JPS60122072A - Color changing device of coating robot - Google Patents

Abstract

PURPOSE:To dispense with the washing after color changing, and to facilitate the coating operation by arranging coating guns connected respectively with a paint supply hose within the working range of the main body of a robot, and attaching and detaching each coating gun to and from the main body in accordance with a desired program. CONSTITUTION:Each coating gun 4 is arranged on a rack 16 within the working range of the main body 1 of a robot in coloring order, and the coating gun 4 is attached to the main body 1 of the robot through a clamping mechanism 6 by moving the main body 1 of the robot of a position below a holder of the coating gun 4 concerned in accordance with a command for starting the operation from a controller. When the coating gun 4 is released from the rack 16 by lifting a bracket 2 and moved in the direction of a specified material to be coated, a paint supply hose 20 connected to the coating gun 4 is pulled by the rotation of a pulley 23B on a guide rail 23A through a supporting rope 23C and allowed to follow the motion of the main body 1 of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a color changing device for a painting robot that performs painting work while replacing a painting gun provided at the tip of a paint supply hose.

For example, when applying a top coat to the body of a car being transported by a conveyor on a car manufacturing line,
It is common for each car body to be painted with a different paint. When attempting to perform such topcoat painting using a single paint gun, a color change valve is installed to selectively supply multiple colors of paint to the paint gun, and the color changing valve is installed to selectively supply multiple colors of paint to the paint gun. After finishing painting the object to be coated and before starting painting the next object to be coated, 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 colors in between. This color change work is done by flowing thinner and air into the paint supply line from the color change valve to the paint gun, completely cleaning and removing the previous color paint, and then supplying the next color paint to the paint supply line. It is something that is done.

Regarding the color change valve, the present applicant has disclosed Japanese Patent Application Laid-Open No. 58-5
According to No. 8167, for example, the color change valve installed on the side wall of the painting booth was connected to the paint gun using a long open paint supply hose. A painting robot that can save paint and cleaning thinner and shorten color change work time by attaching it to the arm of the paint gun and minimizing the number of paint supply hoses between it and the painting gun. proposed.

However, even if the painting port proposed earlier is installed in the kit, and the paint supply hose connected between the color change valve and the paint gun is arranged at the minimum length, it is still difficult to change the color. Sometimes, it is necessary to sequentially supply sinker and air into the hose to wash and remove the previous color paint, and it is not possible to completely eliminate losses of paint, sinker, air, etc. In addition, since a bundle of paint supply hoses for supplying multiple colors of paint is connected between the color change valve attached to the arm and the painting booth, movable parts such as the robot's support and arm are connected to the bundle of hoses. The problem was that the robot's free movement, which is designed to be as tight as possible, was restricted. Furthermore, in order to ensure smooth and reliable movement of the robot, it is desirable to reduce the weight of the arm as much as possible, but attaching color-changing pulp to the arm increases the weight of the arm.
In some respects, it did not meet the demands for weight reduction.

The present invention has been made in view of the above points, and its purpose is to provide a paint gun installed at the tip of a paint supply hose connected to a paint container or circulation pipe.
By attaching and detaching the painting robot body based on the teaching contents, there is no need to wash the previous color paint, and there is no loss of paint, sinker, air, etc. A coating port that allows the robot body to move freely and accurately by minimizing the weight burden acting on the arm. The object of the present invention is to provide a color changing device for cutting.

The configuration adopted by the present invention to achieve this object includes a painting robot body, a clamp mechanism provided on the robot body, and a plurality of guns detachably held by the clamp mechanism. , a pedestal located within the operating range of the robot body on which the respective painting guns are arranged, and a paint supply hose connected to each paint source for supplying paint to the painting guns.

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

1 to 5 show a first embodiment of the invention. In the figure, 1 is a painting robot body (hereinafter referred to as the robot body), and the robot body includes a base IA, a turntable IB provided on the base IA, and a rotatable support on the turntable IB. The arm ID is rotatably attached to the support IC and protrudes forward from the support IC, and a wrist IE is provided at the tip of the arm ID.

Reference numeral 2 denotes a bracket provided on the wrist IE, and the bracket 2 includes two flat bases, a thick support portion 2B that protrudes downward from the tips of the two bases, and a front surface of the support portion 2B. The two bases are fixed to the tip of the wrist IE with the support surface 2C facing the front of the wrist IE.

3 is a holder, and the holder 3 includes a flat base 3A, a Q3B formed downward at one end of the base 3A, and the base 3.
It is formed from a thick gripping part 3C projecting downward from the other end of A, and an abutment surface 3D formed on the front surface of the gripping part 3C so as to abut against the support surface 2C of the bracket 2. There is.

Reference numeral 4 denotes a paint gun fixed on the base 3A via bolts and nuts 5. A paint supply hose to be described later is connected to the paint gun 4, and a nozzle tip 4A is provided at the tip. Here, the paint gun 4 is connected to the paint source from the paint gun 4.
The paint gun is configured as a hydraulic atomization type paint gun that sprays the paint fed under pressure from the nozzle tip 4A.

Reference numeral 6 denotes a clamp mechanism disposed below the bracket 2, which removably supports the holder 3 by abutting the abutment surface 3D of the holder 3 against the support surface 2C of the bracket 2; The mechanism 6 is composed of an air cylinder 7 and a flang member 13, which will be described later. Here, the air cylinder 7 is fixed to the bottom surface of the base 2 of the bracket 2 via bolts 9A and 9Bi, and a piston 10 that slides by air pressure is inserted into the cylinder 7. A piston rod IOA is attached to the piston 10, one end of which is fixed to the piston 10, and the other end of which penetrates from the lid portion 7A of the cylinder 7 toward the support portion 2B of the bracket 2. In addition, ports 11A and IIB for guiding compressed air into the cylinder 7 are bored in the lid portion 7A and bottom portion 7B of the cylinder 7, sandwiching the piston 1o. 0 on the sliding surface with the piston rod IOA and the outer circumferential surface of the piston 1o.
Rings 12A and 12B are fitted respectively.

Reference numeral 13 denotes a clamp member provided integrally with the protruding end of the piston rod IOA, and the clamp member 1
3 is formed into a U-shaped cross section with a space A on the opposite side of the piston rod IOA, and claws 13A and 13B are respectively protruded from the inner surface of the tip of the opposite side. The clamp member 13 is externally fitted to the female part of the support part 2B of the bracket 2 at an intermediate position, and the piston opening y)' 10
The piston 10 is movable in the left-right direction in FIG. 2 via the piston 10.

14A and 14B are bottomed fitting holes drilled in the support surface 2c of the bracket 2; 15A and 15B are the fitting holes 14A;
A protruding member having a semicircular or conical tip and a male thread at the base so as to fit into the protruding member 14B.
5A and 15B are screwed onto the abutting surface 3D. When the support surface 2C and the abutting surface 3D abut each other, the protruding members 15A and 15B fit into the fitting holes 14A and 14B, thereby positioning and holding the holder 3. There is.

Reference numeral 16 denotes a pedestal mounted on a side wall 17 in the painting booth, and the pedestal 16 is placed within the operating range B of the robot body 1 in order to hold the entire holder 3 to which the painting gun 4 is attached when not in use. A plurality of them are arranged at positions outside the painting work area C (see Fig. 15).

An upwardly protruding stepped portion 16A is provided at the tip and middle of the pedestal 16.
16B is formed, and the protruding step portion 16A.

The build head of the bolt/nut 5 can be accommodated in the recessed part 16C formed between the parts 16B and 16B.

In addition, a rod 18 having a spring seat 18A at the tip and a stopper 18B on the recessed portion 16C side is inserted into the tip side step portion 16A of the pedestal 16 so as to be slidable in the direction of the grip portion 3C. A compression spring 19 is stretched around the rod 18 between the outer surface of the spring 16A and the spring seat 18A.

As shown in FIG. 5, the frame 16 configured as described above has a number of paints used for painting located within the operating range B of the robot body 1 and outside the painting work range C on both the left and right sides. Gun 4 is placed.

20 , 20 , . . . are the mount 16 and each painting gun 4
, 4°... A paint supply hose disposed between 21
, 21° . . . are paint containers 2 filled with paints of different colors, which are placed outside the painting booth at a distance from the robot body 1.
1A and paint number? a paint source consisting of a pump 21B, 22;
22 , . . . are pipes for supplying paint from the respective paint sources, the base end of each pipe 220 is connected to the paint container 21A via the paint pump 21B, and the tip is connected to the base of the paint supply hose 20 in the frame 16. connected to the end of the paint supply hose 2
A paint gun 4 is attached to the tip of 0.

23 , 23 , . . . Each hose extension mechanism 23 is connected to a curved guide rail protruding from the side wall 17 of the painting booth. 23A, a pulley 23B that is removably engaged with the guide rail 23A, and a green holding rope 2 that has one end fixed to the pulley 23B and the other end fixed to the paint supply hose 2°.
It is composed of 3C. Here, in the case of this example,
As shown in FIG. 1, each guide rail 23A is formed in a curved shape extending close to the tip of the arm ID of the robot body 1, so that the paint supply hose 20 can follow the free movement of the robot body 1. being done.

Next, the operation of the apparatus of this embodiment configured as described above will be explained. Note that the operation described below is performed by, for example, a playback operation based on teaching.

First, before starting the painting work, the holder 3 that supports the painting gun 4f locks its claw 3B to the stepped part 16B of the pedestal 16, and the inner surface of the grip part 3C is under the pressing force of the spring 19. It is held on the pedestal 16. In addition, each painting gun 4
are arranged at predetermined positions on the pedestal 16.

On the other hand, the robot main body 1 is also in a standby position, the piston 10 in the cylinder 7 is supplied with air to the port 11B side, and the clamp member 13 of the clamp mechanism 6 is in the most extended state.

Next, when a command to start painting work is issued from a control device (not shown), the robot body 1 is driven according to this command, and a predetermined painting gun 4 is fixed to the holder 3.
is located below. Next, as shown in FIG. 4, the Franz degree mechanism 6 is raised in the direction (A) by the arm ID, and the gripping part 3C of the holder 3 is inserted into the space A and the fitting hole 14A.

The lifting of the clamp mechanism 6 is stopped at the position where the protruding members 14B and the protruding members 15A and 15B face each other.

Next, the bracket 2 is pushed out in the (b) direction in the figure by the arm ID, and the protruding members 15A and 15A are inserted into the fitting holes 14A and 14B.
15B is inserted. At this time, since the tips of the protruding members 15A and 15B are semicircular or conical, each fitting hole 1
Even if there is a slight positional deviation between the fitting holes 14A and 14B, the positional deviation is corrected by the pushing force of the arm ID, and the fitting holes 14A,
14B and the protrusion members 15A and 15B can be fitted together.

When bracket 2 is pushed further forward, bracket 2
The supporting surface 2C of the holder 3 collides with the abutting surface 3D of the holder 3, and when the bracket 2 is further pushed out in the (b) direction in the figure, the holder 3 slides on the pedestal 16 while compressing the spring 19. while sliding backwards.

Next, when the holder 3 slides backward by a predetermined distance, the arm ID of the robot body 1 stops driving. Then, a directional control valve (not shown) opens the cylinder 7 (port) 11A.
side is pressurized and port 11B side is exhausted and piston 1
0 retreats, and the gripping member 13 also retreats in the direction (c), so that the claws 13A, 13B of the clamp member 13 engage with both side edges of the gripping portion 3C, and the gripping portion 3C By being firmly pressed to the side, the painting gun 4 is moved toward the robot body 1.
0 Attached to the tip of the wrist IE. .

Furthermore, when the robot main body 1 is driven again and the bracket 2 is raised in the direction 0) in the figure according to the arm ID, the painting gun 4
is removed from the pedestal 16, then the main pillar IC of the robot body 1 rotates, the arm ID pivots, and the coating gun 4 is moved toward the object to be coated. At this time, the paint supply hose 220 connected to the paint gun 4 is pulled by the moving paint gun 4, but the pulley 23B is also pulled via the support rope 23C and rolls along the guide rail 23A. The paint supply hose 20 is connected to the robot body 1
It grows following the movement of.

When the coating on the object to be coated is completed, the arm ID of the mouthpiece main body 1 rotates to return the coating gun 4 to the pedestal 16, but at this time the paint supply hose 20 is connected to the pulley 23B via the support rope 23C. Because it is supported,
The paint supply hose 20 is also pulled back by the movement of the robot body 1, and the intermediate portion of the hose 20 is also maintained in a hanging state.

However, the arm ID of the robot main body 1 which has returned to the vicinity of the pedestal 16 first places the back side of the grip part 3C of the holder 3 on the spring seat 1.
8A, and while pressing and compressing the spring 19 to the rear of the pedestal 16, the claw 3B of the holder 3 is positioned behind the stepped portion 16B of the pedestal 160. Next, when the arm ID retreats toward the robot body 1, the holder 3 slides forward on the pedestal 16 by the spring force of the spring 19, and the claw 3B of the holder 3 engages with the stepped portion 16B, thereby causing the holder 3 to move forward. The holder 3 is held on a pedestal 23. Thereafter, the holder 3 and the bracket 2 are separated from each other by operating the clamp mechanism 6, driving the robot body 1, and retracting the bracket 2 in the reverse order of the mounting process.

Next, FIG. 6 shows a second embodiment of the present invention.

In the figure, the same constituent elements as those of the first embodiment are given the same reference numerals, and their explanations will be omitted.

However, the feature of the second embodiment is that the paint supply hose 20 is extendably housed in a hose take-up reel 31, and the hose take-up reel 31 is provided at a position close to the frame 16 on the side wall 17 of the painting booth. That's true. Here, the hose take-up reel 31 includes a cylindrical case 31A having an inlet and an inlet for the paint supply hose 20, and a cylindrical case 31A that is rotatably pushed through the center of the case 31A and has an opening that opens in the radial direction within the case 31A. A rotating shaft 31B in which a flow passage having an opening on the end face of the shaft is formed, a winding cytram 31C fixed to the rotating shaft 31B and housed in the case 31A, and a winding cytram 31C or It is composed of a spring 31D and a sword λ, which are stretched between the rotating shaft 31B and the cases 3 and LA, and which bias the original note taking drum 31C in the rotational direction in which the paint supply bowl 20 is always wound up. The shaft end surface opening of the rotating shaft 31B has a base end connected to the paint container 21.
The other end of the pipe 24 connected to A is connected via a joint 31E, and on the other hand, a paint supply hose 20 whose tip is connected to the paint gun 4 is connected to the opening in the radial direction of the rotating shaft 31B.
The other end is connected so that paint is supplied from the paint container 21A to the paint gun 4 regardless of whether the paint supply hose 20 is wound up or pulled out.

Therefore, in the apparatus of this embodiment, when starting the painting work, the same operation as that described in the first embodiment is performed to move the frame 16.
An FC painting gun 4 is mounted on the robot body 1 while being supported via a holder 3. When the painting gun 4 is moved in the direction of the object to be painted, the paint supply hose 20 connected to the painting gun 4 is also pulled out from the hose winding reel 31 against the spring force of the spring 31D. It will be done. 17'C1 When the painting operation is completed and the painting gun 4 returns to the direction of the mount 16, the tensile force from the robot body 1 does not act on the paint supply hose 20, so the hose 20 is wound up.
The coating gun 4 is sequentially wound onto the winding drum 31C by the spring force of the spring 31D tensioned on the coil 31, and the coating gun 4 is supported on the frame 16 via the boulder 3.

As described above, according to the first and second embodiments, the robot body 1 and the coating gun 4 can be attached and detached using the bracket 2 fixed to the robot body 1 using the clamp mechanism 6 fixed to the robot body 1 and operated by air pressure. Since the paint gun 4 is configured to be clamped to the holder 3 to which the paint gun 4 is fixed, the paint gun 4 can be attached and detached rotationally and reliably according to a predetermined grout 2m.

In addition, in the above embodiment, the support surface 2CK has a plurality of fitting holes 14.
A, 14B are bored, and a protruding member 15A is provided on the abutment surface 3D.
15B is installed so that when the clamp mechanism 6 grips the holder 3, the two fit together, thereby correcting the misalignment of the abutment position and providing support during gripping. 14A.

14B and protrusions 15A, 15B, support surface 2C
A concave portion or a convex portion may be formed on the abutting surface 3D, and a convex portion or a concave portion may be formed on the abutment surface 3D, so that the bracket 2 and the holder 3 may be held by a so-called spigot fit. .

Further, the clamp mechanism 6 includes a cylinder 7, a piston 10.
Although it has been described as being composed of a cylinder mechanism having a piston rod IOA and a clamp member 13 provided at the tip of the piston rod IOA, the clamp mechanism 6 can be used as long as it is capable of clamping the holder 3 to the bracket 2.
The present invention is not limited to this, and various gripping devices or clamping devices can be applied, and the cylinder mechanism is not limited to a pneumatic cylinder, but may be a hydraulic cylinder.

In the above embodiment, the paint container 21A is used as the paint source 21.
and a paint pump 21B, but a paint tank is used as the paint source, a circulation pipe for circulating the paint is provided in the paint tank, and the piping 23 is connected to the circulation pipe. It may also be a configuration.

Further, the paint gun 4 is not limited to a hydraulic gun, and may be configured as an air gun that includes an air hose attached to the paint supply hose 20 in addition to the paint hose, and promotes atomization with air from the air hose. .

As described in detail above, the present invention arranges the painting guns to which respective paint supply hoses are connected within the operating range of the robot body, and the robot body changes colors by attaching and detaching each painting gun according to a desired program. Because it is configured to perform painting work while performing the same process, it is possible to eliminate the paint supply hose between the color change valve and primary color change valve and the painting gun, and there is no need to clean the previous color paint when changing colors. This eliminates the loss of paint, cleaning sink, and compressed air. In addition, since the number of paint supply hoses that supply paint to the painting gun is limited to one for each painting gun, the weight on the arm of the painting robot body can be reduced, and the robot body can be operated freely and accurately. be able to. Furthermore, since the paint supply hose follows the movement of the robot body and moves in a V direction, the hose will not hit the support or arm of the robot body, allowing the robot body to move accurately. , it is also possible to prevent the hose from being damaged.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of a color changing device for a painting robot according to a first embodiment of the present invention, FIG. 2 is an enlarged sectional view showing a two-pump mechanism used in the device of the same embodiment, and FIG. ■- in Figure 2
■A cross-sectional view in the direction of the arrow, Figure 4 is an explanatory diagram of the operation of the clamp mechanism when the painting gun is attached to a painting robot, Figure 5 is an explanatory diagram of the arrangement of the pedestal, and Figure 6 is the second embodiment of the present invention. FIG. 2 is a schematic diagram of a color changing device for a painting robot according to an example. 1... Painting robot, 4... Painting gun, 6...
Clamp mechanism, 16... Frame, 20... Paint supply hose-21... Paint source, B... Operating range.

Claims (1)

[Claims] A painting rodet body, a clamp mechanism provided on the rodet body, a plurality of painting guns detachably held by the clamp mechanism, and the rodet body; A color changing device for a painting robot, which comprises a pedestal located within the operating range of the main body and on which the painting guns are arranged, and a paint supply hose connected to each paint source that supplies paint to the painting guns.