JPH0618599Y2 - Robot color change device for painting - Google Patents

Description

TECHNICAL FIELD The present invention relates to a color changing device for a painting robot.

2. Description of the Related Art For example, in a painting process of an automobile body, it is necessary to switch the paint supply system each time in accordance with a designated paint color, and a system shown in FIG. 2 has been conventionally used.

That is, a painting gun 32 is attached to the tip of the arm 31 of the painting robot 30, and the painting gun 32 is connected to a known color change valve 34 via a hose 33. Inflow port 3 of color change valve 34
In addition to the paint hoses 36, 36, ... Of the respective colors being connected to 5, 35, ..., Thinner and air for cleaning are introduced.
The paint is switched by sequentially switching the color change valve 34. However, the previous color paint remains by sequentially introducing the above-mentioned thinner and air before the next color paint is supplied to the coating gun 32 side. I'm doing the color change bump 34 to the painting gun 3
Up to 2 passages are cleaned.

Problems to be Solved by the Invention In the conventional color changing device, since the passage between the color changing valve 34 and the coating gun 32 centering on the hose 33 is commonly used for each color of paint, The previous color paint remaining in the hose 33 at the end of the painting operation with the color is discarded every time the color is changed, and the paint is wasted a lot.

Further, since the color change valve 34 having a switching ability according to the number of coating colors is required, the valve itself is expensive, and the capital investment amount is high.

The present invention is intended to provide a color changing device having the same function as the conventional one without using a color changing valve.

Means for Solving the Problems The color changing device of the present invention is, as shown in the embodiment, any one of a plurality of paint hoses connected to a paint supply source.
This is a device that automatically connects and disconnects the selected hose and the coating gun on the robot arm side by a quick joint method.One end is separately connected to the paint supply source and the other end is connected to the quick Multiple paint hoses to which either one of the male and female joint pieces that make up the joint is attached, multiple holder blocks that detachably hold the joint pieces of each paint hose, and multiple holder blocks slide in a row. A magazine which is arranged side by side as possible, a rail which is orthogonal to this magazine and has a pedestal for positioning the coating gun at an end thereof, and which is provided at one end of the magazine and urges a plurality of holder blocks as a whole. A plurality of holder blocks having an elastic body and a pusher provided at the other end of the magazine so as to be movable back and forth along the magazine. By sliding along the magazine all at once, one of the holder blocks is positioned at the delivery position, which is the intersection of the magazine and the rail, and the joint piece on the holder block side and the joint piece on the painting gun side And a hook block that is provided slidably along the rail and that engages with a part of the holder block that is positioned at the feed position. The slider is configured to reciprocate along a rail with a pedestal-side coating gun to attach and detach the holder block-side joint piece and the coating gun-side joint piece.

Operation According to the above configuration, by switching the holder blocks along the magazine and the rail, the hoses connecting the paint supply sources and the coating guns are switched. Therefore, only the painting gun is commonly used for each color paint, and the hose is dedicated to each color paint.

Embodiment FIG. 1 (A), (B), (C) is a diagram showing a more specific embodiment of the present invention. Reference numeral 1 denotes a channel-shaped magazine. In this magazine 1, a plurality of V block-shaped holder blocks 2, 2, ... Three
3 is a paint hose whose one end is connected to a paint supply source (not shown) separately (hereinafter, simply referred to as hose), and the other end of these hoses 3, 3 ... The joint piece 4A is attached. A flange 5 is integrally formed on the joint piece 4A.
By engaging with the grooves 6 of 2 ..., the respective joint pieces 4A are individually positioned in the holder blocks 2, 2.

A spring 7 is arranged at one end of the magazine 1 as shown in FIG. 1 (C), and a pusher 9 connected to an air cylinder 8 is arranged at the other end. Therefore,
By sliding the pusher 9 against the force of the spring 7, the entire holder block 2, 2 ... Can be shifted along the magazine 1, and the pusher 9 and the spring 7 driven forward and backward by the air cylinder 8 It constitutes a selection means for selecting the holder block 2.

The magazine 1 has a rail 1 that intersects the magazine 1 at a right angle.
0 is integrally extended, and a pedestal 11 is installed at the end of the rail 10 as shown in FIG. 1 (A).
The coating gun 12 supported by the robot is positioned on the pedestal 11 when changing colors. The other joint piece 4B that constitutes the quick joint 4 is attached to the coating gun 12.

Below the rail 10, there is a slider 15 with a roller 14 guided by a guide rail 13 as shown in FIGS. 1 (A) and (C). This slider 15 is attached to the rail 13 by the action of an air cylinder 16. You can drive along. The upper end of the slider 15 enters the rail 10 side, and a hook 17 is formed on the upper end of the slider 15. The hook 17 is attached to the holder blocks 2, 2 ...
Are configured to engage either bottom of the.

Here, since the groove 18 is formed at the bottom of the holder blocks 2, 2, ..., As shown in FIG. 1 (A), the holder block 2 that engages with the slider 15 is formed of the magazine 1 and the rail 10. At the delivery position which is the intersection, the movement of the entire holder blocks 2, 2, ... In the magazine longitudinal direction (the direction orthogonal to the paper surface of FIG. 1 (A)) is not restricted at all.

19 is a dog which is integrally fixed to the slider 15 and has a horizontal width equivalent to that of the holder block 2.
When one of the holder blocks 2, 2 on the magazine 1 side is sent out to the rail 10 side, the holder block 2, 2 ... It has a function to secure an empty space.

Next, the operation of the apparatus configured as described above will be described.

Since FIG. 1 (A) shows a state where the hose 3 is not connected to the coating gun 12, the case where the hose 3 is connected first will be described. As shown in FIG. 1 (A), with the coating gun 12 positioned on the pedestal 11,
The hose 3 to be connected next is selected according to an external command.

That is, since the order of arrangement of the holder blocks 2, 2 ... Holding the hoses 3, 3, ... On the magazine 1 is stored in advance, for example, the limit switch 20 shown in FIG. By counting the number of 2, 2, ... And shifting the entire holder block 2, 2, ... along the magazine 1 by the pusher 9, the hose 3 of the required paint color, that is, the holder block 2, 2 ,. Either one is positioned at the above-mentioned delivery position. Then, when any one of the holder blocks 2 is positioned at the delivery position, the groove 18 of the holder block 2 and the slider 1
5, and the joint piece 4 of the hose 3 supported by the holder block 2 while engaging with the hook portion 17 of
A and the joint piece 4B on the side of the coating gun 12 face each other on the same axis.

Subsequently, the slider 1 is operated by the operation of the air cylinder 16.
When 5 is slid toward the pedestal 11, the previously selected holder block 2 also slides along the rail 10. As a result, the joint piece 4A supported by the holder block 2 is fitted to the joint piece 4B on the coating gun 12 side, and the hose connection work is completed.

At this time, since one holder block 2 is sent to the rail 10 side, the holder block 2 on the magazine 1 side is
Although there is a vacant space in the 2nd row, the dogs 19 enter instead of the sent-out magazine 2, so that the holder blocks 2, 2 ... Rows on the magazine 1 side are not packed forward.

Then, the coating gun 1 with the hose connection completed as described above.
By lifting 2 directly above by the autonomous motion of the robot itself, the quick joint 4 composed of the joint pieces 4A and 4B is disengaged from the holder block 2 and the coating operation is started.

On the other hand, the robot, which has finished the painting operation of the previous color, puts the painting gun 12 on the pedestal 11 and issues a painting completion signal by its autonomous operation when changing colors. At this time, since the slider 15 is waiting at the forward limit position closest to the pedestal 11, the holder block 2 of the hose 3 currently connected to the coating gun 12 is at the P position. Therefore, when the coating gun 12 is positioned on the pedestal 11 as described above, the flange 5 of the joint piece 4A connected to the coating gun 12 simultaneously engages with the groove 6 of the holder block 2.

Subsequently, the slider 1 is operated by the operation of the air cylinder 16.
When the holder block 2 is retracted together with 5, the joint piece 4A is disengaged from the mating joint piece 4B, and the holder block 2 is finally stored in the original position in the magazine 1. Then, the above operation is repeated thereafter.

According to the above embodiment structure, the paint supply source and the coating gun 12
The hoses 3, 3 ... Connecting to and are dedicated to each color paint, and only the coating gun 12 is commonly used for each color paint. To do.

Effect of the Invention According to the present invention, the paint hose and the painting gun are connected by the quick joint method, and when changing colors, the quick joint is attached and detached.
Since the paint hose is dedicated to each color paint, the paint in the paint hose which was conventionally discarded for each color change is not wasted and an expensive color change valve is not required.

Furthermore, since only the coating gun is commonly used for each color paint, the cleaning time is extremely short, and the shortened time can be devoted to the actual work time of the robot.

[Brief description of drawings]

FIG. 1 (A) is a diagram showing an embodiment of the present invention and is aa in FIG. 1 (B).
FIG. 1 (B) is a sectional view taken along the line, FIG. 1 (B) is a perspective view of an essential part showing an embodiment of the present invention, FIG. 1 (C) is a view in the direction C of FIG. It is explanatory drawing which shows an example of the conventional color changing device. 1 ... Magazine, 2 ... Holder block, 3 ... Paint hose, 4 ... Quick joint, 4A, 4B ... Joint piece, 7 ... Spring (selecting means), 8 ...
Air cylinder, 9 ... Pusher (selection means), 10 ...
... rails, 11 ... stands, 12 ... painting guns, 15 ...
Slider, 17 ... Hook part, 18 ... Groove.

Claims (1)

[Scope of utility model registration request] 1. A paint hose connected to a paint supply source is selected from any one of them, and the selected hose and the paint gun on the robot arm side are automatically attached / detached by a quick joint method. A paint hose that has one end connected to the paint supply source and the other end attached to either male or female joint piece that forms a quick joint, and a joint piece for each paint hose. A plurality of holder blocks each of which is detachably held individually, a magazine in which the plurality of holder blocks are slidably arranged side by side in a row, and a cradle which is orthogonal to the magazine and at which the painting gun is positioned at the end. With a rail, an elastic body that is provided at one end of the magazine and urges the entire plurality of holder blocks, and the other end of the magazine with the elastic body. It has a pusher that can move back and forth along the gin, and by sliding a plurality of holder blocks together along the magazine, one of the holder blocks is sent out at the intersection of the magazine and the rail. Selecting means for positioning the joint piece on the holder block side and the joint piece on the coating gun side to face each other, and one of the holder blocks slidably provided along the rail and positioned at the delivery position. The holder block having a hook portion that engages with the base portion is reciprocally moved along the rail between the holder block side coating gun and the holder block side joint gun and the coating gun. Side joint piece and a slider for attaching and detaching the side joint piece. Color sorter of Robots.