JPS60122073A - Color changing device of painting robot - Google Patents

Abstract

PURPOSE:To reduce the working time of color changing by allowing plural paint containers to stand by within the working range of a painting robot, and making the container attachable to an arm of the main body of a robot through a robot for exchanging paint containers. CONSTITUTION:At the start of painting, the conveyor of a container supply device 14 is rotated to move a paint container 11 filled with a predetermined paint to a specified position. An arm 1 is simultaneously moved to a position below the conveyor, and a piston rod 5 is moved backward to the base part of the arm 1 so that the paint container 11 may be fixed between a coupling plate 2 and a cylinder 4. Then the specified paint container 11 on the conveyor is held by a robot 16 for setting the paint container, and transferred to a position between protrusions 13A and 13B for positioning the arm 1. The container 11 is fixed by the coupling of each coupling 6A and 6B and 3A and 3B, and the paint can be discharged to a paint gun 9.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a color changing device for a painting opening and gate, which allows a paint container to be detachably attached to a painting rosette arm.

For example, in an automobile manufacturing line, when applying a top coat to the body of a car being transported by Conia,
It is common for each car body to be painted with a different paint. When attempting to perform such topcoat painting using a single painting robot, a color change valve is installed to selectively supply multiple colors of paint to the paint gun, and the previous coat that should be painted first is installed. Between the previous color paint used on the preceding object and the next color paint to be used on the subsequent object after painting the object and before starting painting on the subsequent object to be painted. The reason is that I have to change the color. 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.

However, the color change valve mentioned above is installed, for example, on the side wall of the painting booth, and the primary color change valve and the paint gun are connected with a single paint supply hose, so that the robot is oriented in the same direction as the car body that is being painted. It was designed to be painted while being moved.

Therefore, the distance between the color change pulp and the paint gun is large, and the paint supply hose requires enough length to accommodate the distance the robot moves, so the length of the paint supply hose is limited. I needed it. In this way, if the paint supply hose is long, a large amount of thinner must be supplied during cleaning, and a large amount of pre-colored paint is also removed during cleaning. - There were drawbacks such as reduced vehicle performance.

The present invention has been made in view of the above points, and its purpose is to provide a color changing device for a painting robot that can save paint and cleaning thinner and shorten color changing work time. There is a particular thing.

The configuration of the present invention adopted to achieve this objective is as follows:
a painting robot main body having an arm, a joint plate attached to the arm of the painting robot main body, and a joint plate provided on the proximal end side of the arm at a predetermined distance from the joint plate,
A cylinder having a piston rod having a length formed with a ventilation hole in at least its tip and connected to the inflow side of the joint plate when fully extended, and connected to the outflow side of the joint plate. The arm has a paint gun located at the tip thereof, has an opening connected to the inflow side of the joint plate on the minus side, and is connected to the ventilation hole of the piston rod on the other side. The paint container has an opening and is detachably installed between the joint plate and the cylinder, and is configured to discharge paint toward a paint gun using compressed air.

Embodiments of the present invention will be described below with reference to the drawings. In the figure, 1 is an arm swingably provided on a painting robot (not shown), and 2 is a joint plate fixed to the top end of the arm 1. Two through holes are formed in the joint plate 2 along the longitudinal direction of the arm 1, and a hose joint 2B to which a paint supply hose to be described later is connected is provided at the mouth of the through hole 2A at the end of the arm 1. Further, a male joint 3A constituting the quick joint 3 is provided at the base side opening of the arm 1.

Reference numeral 4 denotes a cylinder which is spaced apart from the joint plate 2 by a predetermined distance and is fixed to the base side of the upper surface of the arm 1. Inside the cylinder 4, there is a supply/discharge port from a fluid source (not shown) such as gas or liquid.
A piston 4C that is slid by fluid supplied to 4A and 4B is slidably inserted.

Reference numeral 5 denotes a piston rod that is fixed to the piston 4C through the piston 4C, and the piston rod 5 is provided with a female joint 6A of a quick joint 6 at its one end end 5A. Here, when the piston rod 5 is fully extended, it has a length that allows it to be connected to the male joint 3A provided on the joint plate 2, υ,
At this time, the other side tip 5B has a length b projecting outward from the bottom of the cylinder 4. Further, the piston rod 5- is provided with a vent hole 7 at its axial center that opens to the image tip portions 5A and 5-B, and an air hole 7 whose base end is connected to an air compressor is provided at the opening on the side of the tip portion 5B. Eve 8 is connected.

Reference numeral 9 denotes a hydraulic painting gun installed at the tip of the arm 1 via a mounting bracket (LA), and the painting gun 9 has a paint supply hose 0 connected at one end to the hose joint 2TA of the joint plate 2. the other end is connected.

11 is a paint container located between the joint plate 2 and the cylinder 4 and disposed on the upper surface of the arm 1;
consists of a hollow body 11A, a side plate 11B having an opening 12A, and a side plate 11C having an opening 12B, and a male joint 3 provided on the joint plate 2 on the outer surface of the side plate 11B.
A female joint 3B that fits with A is provided protrudingly, and the quick joint 3
It consists of On the other hand, a male joint 6B that fits into a female joint 6A provided at the tip of the piston rod 5 is protruded from the outer surface of the side plate 11C, forming a quick joint 6.

Further, there is a force inside the paint container 11.

A piston 13 is slidably inserted into the paint container 11, and the interior of the paint container 11 is divided into a paint storage section A and a pressurization section B.

In FIG. 1, 13A and 13B are positioning protrusions provided on the upper surface of the arm 1 for positioning the paint container 11 when the paint container 11 is attached.

As shown in FIG. 3, 14 is a paint container supply device located outside the mouth of the painting work area within the operating range C of the painting rosette, and the supply device 14 includes a belt-type or tie-type conveyor 15; A paint container replacement rosette 16 holds a plurality of paint containers 11, 11... mounted on the conveyor 15, and fits each paint container 11 into the arm 1 of the painting rosette body at a predetermined position. It is composed of.

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

First, before the start of painting work, the paint container 11 is not held between the joint plate 2 and the cylinder 4, and the piston rod 5 is in the maximum extension state, and the female joint 6A of the piston rod 5 The male joint 3A of the joint plate 2 is fitted.

Next, when it is time to start painting, the conveyor 15 of the container supply device 14 rotates, and the paint container 11 filled with a predetermined paint moves to a predetermined position. At this time, arm 1 also moves under conveyor 15, and piston rod P5
moves backward toward the base of arm 1 and connects joint plate 2 and cylinder 4.
A paint container 11 is prepared so as to be attachable between the two. Then, the paint container mounting rosette 16 operates to grip the paint container 11 at a predetermined position on the conveyor 15, and the paint container 11 is transferred between the positioning protrusions 13A and 13B of the arm 1.

Next, the cylinder 4 is actuated and the piston rod 5 extends toward the tip of the arm 1, and the female joint 6A of the tip 5A of the rod 5 is extended.
is fitted with the male joint 6B of the paint container 11. The piston rod 5 further extends slightly and presses the paint container 11 in the direction of the joint plate 2, and when the male joint 3A of the joint plate 2 and the female joint 3B of the paint container 11 are fitted, the paint container 11 is placed on the upper surface of the arm 1. Fixed. When the installation of paint container 1 is completed, arm 1
rotates and directs the coating gun 9 toward the object to be coated to begin coating.

This painting work is performed by playing back the rosette body according to a predetermined program. On this occasion,
The painting gun 9 is of a hydraulic type, and compressed air sent from an air compressor (not shown) is connected to a piston port and a door 5.
It enters the pressurizing part B of the paint container 11 through the vent hole 7 of the paint container 11, and slides the piston 13 toward the side plate 11B to pressurize the paint in the paint storage part A. As a result, the paint in the reservoir A becomes under high pressure and is discharged to the coating gun 9, where it is applied to the object to be coated.

When the painting is finished, the arm 1 returns 9 to the bottom of the conveyor 15 that constitutes the container supply device 14, and the piston rod 5 that fixed the paint container 11 also moves back to the female joint 6 of the rod 5.
A and the male joint 6B of the paint container 11 are disengaged. Meanwhile, the paint container replacement robot 16 operates and replaces the paint container 1.
1 is removed, and the paint container 11 is returned to the conveyor 15. Then, the piston rod 5, which had been in the retracted state, extends again, and the female joint 6A at the tip of the rod 5 and the male joint 3A of the joint plate 2 are removed. are fitted, compressed air is sent from the air compressor to the painting gun 9 via the vent hole 7 of the piston rod 5, the through hole 2A of the joint plate 2, and the paint supply hose 10, and the paint supply hose 10 The remaining paint in the paint can 9 is blown out. Next, in place of the compressed air described above, thinner is supplied from the ventilation hole 7 to the through hole 2 A% of the paint supply hose 10 of the joint plate 2.
, by supplying the paint to 79, the remaining paint on these parts is cleaned with thinner. Complete cleaning can be achieved by repeating each of these steps several times.

In the above order, the state is returned to the state before the start of painting, and the paint container 11 for the next color paint is replaced, fixed, and the painting work is performed according to the teaching.

Next, FIGS. 4 and 5 show a second embodiment of the present invention. In the figure, the same components as those of the first embodiment are given the same reference numerals, and the explanation thereof will be omitted.

However, the feature of the second embodiment is that a vertical paint container 21 is removably provided between the joint plate 2 and the cylinder 4. The paint container 21 is composed of a hollow cylindrical portion 22 with a lid that is open at the bottom, and a bottom portion 23 into which the opening of the hollow cylindrical portion 22 is fitted on the side surface. The bottom part 23 has openings 24 inside the hollow cylinder part 22 and on the side of the bottom part 23, respectively.
A.

24B, and a ventilation hole 25 having openings 25A and 25B at the upper end of the pipe body 23A and the side surface of the bottom part 23, which are integrally erected from the upper surface of the bottom part 23.
is formed. Further, a female joint 3 B' forming the quick joint 3 is located outside the opening 24B, and a male joint 6 B' forming the quick joint 6 is located outside the opening 25B.
are protruding from each. In the figure, 23B is a recess formed on the lower surface of the bottom 23, and the recess 23B is the arm 1.
It is engaged with a locking protrusion 26 on the top surface. On the other hand, 27 is a baffle plate for preventing the paint contained in the paint container 21Vc from scattering and rippling.

''2 The paint container 21 is connected to the joint 1 and plate 2 via the male and female joints 3A and 3B' of the quick joint 3, as in the case of the first embodiment, and the male and female joints 6A, It is connected to the piston rod 5 via 6B'. During painting, compressed air sent from an air compressor passes through the vent hole 7 and the vent hole 25 of the piston rod 5, and then enters the coating container 21 from the opening 25A.
When the inside of the container 21 becomes high pressure, the paint flows from the circulation hole 24 to the through hole 2A of the joint plate 2 and the paint supply hose 1o.
1 paint is pumped to tank 9.

Incidentally, the coating port equipped with the above-mentioned paint container 21? The operation of the cutter and the means for supplying the paint container 21 are the same as in the first embodiment, so their explanation will be omitted.

Further, in the first and second embodiments, the paint container 11.21 was configured to be held between the joint plate 2 and the piston rod 5, but the joint plate 2 was eliminated and the paint container 11.
21 may be directly connected to the coating gun 9 via a quick coupling, thereby eliminating the paint supply port 1o. In this case, the cleaning time can be shortened by the amount of the paint supply hose. Furthermore, although it has been described that the vent hole 7 is provided through the piston rod P5, an opening is provided near the tip of the piston rod 5 as shown by the dashed line in FIG. You may also connect it.

Furthermore, the paint container supply device 14 is connected to the conveyor 15 and the paint container exchange port? Although it has been described as being composed of a paint container 11.21, the means for supplying the paint container 11.21 is not limited to this.

Furthermore, the painting gun 9 was attached directly to the arm 1 of the rosette body, but in order to give more freedom to the painting work, a wrist was provided at the tip of the arm 1, and the painting gun 9 was attached to the wrist. Of course, you can do it.

The color changing device for a painting robot according to the present invention is as described in detail above, and has the following effects.

■The painting rodet body is configured to perform painting work while sequentially changing colors by replacing each paint container according to the color to be painted, so color changing work can be done in an extremely short time.

■The paint supply hose between the paint gun and the paint container can be significantly shortened or even eliminated, making it possible to save paint and cleaning thinner and shorten cleaning time.

■By simply extending the piston rod that has a ventilation hole for compressed air for painting and connecting it to the paint supply hose, air and thinner can be supplied, making it extremely easy to clean the paint gun and remaining paint inside the hose. I can do it.

■When painting objects of the same shape that are continuously conveyed by a conveyor line, such as car bodies, while changing the color one after another, the paint cup should contain enough paint to coat one car body. Just fill it with paint,
It is possible to further reduce waste of paint when changing colors.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a first embodiment device according to the present invention;
Fig. 2 is an enlarged sectional view of a hydraulic cylinder and a paint container that constitute the device, Fig. 3 is a schematic explanatory diagram of a paint container supply device used in the embodiment device, and Fig. 4 is a second embodiment of the present invention. FIG. 5 is an enlarged sectional view of a paint container constituting the apparatus. 1...Arm, 2...Joint plate, 4...Cylinder,
5...Piston rod P, 7...Vent hole, 9...
Paint gun, 11.21...Paint container. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] A painting rodet body having an arm, and a painting rodet body having an arm, and the painting rodet body having an arm.
A joint plate is attached to the arm of the kit body, and a vent hole is provided at the base end of the arm at a predetermined distance from the joint plate, and a ventilation hole is provided at least at the distal end. a cylinder having a piston rod having a length such that the ventilation hole connects to the inflow side of the joint plate; a painting gun connected to the outflow side of the joint plate and located at the tip of the arm; One side has an opening connected to the inflow side of the joint plate, the other side has an opening connected to the vent hole of the piston rod, and can be attached and detached between the joint plate and the cylinder. A color changing device for a painting rodet, which is installed in a paint container and is configured to discharge paint toward a painting gun using compressed air.