JPH08108113A - Apparatus for automatic exchange of spray gun of coating robot - Google Patents

Abstract

PURPOSE: To ensure re-mounting to an arm by hanging stably a spray gun separated from the arm of a robot on a hanging plate. CONSTITUTION: A fitting part 15 in which the outer periphery of an adapter 5 of the spray gun side is approximately tightly but freely rotatably fitted is formed on a hanging plate 11 for hanging a spray gun 9 and a pin 16 is projected in the radial direction on the outer periphery of the adapter 5. At the same time, a pushing plate 18 which is pushed on the upper face of the hanging plate 11 by elastic force of a spring and is pushed up against the elastic force of a spring by the pin 16 rotating with the adapter 5 and suppresses rotation of the adapter 5 by fitting the pin 16 into a recessed part formed on the lower face, is provided on the upper face of the hanging plate 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically changing a spray gun when changing coating specifications such as color change and change of paint type in robot coating.

[0002]

2. Description of the Related Art Conventionally, a spray gun in a painting robot has been replaced by attaching an adapter to the robot arm and the spray gun, connecting the spray gun to the arm detachably by both adapters, and suspending the spray gun at a predetermined position. After fitting the spray gun side adapter to the mating step of the lower plate, uncouple both adapters, and then turn the arm to match the adapter of another spray gun on standby to the adapter of the arm, and taper It was designed to connect both adapters by aligning the pins and positioning holes while aligning them, but since the spray gun is attached with a hose such as paint and air, the weight of the hose causes the adapter to tilt with the spray gun, The adapter rotates with the spray gun due to vibration, and when it is attached to the arm, it becomes a taper pin. Or it becomes impossible attached to-decided Me holes do not match, both the adapter each other there can be damaged by interference.

[0003]

The problem to be solved by the present invention is that an adapter with a spray gun hung on a hanging plate is tilted or rotated and cannot be attached to a robot arm. is there.

[0004]

As a means for solving the above-mentioned problems, the present invention fits a suspension plate for suspending a spray gun such that the outer periphery of the spray gun side adapter is substantially tightly and freely rotatable. A fitting part is formed, and pins are radially projected on the outer periphery of the spray gun side adapter, and pressed against the upper surface of the hanging plate by the spring elasticity against the upper surface of the hanging plate, and rotate with the adapter on the spray gun side. The pressing plate is pushed up against the spring resilience by the pin, and the pin is fitted in the recess formed on the lower surface to provide a pressing plate for suppressing the rotation of the spray gun side adapter.

[0005]

The present invention has the above-described structure, and when the arm of the robot is moved to fit the spray gun side adapter to the fitting portion of the suspension plate and rotated in one direction, the spray gun side adapter is moved. The pin protruding on the outer circumference rotates while pushing up the pressing plate against the spring elasticity, and when the pin fits into the recess formed in the lower surface of the pressing plate, the rotation is stopped, and then the arm side adapter is spray gun. Separate from side adapter and lift arm. Then, the pin of the spray gun side adapter is fixed by the pressing plate,
The spray gun side adapter and the spray gun attached thereto are fixed in place without tilting due to the weight of the hose or rotating due to vibration.

Therefore, when it is mounted on the arm again, it is accurately aligned with the arm side adapter, the taper pin is aligned with the positioning hole, and both adapters are accurately coupled.

In order to remove the spray gun from the suspension plate, the pin is removed from the pressing plate when the arm side adapter is rotated in the opposite direction to the above, and the arm may be lifted.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, reference numeral 1 denotes a robot arm, which has a rotating portion 2 attached to the tip thereof.
An arm side adapter 3 is attached to the arm side adapter, and a taper pin 4 is provided on the arm side adapter 3 in a protruding manner.

Reference numeral 5 is a spray gun side adapter in which an arm 7 is projected from the lower surface of a circular head 6, and a spray gun 9 is attached to the arm 7. The spray gun 9 is connected to the spray gun 9 via a hose (not shown). A paint pipe 10 connected to the paint pump is connected. In addition, a positioning hole 8 that is aligned with the taper pin 4 is formed in the head 6 of the spray gun side adapter 5.

An unillustrated coupling device such as an electromagnet type, a vacuum type, or a mechanical type is provided on the joint surface between the arm side adapter 3 and the spray gun side adapter 5, and the two adapters 3 and 5 are separably coupled. It is like this.

Reference numeral 11 denotes a suspension plate, which is mounted on a base 14 by four columns 12 and has a circular step which is closely fitted and supported by the head 6 of the spray gun side adapter 5 at the center thereof. Is formed of a fitting portion 15. Further, the suspension plate 11 is supported by the column 12 via the spring 13, and the arm 1 attaches the spray gun side adapter 5 to the fitting portion 15.
When pressed against, the spring 13 is contracted and lowered so that an unreasonable force does not act on the column 12.

Around the fitting portion 15 of the suspension plate 11, three concave surfaces 17 are formed, and when the head 6 of the spray gun side adapter 5 is fitted into the fitting portion 15, The three pins 16 projectingly provided on the outer periphery of the portion 6 come into contact with the concave surface 17.

A bolt 19 is erected on one side of each concave surface 17, and a pressing plate 18 projecting above the concave surface 17 is loosely passed through a hole 21 formed at the base of the pressing plate 18 to contact the head of the bolt 19. It is pressed against the upper surface of the hanging plate 11 by the elasticity of the coil spring 20 mounted between the washer 23 and the washer 23.

The lower surface of the pressing plate 18 has a beveled surface 24 at its tip.
However, an arcuate concave portion 22 is formed in the central portion.

The present embodiment has the above-mentioned structure, and the arm 1 descends straight while the spray gun 9 is attached, and the head 6 of the spray gun side adapter 5 is fitted to the hanging plate 11.
When fitted in 5, the three pins 16 hit the concave surfaces 17, respectively, as shown in FIGS. 2 (B) and 3 (A).

Next, when the rotating portion 2 of the arm 1 rotates,
As shown in FIG. 3 (B), the pin 16 abuts on the slope 24 of the pressing plate 18 and tilts the pressing plate 18 and sunk into the underside of the pressing plate 18. When the pin 16 fits in the recess 22, the rotation is stopped, and the spray gun side adapter 5 and the arm side. The coupling of the adapter 3 is released, and the arm 1 rises together with the arm side adapter 3.

In the spray gun 9 suspended from the suspension plate 11, the head 6 of the spray gun side adapter 5 is suspended from the suspension plate 11.
Of the paint hose (not shown), because the pin 16 that is closely fitted to the fitting portion 15 of FIG. It is fixed in place without tilting due to its weight or rotating due to vibration of the suspension plate 11 when the arm 1 rises.

Therefore, when it is mounted on the arm 1 again, the taper pin 4 of the arm side adapter 3 is aligned with the positioning hole 8 of the spray gun side adapter 5, and both adapters 3,
5 is securely coupled by a coupling device (not shown). Then, when the rotating portion 2 of the arm 1 rotates in the opposite direction to the above, the pin 16 is pressed from the state of FIG. 3 (C) as shown in (B). Since the plate 18 is pushed up and escapes from the pressing plate 18 as shown in (A), when the arm 1 is lifted, the spray gun 9 is moved together with the spray gun side adapter 5 to the hanging plate 1.
Rise apart from 1.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention.

FIG. 2 is a plan view showing an order in which a spray gun side adapter 5 is suspended on a suspension plate 11.

FIG. 3 is a cross-sectional view showing an order in which a spray gun side adapter 5 is suspended on a suspension plate 11.

[Explanation of symbols]

 1: Arm 3: Arm side adapter 5: Spray gun side adapter 9: Spray gun 11: Suspension plate 15: Fitting part 16: Pin 18: Press plate 20: Coil spring 22: Recess

Claims (1)

[Claims] 1. A spray gun automatic coating robot for a coating robot, wherein an arm adapter is attached to a robot arm, a spray gun adapter is attached to a spray gun, and the spray gun is detachably attached to the arm by both adapters. An outer periphery of the spray gun-side adapter, which is a replacement device, in which a fitting portion for fitting the rotation outer periphery of the spray gun-side adapter to the suspension plate for suspending the spray gun substantially tightly and rotatably is formed. A pin protruding in the radial direction, and pressed against the upper surface of the hanging plate by the spring elastic force on the upper surface of the hanging plate, and against the spring elastic force by the pin rotating together with the spray gun side adapter. Pushing up suppresses rotation of the spray gun side adapter by fitting the pin into the recess formed on the lower surface Automatic spray gun changer for painting robots, which is equipped with a pressure plate.