JPS60110365A - Painting robot equipped with plural coating guns - Google Patents

Abstract

PURPOSE:To contrive to shorten coating time and teaching time, by mounting a plurality of coating guns to the leading end part of a robot arm and revolving said guns relatively while providing a means for controlling the rotary angles of said guns. CONSTITUTION:A receiving stand 2 is attached to the leading end of a robot arm 1 and a support stand 4 is attached to the upper surface of said receiving stand 2. A pair of coating guns 5, 5 are attached to the upper surface of the support stand 4 in parallel to each other in a revolvable manner. One gun 5 is used as a fixed one and the other one is provided as a movable one to perform the teaching of a position and an angle. Subsequently, a robot is allowed to operate according to a stored orbit and the paint from a paint pipe 8 is sprayed from the coating guns 5 along with air from an air pipe 9. In the case of a coating surface having a three-dimensional curved surface, the revolvable coating gun 5 is revolved by a cylinder 3 and a pair of the coating guns 5, 5 are directed to mutually different directions to simultaneously coat two surfaces.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a painting robot that automatically paints with a plurality of painting guns provided at the tip of the painting robot's arm. Used when painting automobile bodies.

As is well known in the prior art, industrial robots perform a variety of tasks in place of beginners, and especially in harsh environments such as painting, it is more desirable to have painting robots perform the tasks than humans. The conventional painting robot has a painting gun having one paint spraying nozzle or a so-called double-headed gun having two paint spraying nozzles fixed to the tip of the robot arm. Then, the painting robot is moved along a trajectory memorized in advance by teaching, and painting is performed by spraying paint from the gun onto the painting surface of the object to be painted.

However, conventional painting robots have the following problems. In other words, when painting two adjacent surfaces with different surface angles, for example, a three-dimensional curved surface at the bottom of a car door, first aim the paint gun almost perpendicularly to one surface, and then move the paint gun along said surface. One side was painted by moving the paint, and then the other side was painted by pointing the paint gun almost perpendicularly to the other side and moving the paint gun along that side in the same way as described above. . Therefore, since the paint gun was opposed almost perpendicularly to each painted surface and was moved almost parallel to each painted surface, the trajectory of the tip of the robot arm could not be determined. ! The problem is that the painting time is long because it is rough and covers a wide area, and the operation time of the painting robot is therefore long. Furthermore, since the trajectory of the robot arm along each painted surface must be memorized by teaching, there is also the problem that the teaching time becomes long when the trajectory of the robot arm is complex as described above. Furthermore, as mentioned above, the long coating and teaching times lead to low productivity and operating rates.
There was a problem that running costs increased.

OBJECTS OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a painting robot equipped with a plurality of painting guns that can shorten painting time and teaching time.

Structure and Function of the Invention The present invention provides a painting robot that moves a robot arm along a pre-memorized trajectory and performs painting by spraying paint from a paint gun attached to the tip of the robot arm. are attached to the tip of the robot arm, and at least one of the painting guns is supported to rotate relative to the other painting gun, and the painting gun is rotatable. The invention is characterized in that a control device is provided for controlling the rotation angle of the motor.

Therefore, depending on the shape of the surface to be painted, the paint spraying directions of the plurality of paint guns are controlled to be different from each other to perform the painting.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. First, a pedestal 2 is attached to the tip of the robot arm 1, and a drive source, such as a cylinder 3, is built into the pedestal 2 with its tip protruding upward in the figure. Furthermore, a trowel-shaped support 4 is attached to the upper surface of the pedestal 2, and a pair of painting guns 5.5 are attached to the upper surface of the support 4.
are mounted parallel to each other and rotatably. That is, the front end of the painting gun 5 provided with the air cap 6 on the front side is rotatably attached to the support base 4 via the rotation shaft 7, and the cylinder is attached to the lower surface of the rear end of the painting gun 5. 3 is connected.

Further, the painting guns 5.5 are configured to set their respective rotation angles separately by multi-stage control using air or hydraulic drive, such as circuit switching, and these signals are controlled by the computer of the painting robot, such as CRC control. It is the composition. Furthermore, the paint gun 5.5 has
A paint vibrator 8 with a color change valve (not shown) interposed therebetween for switching the paint color is connected, and a paint supply for supplying paint of each paint color to the color change pulp to the paint gun 5.5. sources (not shown) are connected to each other via on-off valves (not shown). Further, an air supply source (not shown) for supplying air is attached to the coating gun 5.5 via an air pipe 9.

Next, the operation of the painting robot configured as above will be explained. First, the movements of the painting robot are memorized in advance through teaching. In other words, the worker uses the robot arm 1
Hold the tip of the tool and move it according to the actual painting operation, and store the trajectory in the storage section of control device B (not shown). In this case, since it is desired to reduce the amount of stored data, one of the pair of painting guns 5.5 is used as a fixed gun, and the position and angle are taught based on that fixed gun, while the other is used as a fixed gun. The painting gun 5 is used as a flexible gun, and only the painting gun 5 is rotated by the cylinder 3, thereby teaching the pair of painting guns 5.5 so that their respective paint spouting directions are directed in different directions. This method is simple and preferable. Note that in locations where paint sagging or the like is likely to occur due to excessive spraying of paint, one of the pair of paint guns 5.5 may be turned off.

After the teaching is completed in this way, when the painting robot is operated, the painting gun 5.5 along with the tip of the robot arm 1
moves according to the trajectory memorized by teaching, and the paint from the paint pipe 8 is sprayed from the paint gun 5 together with the air from the air vibrator 9. Then, as shown in FIG. 3, if the surface to be painted is a three-dimensional curved surface consisting of two substantially orthogonal surfaces, the cylinder 3 rotates the paint gun 5, and the pair of paint guns 5. Paint two sides at the same time, facing different directions. Therefore, since there is no need to move the painting gun 5.5 along each painting surface, the painting gun 5.
This simplifies the trajectory of the paint gun 5, making it easier to teach and also shorten the installation time.In addition, if only one painting gun 5 is configured to rotate, the rotation angle of the painting gun 5 can be adjusted by changing the rotation angle of the pair of painting guns 5 Since only one of the painting guns 5.5 needs to be controlled, the control system can be simplified.

On the other hand, when painting a flat surface as shown in FIGS. 4A and 4B, the painting guns 5.5 are directed in the same direction. In this case, since the paint is sprayed from the two paint guns 5.5, multiple coats can be applied in one operation, and a specified film thickness can be achieved in a short period of time.

Note that since one of the paint guns 5.5 may be turned off, it is preferable to configure the paint supply path so that it can be controlled independently from the color change valve. Further, the number of painting guns 2 may be further increased in the above embodiment. Even in that case, the same control method as in the embodiment described above can be applied.

Effects of the Invention As is clear from the above description, in the present invention, at least one of the plurality of painting guns is supported at the tip of the robot arm so as to be rotatable relative to the other painting gun. With this configuration, if the surface to be painted is a three-dimensional curved surface consisting of two adjacent and intersecting surfaces, the two surfaces can be painted simultaneously by controlling the paint spraying directions of the plurality of painting guns to be different from each other. Therefore, the painting time can be shortened, and the trajectory of the tip of the robot arm can be simplified, making it easier to teach 1l.
You can shorten ilil. As a result, productivity and operation rate can be improved, so that effects such as running costs can be reduced.

[Brief explanation of drawings]

Fig. 1 is a schematic perspective view showing the main parts of an embodiment of the present invention, Fig. 2 is a side view of the main parts, and Fig. 3 shows the state of the painting gun when painting a three-dimensional curved surface. FIG. 4(A) is a schematic side view showing the state of the coating gun when painting a flat surface, and FIG. 4<8) is a plan view thereof. 1... Robot arm, 3... Cylinder, 5
...painting gun. Applicant Toyota Motor Corporation Agent Patent Attorney Yutaka 1) Hisashi Take (and 1 other person) Figure 1 Figure 2

Claims (1)

[Claims] In a painting robot that moves a robot arm along a pre-memorized trajectory and sprays paint from a paint gun attached to the tip of the robot arm, multiple paint guns are attached to the tip of the robot arm. and at least one of the painting guns is supported to rotate relative to the other painting guns, and a control device for controlling the rotation angle of the rotatable painting gun. A painting robot equipped with multiple painting guns.