JPS58131162A - Painting robot - Google Patents

Abstract

PURPOSE:To easily paint even the inside of a door by a robot, in painting a car body by the robot, by attaching the painting robot and a door opening and closing manipulator to a conveyor for conveying a car and a truck synchronously moved in parallel therewith to carry out simultaneous control. CONSTITUTION:A car body 5 is moved in a painting booth B with a width W by a conveyor 6 and, on a truck 4 moved in parallel therewith, a painting robot 1 and a manipulator 3 for opening and closing doors 8, 9 of the car body 5. The car body 5 is painted with the spray 7 of the painting robot 1 on the parallelly moved truck 4 while moved. Even if the painting robot 1 opens the front door 8 of the car body 5, the inside of the front door 8 is painted at a position not interfered by the robot by opening said door 8 by the manipulator 3. In the next step, the truck 4 is moved to a position not interfered even if the painting robot 1 opens the rear door 9 and again moved in synchronous relation to the conveyor 6 to paint the inside of the door 9 by opening the same. The painting of the door inside is enabled in the painting booth B having a narrow width W.

Description

[Detailed description of the invention] It is about a robot that paints the body of a car.

Painting the body of an automobile is carried out in a painting booth B as shown in FIG. Generally, painting of an automobile is carried out on the body of the automobile, which is transported by a conveyor 6 disposed in the center of a painting booth B. When such painting work is performed by a robot, if the width W of the painting booth B is limited, the door will interfere with the painting robot when the door is opened to paint the inside of the door. Therefore, in the past, it was difficult to configure an automatic painting system for the entire car body, including the inside of the doors.

In view of these circumstances, the present invention enables the painting robot to open and close the door automatically without interfering with the opened door, and in parallel and synchronized with the conveyor that transports the car. Painting Roboso 1 on a trolley being moved
The main feature is that a manipulator for opening and closing the door is attached to the door, and the trolley can be controlled simultaneously with each axis of the painting robot.

Embodiments of the present invention will be described below with reference to FIGS. 1 and 2. In the figure, 1 is a painting robot equipped with a sprayer for painting at the tip of its wrist P. A is the movement locus of the wrist P. This painted robot No. 1-1 is placed on a moving cart 4.

Reference numeral 5 indicates an automobile body, which is conveyed by a conoveer 6 that travels in the direction of the arrow. The movable cart 4 moves parallel to the running direction of the conveyor 6. Reference numeral 3 denotes a manipulator for opening and closing the doors of the automobile, and the manipulator 3 is attached to the movable trolley 4 via nine units 2. 8 is the front door, 9 is the rear door 9
゜In the above device, the car body 5 placed on the conveyor 6 is continuously moving in the direction of the arrow, and the positional relationship between the painting robot 1 and the car body 5 is such that the painting robot 1 opens the front door 8. The movable cart 4 is operated in synchronization with the conveyor 6 when it is in a state where it does not interfere with the conveyor 6. In this state, the manipulator 3 opens the front door 8, and the painting robot 1 paints the inner surface of the front door 8. After painting the front door 8, close it, move the movable trolley 4 relatively to the position where the painting robot yl□+(3) is at the working position of the rear door 9 and not interfere with it, and move the movable trolley 4 again. The speed of the conveyor 6 is synchronized with that of the conveyor 6.

In this state, the inner surface of the rear door 9 is painted. Note that the outer surface of the automobile body 5 is painted as appropriate.

Note that drive control of the movable trolley 4 is performed in the same manner as the control of the painting robot 1, using the drive shaft of the movable trolley 4 as one of the operating axes of the painting robot 1.

According to the present invention, since the inner surface of the door can be painted while the automobile body is continuously moved, it is possible to realize automation of automobile hot-painting including the inner surface of the door.

[Brief explanation of the drawing]

The drawings show an embodiment according to the present description, with FIG. 1 being a plan view and FIG. 2 being a front view.

Claims (1)

[Claims] A robot that is equipped with a painting device and performs painting work based on the stored contents; a trolley on which the robot is placed and movable parallel to the running direction of the conveyor; A manipulator that opens and closes the door of a car placed on the transport conveyor, and means that synchronizes the movement of the cart with the speed of the transport conveyor and can control each axis of the robot simultaneously. Painting robot.