JPS5851970Y2 - Guide antenna for painting - Google Patents

Description

[Detailed description of the invention] The present invention relates to a guide antenna for painting, which is attached to the tip of a spray gun by fitting, and is used, for example, when practicing painting with a manually operated spray gun, or for example, for playback type industrial use. To provide a painting guide antenna that is particularly suitable as a guide for measuring the spraying direction of paint or the distance between a spray gun and an object to be painted when performing dry painting during teaching of a painting robot or the like.

For example, the TEACH is an industrial painting robot that is often used when it is necessary to efficiently paint a large number of objects with the same painting pattern in a short time.

A playback type painting robot is sometimes used.

In this type of teach/playback type painting robot, during teaching, the operator moves the spray gun to teach the robot how to paint, and the contents of the teaching at that time are memorized, and during playback, the contents stored in the storage device are stored. The robot is configured to repeatedly perform the teaching operation according to the instructions.

However, even a skilled worker may fail in the teaching operation during teaching, and in that case, it is easy to erase the teaching contents stored in the storage device, but the object to be painted that has once failed to be painted cannot be taught again. Since it cannot be used to redo the operation, both the used paint and the object to be painted will be wasted.Also, even if the paint is painted in a meandering manner instead of in a straight line, it can be sprayed from the spray gun. Since the applied paint is applied in a spreading state, it may not be possible to notice that it is meandering just by looking at the surface of the paint. However, when the paint is squeezed, unevenness in the coating may become clearly visible.

In addition, it is not limited to spray guns used in teach-playback type industrial painting robots, but also manually operated spray guns that are operated directly by the operator. When applying the paint, the paint is wasted if the paint is sprayed from a spray gun each time, and there are also drawbacks such as the need for a large number of objects to be coated for painting practice.

The present invention eliminates the above-mentioned drawbacks, and an embodiment thereof will be described below with reference to the drawings.

Figure 1 is a schematic side view of an example of an industrial painting robot to which the painting guide antenna of the present invention is applied, and Figure 2 is a schematic side view of an example of an industrial painting robot to which the painting guide antenna of the present invention is applied. Schematic side view of the painting robot, parts 3 and 4
The figures show enlarged side views of the main parts of Figs. 1 and 2, respectively, and Fig. 5 shows a partially cutaway side view of the above-mentioned painting guide antenna.

In FIG. 1, the industrial painting robot 1 is of the teach-playback type, and the painting operation taught by the operator at the time of teaching is stored in a storage device (not shown), and at the time of playback. The structure is such that the same operation as during teaching is repeatedly performed based on the memory in the storage device.

A turntable 3 mounted on a base 2 is provided with a column 5 for supporting an arm 4, and during playback, the arm 4 and column 5 are driven by hydraulically driven piston-cylinder mechanisms 6 and 7, respectively.

In this embodiment, an electrostatic coating type spray gun 10 is attached to the tip of the arm 4 via two row actuators 8 and 9 for attitude control.

As shown in FIG. 3, this electrostatic coating type spray gun 10 charges the paint fed through a paint feed pipe 11 using a high voltage, and sprays the charged paint onto an object 12 to be painted. It is.

A holder 13 holds an orifice tip (not shown) and is detachably attached to the tip of the spray gun 10.

That is, the holder 13 can be easily removed by removing a nut 14 whose peripheral surface is knurled from a threaded portion 15 at the tip of the spray gun 10 shown in FIG.

In addition, the holder 13 has two air holes for changing the paint pattern, and by varying the jetting pressure of the air supplied by the air supply pipe 16, the paint sprayed from the orifice tip can be changed. You can change the shape of the end.

A band grip 17 is attached to the lower surface of the spray gun 10, and during teaching, the operator can change the direction of the spray gun 10 at will by grasping and moving the band grip 17.

The position and posture of the spray gun 10 at this time are as follows:
Signals from potentiometers (not shown) provided individually on the row actuators 8, 9, arm 4, column 5, and turntable 3 are converted into digital signals, and these are stored as position and orientation detection signals. stored within.

The painting guide antenna 18, which is the main part of the present invention, is the fourth
, 5, it is composed of a fitting body 19 that is screwed into the threaded portion 15, and an antenna rod 20 that projects from the fitting body 19.

In the case of this embodiment, the antenna rod 20 is made of a metal rod, and when the fitting body 19 is screwed into the threaded part 15,
The axis of the antenna rod 20 coincides with the center of the spray gun 10 in the spray direction.

Next, a teaching operation using the painting guide antenna 18 configured as described above will be described.

During teaching, the operator loosens the nut 14 at the tip of the spray gun 10, removes the holder 13 and nut 14,
Instead, a painting guide antenna 18 is screwed onto the threaded portion 15.

In this case, it is necessary to use the antenna rod 20 with a length corresponding to the distance between the object to be painted 12 and the holder 13 during playback.

Since this distance varies depending on, for example, the type of object 12 to be painted, the type of paint used, the coating speed, etc., the antenna rod 20 must be selected carefully.

Here, regarding the teaching operation, spray gun 1
Compared to the CP method, which moves 0 continuously, the PTP method, which specifies two points, a start point and an end point, has higher teaching accuracy for straight line painting and is generally used.

In the case of the PTP method, the object 12 to be painted is kept stationary, and the operator holds the band clip 17 and specifies the starting point at which to start painting with the tip of the antenna rod 20.

Next, the entire arm 4 is moved horizontally, and the end point where the -th coating ends is specified with the tip of the antenna rod 20.

Similarly, the spray gun 10 is moved vertically one step at a time along the painting path, and the painting operation is taught while specifying the painting start point and the painting end point for each step.

All teaching operations at this time are stored in the storage device.

In this case, even though the paint is not actually being sprayed from the spray gun 10, the direction of the antenna rod 20 is aligned with the center of the spray, so the teaching worker eyes the tip of the paint guide antenna 18. By tracing the paint spray direction, the distance between the spray gun 10 and the object to be painted 12 can be controlled at will, and the painting path can therefore be accurately traced. Unlike the conventional method in which the sprayed paint spreads out, the center of the spray is not lost, and this combined with the features of the PTP method makes it possible to achieve extremely high teaching accuracy.

It is also exceptionally superior to conventional methods in that paint is not wasted.

Furthermore, these excellent features are as remarkable in the case of the CP method as in the case of the PTP method, and in particular, the elimination of meandering has a great effect on preventing uneven coating during playback.

After completing the teaching work, the guide antenna 18 is removed from the tip of the spray gun 10, and the holder 13 is attached to prepare for the playback operation.

In the embodiment described above, the antenna rod 20 is not limited to a metal rod, but may be an antenna rod 22 such as a painting guide antenna 21 shown in FIG. 6, in which a plastic rod 22b is connected to the tip of a metal rod 22a. You can also do that.

In this case, since the tip of the antenna rod 22 is soft, there is less risk of damaging the object 12 during teaching.

It goes without saying that an elastic member such as a rubber rod may be used instead of the plastic rod 22b.

Furthermore, the antenna rod is not limited to one having a fixed length; for example, as in the painting guide antenna 23 shown in FIG. It is also possible to use a zoom type antenna rod 24 in which □, 24□, and 243 are telescopically connected.

In that case, by attaching scales to the outer periphery of the pipes 24□, 242 as shown in the figure, the spray gun 10 can be
The length of the antenna rod 24 can be adjusted extremely easily depending on the distance between the antenna rod 24 and the object to be painted e712.

In addition, in the above explanation, the guide antenna for painting is taught and
The case where the spray gun 10 is applied to a playback type industrial painting robot 1 is taken as an example, but the spray gun 10 may be a spray gun used for an industrial painting robot other than a teach/playback type, or simply a spray gun used by an operator. It can also be applied to spray guns etc. that are operated by hand.

In either case, the painting guide antenna is extremely effective as a guide for measuring the direction of paint spraying or the distance between the spray gun 10 and the object 12 to be painted.

Further, in the above embodiment, the spray gun 10 is not limited to an electrostatic coating type, but may also be other types such as an air spray type,
An airless electrostatic spray type, an airless spray type, etc. can be used.

Furthermore, in the above embodiments, the fitting body of the painting guide antenna is not limited to one that fits into the threaded portion 15, but may also be one that can be fitted directly to the outer periphery of the holder 13 or nut 14, for example.

As mentioned above, the painting guide antenna according to the present invention has an antenna rod protruding from a fitting body that is removably fitted to the tip of a spray gun, and the axis of the antenna rod is aligned with the spraying direction of the spray gun. Because it is configured so that it matches the center, the tip of the antenna rod can be easily painted when practicing painting without using paint or when teaching painting to a teach-playback type industrial painting robot. By moving the spray gun so as to trace the surface of the object, you can easily and accurately measure the spray direction of the paint or the distance between the spray gun and the object to be painted, which allows for accurate painting without uneven coating. In addition, since there is no need to actually spray the paint, wasteful use of paint or materials to be painted can be eliminated.Furthermore, the fitting body with the antenna rod protruding from it can be attached and detached from the tip of the spray gun. Because of this, the antenna rod can be removed from the tip of the spray gun together with the fitting body unless necessary.

[Brief explanation of the drawing]

Figure 1 is a schematic side view of an example of an industrial painting robot to which the painting guide antenna of the present invention is applied, and Figure 2 is a schematic side view of an example of an industrial painting robot to which the painting guide antenna of the present invention is applied. Schematic side view of the painting robot, parts 3 and 4
The figures are enlarged side views of the main parts of Figures 1 and 2, respectively, Figure 5 is a partially cutaway side view of the above-mentioned guide antenna for painting, and Figures 6 and 7 are modified examples of the guide antenna for painting according to the present invention, respectively. FIG. 18.21.23... Guide antenna for painting,
19... Fitting body, 20, 22.24...
・Antenna rod.

Claims (1)

[Scope of utility model registration request] A fitting body that is removably fitted to the tip of the spray gun, and a fitting body that is provided protruding from the front of the fitting body so that when the fitting body is fitted to the tip of the spray gun, the axis of the spray gun is aligned. A painting guide antenna consisting of an antenna rod aligned with the center of the spray direction.