JPS5858167A - Painting robot - Google Patents

Abstract

PURPOSE:To attain to shorten the time of color changing work, by a method wherein a second pillar is uprightly provided on a turntable having a main body of a painting robot uprightly provided thereon, and a color changing valve is attached thereto and both of them are connected with each other in order to conserve a thinner for a paint and washing. CONSTITUTION:A turntable 8, a first pillar 12 a first arm 16 and a hand wrist 18 are displaced to a car body 2 to determine the position of a painting machine 19 and said car 2 is painted while a main body 9 of a robot is operated according to teaching. When a color is changed, air and a thinner are sent to the painting machine 19 from a color changing valve 27 attached to a second pillar 20 uprightly provided to the turntable 8 through a paint supply hose 29 to remove the residual paint therefrom by washing and a paint with a different color is supplied to said painting machine 19. Between the turnable 8 and the second pillar 20 and between the second pillar 20 and a second are 25, balancing mechanisms 23, 26 are provided to absorb the load of the color changing valve 27. In addition, the first arm 16 and the second arm 25 are connected by a connector member 25 to shorten the length of the supply hose 29 while ensuring the free movement of the main body 9 of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a paint spout which can be changed to various colors of paint.

For example, when applying a top coat to the body of a car transported by a conveyor on a car production line,
It is common for each car body to be painted with a different paint. If you try to perform this type of topcoat using a single coating machine, a color-changing pulp that selectively supplies multiple colors of paint to the coating machine is installed, and the color change pulp that selectively supplies multiple colors of paint to the coating machine is installed, and the previous coated object to be coated is After the painting is completed and before the painting of the subsequent object to be painted is started, there is a gap between the previous color paint used on the preceding object and the next color paint to be used on the subsequent object. I have to change the color. This color change operation is performed by flowing thinner air into the paint supply line leading from the color change pulp to the coating machine, and after completely washing and removing the previous color paint, supplying the next color paint to the paint supply line. It is something that can be done.

Conventionally, the color-changing pulp was installed, for example, on the side wall of a painting booth, and a single paint supply hose was used to connect the eye-color changing pulp and the coating machine, and the mouth pit was moved in the same direction as the car body, which was the object to be painted. It was configured to be painted. Therefore, the distance between the color change valve and the paint sprayer is large, and the paint supply hose Kt1 logget needs to have a length of 100 mm because it requires a sufficient length to move. As a friend. In this way, if the paint supply hose is long, it is necessary to supply a large amount of sinker per ct- during cleaning, and not only does a large amount of pre-color paint be removed during cleaning, but also the cleaning time becomes longer. However, there were drawbacks such as reduced work efficiency.

The present invention has been made in view of the above points, and its purpose is to provide a painting robot that can save paint and cleaning sinks and shorten the time required for color change work. .

Embodiments of the present invention will be described below based on the drawings.

In the drawing, % IFi paint booth, 2 is the car body as the object to be painted, 3II'i floor surface of paint booth 1 4 Kl! Il
This is a pit formed by forming a l. A rail 5 is provided in the pit 3, and a Ktj traveling bogie is attached to the rail 5, and a drive source such as a hydraulic motor is provided on the traveling bogie 6 to engage with the rack. It is configured to run on the rails 5 by an appropriate means such as a rotating rack-binion mechanism (not shown).

A base 7 is provided on the top Vc of the traveling carriage 6, and the base 7
is provided with a turntable 8 that can be rotated by a hydraulic rotary actuator (not shown), and a robot main body 9 is installed on the turntable 8. That is, a mounting plate 10.10 is fixed to the turntable 8, and the first support 12 is connected to the mounting plate 10 through the KFi pin 11.
is pivotally supported, and a hydraulic cylinder 13 is provided between the mounting plate lO and the upper part of the first support 12 to rotate the first support 12 about the pin 11. Further, a balance mechanism 14.14 is provided, which is formed by fixing a mounting plate to the turntable 8 and tensioning a spring between the plate and the upper part of the first support 12. Due to the balance and structure 14, the first support 12 is always biased in the Σ direction so as to be in an upright state. A first arm 16 that protrudes forward of the first support 12 is connected to the upper end of the first support 12 via a pin 15, and the first arm 16 and the first support support are connected to each other. KFitJK between 12
A hydraulic cylinder 17 is provided to rotate the arm 16 of the first arm 16 about the pin 15t. first arm 16
A wrist 18 that can be bent by a rotary actuator (not shown) K is provided at the tip thereof, and a paint machine 19 for spraying paint toward the vehicle body 2 is attached to the wrist 18KFi.

A second support 20 is erected on the turntable 8 at a position adjacent to the side of the first support 120 . The second support 20
is pivotally supported via a pin 22 to a mounting plate 21.21 fixed to the turntable 8 so as to be rotatable about the pin 22. The mounting plate 21 extends upward from the mounting portion of the pin 22, and the aforementioned balance is provided between the mounting plate 21 and the upper part of the second support 20 to urge the second support 20 into an upright state. A balance mechanism 23 similar to machine 114 is attached. Further, a second arm 25 is rotatably supported at the upper end of the second support 2o via a pin 24, and between the second support 2o and the 2nd+2)7-A25. A balance mechanism 26 similar to that described above is also attached. Then, the second arm 25 of the color change pal f27tfi
It is supported and fixed on top. The second column 20 and second arm 25 are similar to the first column 12 and the first arm 1.
A connecting member 28 is connected between the distal end portions of the first arm 16 and the second arm 25 so that the first arm 16 and the second arm 25 move in accordance with the movement of the first arm 16 and the second arm 25.
are connected by

A paint supply hose 29 is connected between the color change valve 27 and the coating machine 19. In addition, a large number of paint supply pipe groups 30 that individually supply paint from a storage tank (not shown) that stores paint of each color are connected to a guide arm 31 along with other hydraulic pipes for operating the robot body 9. It is connected to the color change valve 27 via a guide tube 33 from a support stand 32 placed in parallel with the base 7 on the traveling carriage 6.

As shown in the A4 diagram, the color change valve 27 is provided corresponding to each color of paint, and includes nine pulses 271 to 27n and an air pulse valve for cleaning. 27p and cinna pulp 27q. The pulps 27m to 27nK are connected to control air supply hoses 34m to 34n, respectively, and paint circulation hoses 35m to 35n, each connected to each pipe constituting the paint supply pipe group 30),
Air pulp 27p and thinner f27q Kilt control air hoses 34p and 34q are connected to air supply hose 35p and thinner supply hose 35q, respectively. Each of the above-mentioned pals f27& to 271N, air pulp 27
A single passage 36 is provided on the discharge side of the sole sole of the p1 cinnapal f274, and the passage 36 connects to the paint supply hose 29.
It is connected to the coating machine 19 via the T-. When the pulp valves 27m to 27n are closed, the paint is circulated through each paint circulation hose 35m to 35nK. on the other hand,
When any pulp, for example pulp 27m, opens the valve...
Pal f2 a from paint circulation hose 35 breath.

Aisle 36]! A hose 37 for atomizing the paint is connected through a 29-karat gold paint supply hose, and the paint is atomized by the air supplied from the hose 37, and the paint is transferred to the paint to the paint.
It is sprayed onto the vehicle body 2 from above.

In addition, 38 and 39 in the figure indicate both sides of the traveling bogie 6 and the rail 5.
A flexible cover such as a bellows installed between both ends of the
The covers 38, 39 cover the rails 5, the drive mechanism of the carriage 6, and the guide means 31'l.

The painting robot according to the present invention has the above-mentioned configuration, and the vehicle body 2 to be painted is transported in the direction of the arrow in FIG. 1 inside the painting booth 1. So, Ro? , body 1/r
i First, place the turntable 8, first support 12, first arm 16 and wrist 18 in the rightmost position in the figure.
are respectively displaced, and the sprayer 19 is directed to the pre-taught position. Then, air is supplied through the control air supply hose 34a, the pulp valve 27m is opened, and the paint from the paint circulation hose 35m is supplied to the passage 36. Painting of the vehicle body 2 is started by spraying the paint from the paint machine 19 via the paint supply hose 29. The vehicle body 2 is then painted while moving the traveling trolley 6 in the same direction as the conveyance direction of the vehicle body 2 and causing the robot body 9 to sequentially perform playback operations according to the teaching. At this time, the second arm 25Fi connection member 2 with the color change pal f27 installed
8) and is connected to the first arm 16 by #
The second support column 20Fi supporting the second arm 25 is provided on the turntable 81 like the first support column 12, so it moves following the movement of the robot body 9 as described above.

When painting of unit 2 is completed, control air supply hose 34m
As well as the air supply from.

The pulp valve 27m is closed and spraying of paint from the coating machine 19 is stopped.

Therefore, if the next color paint to be painted on the next vehicle body is different from the previous color paint that has already been painted, KVi,
A color change is performed between the previous color paint and the next color paint. For this purpose, the control air supply hose 34qK air is supplied, and the Cinnabalz 2fq is opened and the Zonna supply hose 35q is supplied with air.
by supplying thinner from the passage 36 to the paint sprayer 19 via the passage 36 and the paint supply hose 29.
The previous color paint remaining in the paint supply hose 29 and the coating machine 19 is removed and cleaned. After that, Synt Pulp 27q
is closed, control air is supplied to the control air supply hose 349 5, and the air pulp 279 is opened to allow air to flow, thereby cleaning and drying the passage 36, the paint supply hose 27, and the coating machine 19. Then, the air pulp 27p is closed and, for example, while supplying the control air supply hose 34bK air, the pulp 27b is opened to fill the passage 36, the paint supply hose 29, and the coating machine 19 with the next color paint. Preparation for painting with the next color paint is completed.

By the way, in this color change operation, as is clear from the above, the longer the length of the paint supply hose 29 between the color change pulp 27 and the coating machine 19, the longer the cleaning time is required. There are disadvantages such as the need to supply a large amount of cleaning material and the amount of previous color paint that must be removed. For this reason, in the coating opening cut of the present invention, the color changing pulp 27 is attached to the second arm 25 supported by the second support 20 erected on the turntable 8, similar to the robot main body 9, so that the color change Replacement pulp 2
The paint supply hose 29 between the paint sprayer 7 and the paint sprayer 19 can be significantly shortened. Friend, the second arm 25 and the first arm 16 are connected by a connecting member 28tf-, therefore, the second arm 25 and the second support 20
Fi-port dlv) Always follows the movement of the main body 9. Therefore, the arm 25 of the irises 2 and the second support 20 do not interfere with the movement of the logget main body 9, and the main body 9 can be moved freely. Pal! 27 can be kept constant at all times, it is sufficient that the length of the paint supply hose 29 is equal to the distance. Furthermore, the turntable 8 and the second support 20
and between the upper part of the second column 20 and the second arm 25
Between KF! Respectively installed balance mechanism 23.
26 to the brown arm 16: Fi The load of the brown pulp 27 is not transmitted. Therefore, the load on the movement of the robot body 9, especially its first arm 16, is not increased.

Note that if the color changing pulp 27 described above is installed not only on the second arm 25 but also on the connecting member 28, the length of the paint supply hose 29 can be further shortened.

Painting port according to the present invention? , and (g) have been described in detail above, and have the following effects.

■ Place the color changing pulp upright on the turntable.

Since it is attached to the second arm supported by the support of the II2, the paint supply hose between the color changer and the paint sprayer can be significantly shortened, saving on paint and cleaning thinner and facilitating cleaning. It becomes possible to shorten the time.

■ The second arm and the first arm are connected by a connecting member so that the second arm and the second support can follow the main body. Free movement is ensured without being obstructed by the second arm, second support, etc.

■ Since a balance mechanism is installed between the turntable and the second support and between the I2 support and the second arm, the load of the color changing pulp is absorbed by the balance mechanism, and the mouth N v ) main body. It is possible to reliably prevent the load from being applied to the

[Brief explanation of the drawing]

Fig. 1 is a front view of a coating loco according to the present invention, Figs. 2 and 3 are a plan view and a left side view of Fig. 1, respectively, and Fig. 4 is a color changeable pulp shown in Fig. 1. FIG. 7...base, 8...turntable, 9--mouth/,
main body, 12...first support, 16...first arm, 18...wrist, 19...painting machine, 20...second support, 23.26...balance Mechanism, 25...
Second arm, 27... Color change pulp, 28... Connecting member, 29... Paint supply hose.

Claims (1)

[Claims] A column IIl is rotatably supported on a turntable, and is attached to the first column so as to be rotatable and protrude forward from the first column! The first arm has a main body consisting of eleven arms and a wrist provided at the tip of the first arm, and the wrist is provided with a coating machine that sprays paint toward the object to be coated, and the first arm is mounted on the turntable. A second support post KH is rotatably erected, a second arm of the second support VcII'i is rotatably supported, and the a1!2 arm is used to apply a plurality of paints to the coating machine. a selectively supplied color changing pulp is attached, a lance mechanism is provided between the turntable and the second support and between the second support and the second arm, and a lance mechanism is provided between the turntable and the second support, and the first A rodet for painting, characterized in that the arm and the second arm are connected by a connecting member.