JPS5858147B2 - Painting robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a painting robot that automates color changes.

Conventional painting robots installed on automated painting lines, such as passenger car body painting lines, use a spray gun to remove the base of the paint hose attached to the band on the robot's wrist when changing the paint color according to the schedule of the production line. Either pour thinner into the spray gun, rinse out the paint, and then connect the designated paint hose, or prepare a spray gun for each paint color - manually replacing the spray gun each time you change the paint color.

For this reason, the means for changing the paint color has become a bottleneck in this type of work, as it is not only impossible to automate the color change, but also it takes a considerable amount of time to change, reducing production efficiency.

Therefore, in the present invention, a mount for mounting spray guns of different paint colors is installed within the robot's action radius, and a holder with a function to instantly attach and detach the spray guns by pressure action is provided on the robot's wrist. The above-mentioned drawbacks are solved by automatically and quickly attaching a designated spray gun on the stand according to a change command.

Embodiments of the present invention will be described below with reference to the drawings. Reference numeral 1 denotes a conveyor line for transporting vehicle bodies 2 at regular intervals;
Reference numeral 3 denotes a painting robot disposed along the conveyor line 1, and 4 a paint robot 4 located within the radius of action of the painting robot 3, in which a large number of spray guns 5 prepared for each paint color are connected to a tapered portion 6 thereof.
This is a pedestal that is placed with the top facing up.

Since the frame 4 of this embodiment is configured to support the constricted portion directly below the tapered portion 6, a cutout hole 8 for taking out the spray gun 5 laterally is formed in the soufflé gun insertion hole 7. be.

9 is a paint hose that connects the spray gun 5 and a paint supply source (not shown).

As shown in FIG. 2, the painting robot 3 has a holder 11 attached to its wrist 10 for attaching and detaching the spray gun 5.

The holder 11 of this embodiment has a bend shaft 12 of the wrist portion 10.
It is supported at right angles to the bend shaft 12 by a support shaft 13 and a bearing portion 14 provided at the bend shaft 12 .

This holder 11 is provided with through holes 18 and 19 that communicate with the primary air supply pipe 16 and the secondary air supply pipe 17 via the annular groove 15 of the bearing part 14, and a piston 20 is installed inside. , the gripping tool 24 that forms the ball support hole 22 that supports the steel ball 21 and the tapered hole 23 is fixed, and the tapered part 6 of the spray gun 5 is inserted into the tapered hole 23, and then the bending shaft 12 is applied. When pressurized air is supplied, the steel ball 21 comes into pressure contact with the annular groove 26 of the spray gun 5 through the taper hole 25 of the piston 20, fixing the spray gun 5, and when the pressurized air is removed, the fixation is released. There is.

Next, to explain the operation according to the present invention, as shown in FIG. 1, the paint colors are stored in advance in the memory of the painting robot 3 in the order in which the car bodies are transferred, and before the start of painting, the paint colors are different from the first paint color of the car body. When the spray gun 5 is attached to the holder 11, a paint color change command is issued at the same time as the line starts operating.

This paint color change command causes the arm 27 and the wrist part 10 to operate, and the spray gun 5 to be attached is placed in its original position on the pedestal 4, and when the attachment is released, the holder 11 is moved onto the next designated spray gun 5, and the taper is removed. 6, and is taken out from the pedestal 4 on which the spray gun 5 is mounted and returned to the coating starting point.

In this way, the painting operation using the designated spray gun is started, and each time the paint color is changed, the above-mentioned spray gun replacement operation is carried out automatically and quickly according to the paint color change command.

As described above, according to the present invention, when changing the paint color, the specified spray gun can be automatically and quickly attached to the robot's wrist, which eliminates the need for conventional work that relied on humans to perform this kind of work. It is possible to eliminate the drawbacks of the device and achieve full automation of the painting line, and it can also be widely applied to painting lines where color changes occur frequently, increasing productivity.

However, the present invention is not limited to the embodiments illustrated, and may be modified in various ways within the scope of the invention.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is an explanatory diagram of an automobile body painting method for color changing, and FIG. 2 is a partial sectional view of a robot wrist. 1...Conveyor line, 2...Car body,
3... Painting robot, 4... Frame,
5... Spray gun, 6... Taper part, 9... Paint hose, 10... Wrist part, 11... Holder, 12 ...Bend shaft, 13 ... Support shaft, 14 ... Bearing part,
15, 26...Annular groove, 16...Primary air supply pipe line, 17...Secondary air supply pipe line, 2
0... Piston, 21... Steel ball, 22
-...Ball support hole, 23.25...Teber grip, 24...Grip 427...
arm.

Claims (1)

[Claims] 1. Install a mount to mount spray guns for different paint colors within the robot's action radius - Install a holder on the robot's wrist that has a fluid path for spraying paint and a function to attach and detach the spray gun by pressurizing movement, and apply paint. A painting robot characterized in that it is configured to automatically attach a designated spray gun on a stand in response to a color change command.