JPS5898155A - Painting robot apparatus - Google Patents

Abstract

PURPOSE:To make it possible to automatically alter a paint emitting amount, by a method wherein a volume type pump rotated by driving a DC motor is provided to a paint source to be connected to a spray gun and a painting control part having a DC motor controller controlling the rotation of the motor and plural potentiometers and a robot control part are provided. CONSTITUTION:To a painting robot apparatus, a volume type pump 12 connected to a paint source 9 and rotated by driving a DC motor 15, a painting control part 16 having a DC motor controller 16 controlling the rotation of the DC motor 15 and plural potentiometers 20a-n mounted therein and a robot control part 17 sending an electric signal to the painting control part 16 are provided. In this structure, teaching of the alteration in painting contents and a paint emitting amount is carried out to the robot control part 17 to carry out painting.

Description

Detailed Description of the Invention (1) Technical Field of the Invention The present invention relates to a painting robot device, and more particularly to an automatic painting robot device which is a combination of an atomizing spray gun and an industrial robot. Regarding.

(2) Background of the technology Recently, industrial robots have been increasingly incorporated into industry painting lines.
1. Trying to improve the working environment. Generally, a teaching play bank type robot is used for painting.It stores the movements taught by the operator in a memory device (teaching), and then performs continuous movements based on the memorized contents. Although it is designed to be painted (playback), its free-trajectory property makes it particularly useful for painting objects with complex shapes or for thick (curved parts, parts of corners, grooves, etc.) 9) It has great results when used for correction painting. The paint robot is generally equipped with an air or airless gun, and the output of the paint 111 is automatically turned on and off based on commands from the robot control section.

(2) However, in actual painting work using the painting robot, it is necessary to complete painting a predetermined range within a predetermined painting time. Painting techniques that change the moving speed of the gun (so-called gun speed) are used, but since the paint discharge rate of the painting gun is usually set to a constant value, it is not possible to discharge enough paint according to the area to be coated. Depending on the area to be coated, so-called scratches may occur, resulting in poor coating.

Under these circumstances, it is desired to realize a robot device that can improve work efficiency without deteriorating coating quality.

(3) Conventional technology and problems Conventionally, in order to control the amount of paint discharged, the aperture opening of the paint sprayer was directly changed, or the paint regulator installed in the paint feed pipe was adjusted. However, since these are all installed manually by the operator, it is difficult to change the amount of paint discharged during robot painting. Currently, the main purpose of using robots, which is to shorten the painting process and make it unmanned, has not been fully achieved.

(4) Purpose of the Invention The present invention was made in view of the above-mentioned drawbacks of the prior art, and is a coating system that can automatically change the amount of paint discharged in multiple stages or continuously according to the shape of the object to be coated even during robot painting. The purpose is to provide robot equipment for

(5) Structure of the Invention In the present invention, a teaching/playbank type painting robot is used, and an air atomization type spray gun is used as a coating machine attached to the robot. In such a combination, a positive displacement pump connected to a paint source and rotated by a DC motor is provided in place of the paint feeding mechanism of a conventional robot device, and a positive displacement pump is installed between the positive displacement pump and the spray gun. A paint control unit is provided which is connected via a paint valve and includes a DC motor controller (4) and a plurality of potentiometers to control the rotation of the DC motor.
1. A painting robot device characterized in that the painting control section and the robot control section are electrically connected, and an air-operated paint regulator is provided between the paint source and the spray gun, and one line 1. An electro-pneumatic conversion device is provided to control the pressure of air fed to the paint regulator, and the electro-pneumatic conversion device and the robot control section are electrically connected to each other. Provides painting robot equipment.

(6) Embodiments of the invention Hereinafter, embodiments of the invention will be described based on the accompanying drawings.

FIG. 1 is a diagram showing the arrangement and system of each device in a painting robot according to the present invention. In the same figure, ■ is a robot, which is equipped with a rotary table 3 on a base 2, a support 4 on the rotation table 3, an arm 5 at one end of the support 4, and a wrist 6 at the tip of the arm 5. They are each engaged in a swingable manner, and a spray gun 7 is attached to the wrist 6 (5). Further, a driving cylinder mechanism (not shown) is arranged on the rotary table 3 so as to drive the support column 4 and the arm 5 by pin connection. Also robot 1
An air source 8 and a paint source 9 are installed alongside the
Air is supplied to the spray gun 7 via an air hose 11 via an air control unit 1o, while paint is supplied to a paint supply hose 14 via a positive displacement pump 12 and a paint valve 13, which are rotated by the drive of a DC motor 15. It is fed to the spray gun 7 through the. The amount of paint discharged from the positive displacement pump 12 is proportional to its rotational speed, and hence to the rotational speed of the DC motor 15. For this reason, a coating control section 16 is provided connected to the DC motor 15. On the other hand, the robot 1 is provided with a robot control section 17 for controlling the operation of the entire robot device, and the painting control section 16 is operated based on a signal from the robot control section 17. The unit 18 is driven to operate each part of the robot.

Here, inside the coating control unit 16 are a DC motor contact (6), a roller 19, and potentiometers 20a, 20b, . . .
. As a result, the amount of paint discharged can be changed in multiple stages. Further, the number of changes in the paint discharge amount can be changed arbitrarily as necessary. Note that 21 represents an air hose for sending an air signal from the air control section 10 to the paint valve 13.

Further, FIG. 2 shows another embodiment according to the present invention, and the same parts as in FIG. 1 are designated by the same reference numerals. The feature of this embodiment is that the positive displacement pump 12 shown in FIG.
, instead of combining the DC motor I5 and the painting control 16, an air-operated paint regulator 23 is interposed between the paint #9 and the spray gun 7, and the opening degree of the paint regulator 23 is controlled by an electric-to-rush converter. This is done by adjusting the air pressure supplied from W22. The electro-pneumatic conversion device 22 is a device that converts the analog signal (7) for controlling the discharge amount sent by the robot control unit 17 into air pressure fluctuations, and thereby the opening degree of the paint regulator 23 is changed to K.
The amount of paint discharged can be changed continuously.

Note that other devices and their systems not shown in Figure 2 are exactly the same as those shown in Figure 1, and their functions and
The operation is also similar to that described with reference to FIG.

When performing actual painting work using the painting robot device configured as described above, first, during teaching, the contents of painting that are normally performed are taught, and at the same time, the teaching of changing the amount of paint discharged is also performed. These teaching contents are updated by the correction section (
(not shown) and stored in the robot control unit 17. Next, the robot 1 performs a playback operation based on the stored contents and performs a painting operation. Upon receiving the signal from the Zunawara Roboso i control unit 17, the hydraulic unit 18
is driven to operate the robot 71 and other parts, and at the same time, the coating control section 16 or the electro-pneumatic conversion device 22 is operated, and the on/off control of paint atomization and the automatic control of the paint discharge amount are performed (8). In addition, the paint njL1. during teaching.
The amount change is taught in the correction department (after teaching the normal painting content)
(not shown) may be used for additional correction. Moreover, if an electrostatic gun with high installation efficiency is used as a spray gun, more effective painting can be performed.

(7) Effects of the Invention As explained in Section 2, the present invention has a function of automatically changing the amount of paint discharged according to the shape of the object to be coated, in addition to the functions of ordinary robot painting. This improves work efficiency (shortens the painting process) without degrading painting quality, and at the same time, reduces unnecessary paint consumption, which has great effects.

[Brief explanation of the drawing]

FIGS. 1 and 2 are layout and system diagrams of a painting robot apparatus according to the present invention. 1--Robot, 2-Base, 3-Rotary table, 4-Strut, 5-Arm, 6-Wrist, 7-Spray gun, 8-Air source, 9-Paint source, (9) 10- Air control section , 11.21-Air hose, 12
Positive displacement pump, 13 Paint valve, 14-Paint feed hose, +5-DC motor, 16-Paint control unit, 1
7-Robot control unit, 18-Hydraulic unit), +9-ii
IF style motor controller, 20a, 20b,,
, 20n - potentiometer, 22 electro-pneumatic converter, 2
3- Paint regulator patent Applicant Mikihisa Kuninaka Agent Patent attorney Yoshiyuki Okan (10)

Claims (1)

[Claims] (1) A positive displacement pump interposed between the coating machine and the paint source, a DC motor for driving the positive displacement pump, a DC motor for controlling the rotation of the DC motor: a controller and a plurality of electric motors. 1.) A painting robot device comprising: a painting control section incorporating a difference gauge; and a robot control section sending electrical signals to the painting control section. (An air-operated paint regulator interposed between the depletion machine and the paint source, an electro-pneumatic converter that controls the opening of the paint regulator, and a robot that sends analog signals to the electro-pneumatic converter. A painting robot I/device characterized by comprising a control section.