painting robot has been the mainstream.
In some cases, multiple spray devices were installed,
In this case, each is fixed to the tip of the robot's arm, and can be used differently depending on the painting conditions (for example, installing spray devices with different patterns or spraying different colors of paint), or spraying them at the same time. This is used to expand the spray area.

In addition, some conventional painting robots have rotatable spray gun mounting parts to change the direction of the spray, and some have rotatable wrists, but these robots rotate continuously during spraying. It's not something.

In general, so-called rotary painting, in which a spray gun is continuously rotated and sprayed at the same time, has traditionally been
The reality is that this method is only used in automatic coating machines that operate in a simple manner, such as automatic flat coating machines, and cannot adequately handle objects with many irregularities.

<Problems to be Solved by the Invention> However, even in the case of painting robots, when it is desired to finish a uniform coating film on a workpiece with many irregularities, the direction of the spray gun is changed many times to direct the spray to each painted surface. need to be sprayed. However, in reality, giving a painting robot a lot of control is
It takes a lot of effort and time to teach and operate, which reduces productivity. In addition, in order to change or rotate the spray gun's spray direction, a rotary device must be installed at the end of the arm of the robot to which the spray gun is attached, and paint and air are supplied to the rotating or rotating spray gun. A mechanism for feeding is also required, and a large-scale device is mounted on the tip of the arm, which increases the weight accordingly.
Affects robot operability. Further, since there are restrictions on the operation of the robot, it is not always possible to perform sufficient spray control, which may result in uneven coating and the like.

In view of the above-mentioned circumstances, the present invention has been developed by equipping a painting robot with a rotary painting device, thereby making it possible to paint over a wide area with simple operation without the need for complicated control of the movement of the robot, and moreover, by using only blown air. By adopting a spray gun with a working mechanism and sending paint and air through a dual-flow rotary union for paint and air, we provide a rotary spray painting robot that is extremely lightweight. It is intended to.

<Means for Solving the Problems> The present invention provides a rotary shaft formed by branching and protruding a plurality of gun mounting stays each having a gun mounting hole at the distal end at the tip of an arm of an articulated robot body. A spray gun with a mechanism that opens the paint valve by introducing only blown air is attached to the gun mounting stay in a symmetrical position with respect to the rotation axis, and the spray gun has a fixed side housing provided coaxially with the rotation axis. The paint and air passages disposed on the rotary shaft side are connected to the paint and air passages disposed on the rotating shaft side, respectively, with a dual flow passage type rotary union attached thereto.

<Function> As mentioned above, the air spray gun is a one-system automatic spray gun that operates by introducing only blowing air (normal air spray guns operate two systems of air: blowing air and operating air). The rotating union is a dual flow path type for paint and compressed air to reduce weight, and usually two (but not limited to) spray guns are installed at symmetrical positions with respect to the rotation axis. It is a so-called rotary spray device that sprays and paints at the same time while rotating continuously, and can paint a wide area in three dimensions with simple operation.

<Example> Hereinafter, the present invention will be explained based on the drawings of the example.

Reference numeral 1 denotes a rotating union serving as a rotary joint provided at the tip of a robot arm 3 disposed at the upper end of the robot body 2, and the rotating union 1 is disposed via a bearing 4 on the rotating union body 1a fixed to the arm 3 side. The rotary shaft 5 has an air passage centered around a paint passage 6 having a paint supply port 6a at the base end and a paint discharge port 6b at the tip, an air supply port 7a at the base end, and an air passage 7b around the outer periphery of the tip. 7 is formed on the periphery,
A dual flow path type rotating union 1' for paint and compressed air is constructed. Reference numerals 8 and 8 denote gun mounting stays that are fixedly protruded forward at symmetrical positions at the tip of the rotating shaft 5, and one automatic spray gun 10 is installed in the gun mounting hole 9 at the tip of each gun mounting stay 8, and both of these spray guns are connected to each other. The guns 10, 10 are mounted so that they are symmetrically positioned with respect to the rotating shaft 5. Reference numeral 11 denotes a forward/reverse drive type air motor provided on one side of the fixture 12 of the rotating union 1, and a drive gear 13 integrated with the air motor 11.
meshes with a transmission gear 14 provided on the rotating shaft 5, so that the rotating shaft 5 can be rotated reversibly. 15 is a paint hose connected to the joint 6c at the end of the discharge port 6b of the paint passage 6, and the tip of the paint hose 15 is connected to the paint inlet 10 of the spray gun 10.
connected to b. 16 is an air hose connected to the joint 7c at the end of the air outlet 7b of the air passage 7, and the air hose 1b is connected to the spray gun 1.
It is connected to the air inlet 10c of 0.

Next, to explain this effect, if the air motor 11 is first driven by introducing compressed air,
The spray guns 10, 10 at the ends of the gun mounting stays 8, 8, which extend symmetrically from the rotating shaft 5 part interlocked with the drive gear 13 and the transmission gear 14, rotate,
Since the nozzle parts 10a, 10a at the tips are oriented on the central axis of the rotating shaft 5, a predetermined spray is applied to the object to be coated (not shown) placed at the intersection position.

That is, the paint and compressed air are respectively introduced into the paint passage 6 and the air passage 7 of the dual passage type rotary union 1, and are then introduced into the paint inlet 10b of the spray gun 10 and the air through the paint hose 15 and air hose 16. Painting is performed with spray paint A supplied to the ports 10c and sprayed from the nozzle portion 10a. In this case, the spray gun 10 is a single-system automatic spray gun that opens a paint valve by introducing only sprayed air. Of course, it goes without saying that by adjusting the settings of the actuating air piston and spring (not shown), the structure is such that the blown air operates reliably even at low pressure. Further, the single-system automatic spray gun is not provided with an air valve, but is a bleeder type spray gun that constantly injects air, so that stable and continuous spraying can be performed.

In addition, since the air motor 11 attached to one side of the rotating union 1 is a reversible type, the rotation direction can be changed arbitrarily by a command signal from the robot body 2, and spraying from the same rotation direction may not provide sufficient coating. Even if the object has a complicated shape, all parts can be coated by spraying from the opposite side.

<Effects of the Invention> As described above, the rotary spray painting robot of the present invention employs a one-system automatic spray gun that opens the paint valve by introducing only spraying air as the spray gun, and furthermore, A paint passage and an air passage are provided in the fixed side housing of the rotating union, which is installed coaxially with the rotating shaft attached to the tip of the rotating union, and a paint passage and an air passage are provided on the rotating shaft side, respectively, creating a double flow path that communicates each passage. By using a mold, the overall weight can be reduced and the operability of the robot can be improved. Further, the present invention is configured such that the spray gun is attached to the tip of a gun mounting stay protruding forward at a symmetrical position at the tip of the rotating shaft, and the spray gun is configured so that the spray is directed onto the axis of the rotating shaft. A wide range of coatings can be applied with simple operation without complicated movement control. In addition, since the rotating shaft is driven by an air motor that can continuously rotate in forward and backward directions, the direction of rotation can be changed, making it easier to paint complex-shaped objects.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a side view of the installed state, FIG. 2 is a side view of the rotating union and its tip, and FIG. 3 is a sectional view of the rotating union. 1...Rotating union, 2...Robot body, 3
...Robot arm, 5...Rotating shaft, 6...Paint passage, 7...Air passage, 8...Gun mounting stay, 10...Air spray gun, 11...Air motor.

Claims (1)

[Scope of Claims] 1. A fixed gun mounting stay protrudes from a rotating shaft disposed at the end of an arm of an articulated robot body, and the gun mounting stay is provided only with the introduction of blown air at symmetrical positions about the fixed axis. Therefore, a spray gun having a structure to open the paint valve is installed, and each spray gun is provided with a paint passage and an air passage provided on the fixed shaft side, which are provided coaxially with the rotating shaft, and which are provided on the fixed side housing. A rotary spray painting robot characterized by supplying spray paint and spray compressed air through a rotating union consisting of a double flow path type that communicates with the air passage and the air passage. 2. The rotary spray painting robot according to claim 1, wherein the gun mounting stay is a stay that branches into a plurality of parts from the fixed shaft end and has a gun mounting hole at each tip.