JPS5847318B2 - Painting robot wrist - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fluid supply path for a spray gun disposed on the wrist of a painting robot.

Normal spray painting requires three fluid paths for primary air, secondary air, and paint; electrostatic spray painting additionally requires high-voltage cables.

Conventional painting robots connect the spray gun installed at the tip of their wrist to the fluid supply source using flexible hoses with plenty of length, so many hoses have to be swung around as the robot moves. However, there are problems such as space occupancy by the hose, deterioration of the working environment, and rubbing of the painted surface with the hose, which often limits its application, regardless of the robot's flexibility and flexibility.

In view of the above-mentioned circumstances, the present invention solves the above-mentioned drawbacks by providing a unique configuration in which the fluid supply path to the spray gun is disposed within the robot's wrist.

Embodiments of the present invention will be described below with reference to the drawings.

1 is a wrist main body, 2 is a front case rotatably supported on the wrist main body 1, 3 is a spray gun located on the rotation axis of the front case 2 and protrudes from the front case 2, and 4 is a front case. 2, the spray gun 3 is held at a right angle by a bearing part 6 that supports the support shaft 5 protruding from the base of the spray gun 3, and a bearing part (not shown) that supports the circumference of the spray gun 3. Attach to.

This wrist is provided with a front case rotating mechanism in which a gear 9 of an input shaft 8 supported on the end surface 7 of the wrist body 1 is meshed with an internal gear 10 formed on the inner circumference of the front case 2. A gear mechanism, a gear 12 of an input shaft 11 supported on the end surface 7 of the wrist body 1, a gear shaft 14 supported at both ends by the end surface 7 of the wrist body 1 and the partition wall 13 of the front case 2, and a gear shaft. 14 and a bevel gear 16 loosely fitted to the vent shaft 4, a gear mechanism for rotating the spray gun consisting of the bevel gear 16, the bevel gear 17 of the spray gun 3, and the bevel gear 16 of the wrist body 1. a gear 19 of the input shaft 18 supported on the end face 7;
For spray gun rotation, consisting of an idle gear 20 loosely fitted on the gear shaft 14, a gear (not shown) connecting the gear 21 of the idle gear 20 and a bevel gear 22 pivotally attached to the bend shaft 4, and the bevel gear 22. It has a gear mechanism.

Next, the fluid paths to the spray gun 3 will be described: a primary air supply line 23 connected to a pressurized air supply source, a secondary air supply line 24, and a paint supply line 25 connected to a paint supply source. are connected to the end face 7 of the wrist body 1 along the robot arm, and the primary air supply pipe 23 is connected through the through hole 26 of the gear shaft 14, the flexible tube 27, and the through hole 28 of the bend shaft 4. and connect it to spray gun 3.

The secondary air supply conduit 24 and the paint supply conduit 25 include through holes 29 and 30 drilled in the wrist body 1, external conduits 31 and 32, and through holes bored in the circumference of the wrist body 1, respectively. 33,
34, the annular structure 35, 36 and through holes 37, 38 bored in the front case 2, and the through holes 41, 42 bored in the end plate 39, 40 of the cylindrical body part 38 of the front case 2. Annular grooves 45 and 46 provided around the bend shaft support portions 43 and 44 through
The annular grooves 45, 46 communicate with the bends 47, 48 through the through holes 49°50, and the bends 47, 48 are connected to the side of the spray gun 3 via flexible pipes 51, 5°2, which are external piping. We are communicating with the department.

In other words, most of the tip of the fluid supply path is disposed inside the wrist, thereby making the area around the wrist compact. forms an annular groove, and the flexible tube 27,5L
Each of the numerals 52 has a length that does not impede the rotation of the rotating body, and supplies air and paint to the spray gun 3, which rotates and pivots.

In the above embodiment, the spray gun 3 is attached to the front case 2.
Although the spray gun is attached to the vent shaft 4 with zero offset with respect to the rotational axis of the spray gun, the present invention can also be applied to a spray gun attached to a wrist band.

The primary air supply path in this case is generally parallel to the secondary air supply path or the paint supply path and is connected to the spray gun via a flexible tube from an appropriate position on the end plate 39 or 40, but unlike the previous embodiment, It takes some effort in terms of processing and making the wrist area more compact.

As described above, the present invention has a structure in which all the air, paint, etc. necessary for spray painting are guided to the spray gun at the tip of the wrist through a passage in the wrist, so that the compact h of the robot can be suitably adjusted without impairing flexible movement. Able to carry out painting work.

That is, in the past, this seed opening bot had external piping using a hammer hose, which had disadvantages such as occupying space with the hose, deteriorating the working environment, and rubbing the coating surface with the hose, but the present invention eliminates these problems at once. It has the effect of eliminating

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a longitudinal sectional view, FIG. 2 is a rear view, and FIG. 3 is a horizontal sectional view. 1...Wrist body, 2...Front case,
3...Spray gun, 4...Bend shaft,
8, 11, 1B... Input shaft, 9, 12, 15,
19, 21... Gear, 10... Internal gear, 14... Pa... Gear shaft, 16, 17° 22...
...Bevel gear, 20...Idle gear, 23...
...Primary air supply pipe, 24...Secondary air supply pipe, 25...Paint supply pipe, 26, 28,
29,30°33.34,37,4L42,49.50
......Through hole, 27,51.52...Flexible tube, 31,32...External conduit, 35.36,4
5.46... annular groove, 39.40...
End plate, 47.48...Vent.

Claims (1)

[Claims] 1. A front case is rotatably attached to the wrist body, a vent shaft is rotatably attached to the front case, and a gear mechanism for rotating the front case and a spray gun arranged at right angles to the vent shaft are rotated.・In the case where the turning gear mechanism is installed internally, the primary air supply pipe, secondary air supply pipe, and paint supply pipe are connected to the wrist body, and these pipes are connected to the passage inside the wrist body and the paint supply pipe. It is connected to three passages formed on the vent shaft through passages in the front case, and the vent shaft and spray gun are connected by one passage inside and the remaining two passages by external piping along the outer surface of the front case. The wrist of a painting robot is characterized by being made to do the following: