JPS61146363A - Mechanism for setting ejection angle of paint spray gun - Google Patents

Abstract

PURPOSE:To obtain an inexpensive painting robot by constructing the mechanism of the robot comprising a first and a second slewing means and a reciprocating means capable of moving two spray guns in the horizontal and vertical directions. CONSTITUTION:A stationary side of a swing type actuator AC1 for the first slewing is fixed to a horizontal slewing member 4, and a spray gun GUN1 is hung on the axis of the actuator AC1. The actuator AC1 is slued by a piston rod CL11 of a first double-acting cylinder. A slewing member 11 is fixed to a movable shaft 10 of the actuator AC1; and a swinging actuator AC2 for the second slewing, a second double-acting cylinder CL2 and a second spray gun GUN2 are provided to an end part folded by 6 deg.(theta). By constructing the mechanism capable of displacing the ejection angle of the second spray gun by the action of the second actuator and the cylinder, an aimed painting robot is obtd. without using an expensive hydraulic articulated arm.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a coating gun for an automatic coating machine that performs coating by moving the coating gun according to the surface of the object to be coated. This relates to a paint spray angle setting mechanism.

[Prior Art] A conventional example of this type of automatic painting machine is a painting robot controlled by hydraulic pressure. Conventional painting robots use a hydraulic servo system, such as an oil cylinder or an oil motor, as their drive source to drive a multi-joint arm to set the paint spray angle of the paint gun.

[Problems to be Solved by the Invention] From the viewpoint of automatic control, the control by the hydraulic servo system uses oil as a medium.
The transfer function is approximately constant, and the stability of the control system can be improved. On the other hand, from an equipment standpoint, each hydraulic actuator, a control valve, a hydraulic mechanism such as a hydraulic pump is expensive, and therefore the cost of the painting robot is high.

Therefore, in order to solve the above-mentioned problems, the present invention has been developed to control the paint jet angle of a paint gun without using a multi-jointed arm, and to set the paint jet angle of an inexpensive paint gun that can set the paint jet angle from multiple angles. The objective is to provide an Ia structure.

[Means for Solving the Problems] The paint injection angle setting mechanism for a paint gun of the present invention includes a first rotating means for rotating a rotating member attached to the movable side of the rotating member about its movable axis; a first reciprocating means for rotating the rotating means about its movable axis; a first painting gun disposed on the movable axis of the first rotating means for rotating the rotating member; and a first painting gun attached to the rotating member. a second reciprocating means for angularly displacing the paint spraying angle of the second painting gun in two stages; and a second rotating means for changing the paint spraying angle of the second painting gun angularly displacing the second paint gun in two stages symmetrically with respect to its movable axis. It is what it is.

[Function] With such a structure, the first turning means includes a swinging actuator, etc., which can turn the turning member attached to the movable side by 622 degrees around its movable axis, and the first turning means. A first reciprocating means composed of a double-acting cylinder or the like that rotates the means by 61 degrees about its movable axis, and a first rotating means that rotates the rotating member are arranged on an extension line of the movable axis. The paint spray angle of the first paint gun and the second paint gun that is attached to the rotating member is 64 degrees and 04-05.
a second reciprocating means composed of a double-acting cylinder or the like that causes angular displacement in two steps;
The second rotating means for changing the paint spray angle of the paint gun symmetrically with respect to its movable axis horizontally 0 degrees, 01 degrees, 02 degrees,
It can be rotated by θ1+02 degrees, and if the axially symmetrical positions of 04-65 degrees, 04 degrees and the second rotation means in the vertical direction, that is, the angle of the axis of the second rotation means are α degrees, then 2α
-(θ4-65) degrees, 2α-04 degrees can be angularly displaced.

[Example 1] Figures 1 and 2 show a drive section of the X-axis position setting means and a drive section of the Y-axis position setting means of a painting gun of a painting robot according to an embodiment using the paint injection angle setting mechanism of the present invention. FIG. 2 is a front view and a side view of main parts showing the drive unit of the X-axis position setting means.

The X-axis arm x 1 is provided perpendicularly to the support post PO arranged perpendicularly to the main body base BE. That is, one X-axis arm is arranged parallel to the main body base BE. In addition, an
Attach to 3. That is, the Z-axis arm Z1 is connected to the support post PO.
and intersects at right angles to the X-axis arm x1. Attach Y-axis arm Y1 to Z-axis arm Z1. That is, Y-axis arm Y1 is X-axis arm x 1 and 2
It will be arranged at right angles to the axis arm Z1.

The basic configuration of the position setting means for each axis arm is as follows:
Since the components are common, the configuration of the main parts will be explained based on the configuration of the coating gun position setting means of the Y-axis arm Y1 shown in FIG.

The rotation of YIIFllll air motor YAM is motor axis Y.
9 through the Y-axis coupling Y8 to the shaft of the disc type Y-axis air brake YAB, and the Y-axis
@Turn ball screw Y2.

A rotary plate Y5 having a large number of slits is fixed to the Y-axis coupling Y8, and constitutes a rotation/angle sensor for magnetically detecting rotation and angle by the angle detecting section Y6. In addition, the number of pulses of the rotation/angle sensor and the moving distance with the feed table Y3 are determined by the Y-axis ball screw Y2.
It is arbitrarily set depending on the pitch of and the number of slits of the rotary plate Y5. The rotating plate Y5 and the angle detecting section Y6 are generally called an angle sensor or a rotation sensor, and are well known, so a detailed explanation thereof will be omitted. Further, since the Y-axis air motor YAM and the Y-axis air brake YAB are similarly well known, detailed explanation thereof will be omitted.

The Y-axis air motor YAM, the mounting member Y10, and the Y-axis air brake YAB are fixed to the drive source support member Y11, and the mounting member Y10 and the drive source support member Y11 are fixed to the drive source support member Y11.
The space is also fixed. Alternatively, the mounting member Y10 and the drive source support member Y11 are formed integrally. These, mounting member Y10
and the drive source support member Y11 are attached to the Y-axis arm Y1. Further, the drive source support member Y11 includes two Y
The end of the Y-axis guide rail Y13 is attached, and the other end of the Y-axis guide rail Y13 is attached to the rail support member Y12 attached to the Y-axis arm 71. are arranged in parallel to the Y-axis arm Y1. The feed table Y3, which has a sliding part that slides on the Y-axis guide rail Y13 and a threaded part that screws with the Y-axis ball screw Y2, is moved on the Y@guide rail Y13 by the Y-axis ball screw Y2 that is rotated by the Y-axis air motor YAM. slides and performs a linear motion according to Y@guide rail Y13. Each of these configurations has one X-axis arm, a Y-axis arm Y1, and a Z-axis arm Z1 in common.

And, the feed base X3 of X-axis arm x 1 is ZltIIIl
The feed base Z3 of the arm Z1 is attached to each other,
A Y-axis arm Y1 is attached to the lower part of the Z-axis arm Z1. The feed base Y3 of the Y-axis arm Y1 is equipped with a coating gun and its attachment means.

Figures 3 and 4 regarding the painting gun and its mounting means.
This will be explained using an enlarged view of the main part of the figure.

A suspension bearing 1 is firmly fixed to the feed base Y3 by a mounting member 2, and a horizontal rotation member 4 is pivotally supported on the movable shaft 3 of the suspension bearing 1.
Oscillating actuators AC1 and AC2 for first and second rotations, a first painting gun GUNI, a second painting gun GUN2, etc., which will be described later, are suspended.

That is, like the Y-axis in this embodiment, it is composed of an air motor or the like that moves the feed table Y3 to which a painting gun or the like is attached, and -
A suspension bearing is attached to the paint gun drive means for moving the paint gun to a predetermined position in dimensional or two-dimensional or three-dimensional space.

A fixed side of a first swinging actuator AC1 is fixed to the horizontal swinging member 4, and a shaft 1 of the first swinging actuator AC1 is fixed to the movable side of the first swinging actuator AC1.
A turning assist member 5 is attached to 0.

The horizontal turning member 4 has a rod attachment part 4a,
The first double-acting cylinder CL1 and the connecting portion 6 of the piston rod CL11 are connected to each other by a shaft 6a. The cylinder portion of the first double-acting cylinder CLI is fixed to a cylinder mounting member 7 that is vertically supported by an auxiliary piece 8a that is fixed to the auxiliary member 8 of the cylinder mounting member fixed to the feed base Y3 so as to stand upright. ing. The upper end of the movable shaft 10 of the first swinging actuator AC1 is fixed to the swing assisting member 5, and the lower end thereof is fixed to the swinging member 11. A first paint gun GUN1 is screwed to the rotating member 11 by a first paint gun mounting member 12. The paint spraying angle of the first paint gun GtJN1 can be set around the screw 12a. Usually, the movable shaft 3 of the suspension bearing 1, the movable shaft of the horizontal rotation member 4, the first
The central axes of the painting gun GUN1 in the spraying direction are coaxially arranged. Therefore, even if the rotation auxiliary member 5 rotates 18,080 degrees or the horizontal rotation member 4 rotates, the first painting gun GUN
The central axis of the injection direction of No. 1 does not move.

The rotating member 11 is bent by 06 degrees, and the second coating gun GUN2 is disposed at the bent end. That is, the fixed side of the second swinging actuator AC2 is fixed to the swinging member 11, and the upper end of the movable shaft 21 is fixed to the cylinder support part 22, and the lower end thereof is fixed to the gun swinging member 23. ing. Second double acting cylinder CL2
One end of the piston rod CL11 on the cylinder side is pivotally supported by the cylinder support member 22, and the end of the piston rod CL11 is
It is pivotally supported at the end of a letter-shaped drive arm 25. The L-shaped bent portion of the L-shaped drive arm 25 is pivotally supported by the gun rotation member 23. A linear arm 24 is also pivotally supported on the gun rotating member 23, and the ends of both arms 24 and 25 are pivotally supported on a second painting gun mounting member 26. Further, a second paint gun GLJN2 is screwed to the second paint gun mounting member 26 with a spacer interposed therebetween.

Next, the posture of the painting gun shown in FIGS. 5 to 8, that is, the first
The attitude of the coating gun will be further described using an explanatory diagram illustrating the position of the rotating member 11 when the double-acting cylinder CLI and the first swinging actuator AC1 are driven.

5 to 8 are cross-sectional views showing main parts taken along the line A--A in FIG. 4.

FIG. 5 shows the state in which the first swinging actuator AC1 and the first double-acting cylinder CL1 are in the position shown in FIG. 4 using solid lines. Then, when only the piston rod CL11 of the first double-acting cylinder CL1 is changed to the cap side, the coupling portion 6 moves and the horizontal rotation member 4 rotates by 01 degrees as shown by the dashed line. Horizontal turning member 4
is fixed to the fixed side of the first swinging actuator AC1, so the swinging member 11 is rotated by 01 degrees.

Further, when the movable side of the first swinging actuator AC1 is rotated by 02 degrees, the swing member 11 is rotated by 02 degrees and reaches the position shown by the dashed line.

That is, the piston rod CL of the first double-acting cylinder CLI
11 toward the cap side, the horizontal rotation member 4 rotates by 01 degrees as shown in FIG. , move the rotating member 11 from the solid line position in FIG.
It will rotate once.

Furthermore, at the position indicated by the solid line in FIG. 5, the movable side of the first swinging actuator ACI rotates 02 degrees, and the swing member 11 rotates 02 degrees from the position shown in FIG. 5, as shown in FIG. , the second painting gun GUN2 is rotated by 02 degrees in the horizontal position.

Further, at the position indicated by the solid line in FIG. 5, the piston rod CL11 of the first double-acting cylinder CLI is moved toward the cap side, and the first swinging actuator AC1 is moved toward the cap side.
When the movable side is rotated, the second painting gun GUN2 is rotated horizontally by 01102 degrees as shown in FIG.

At this time, if the angle θ1 is set to 90 degrees and θ2 is set to 180 degrees, the swing member 11 is moved to the second swing member by the first double-acting cylinder CLI and the first swing initial actuator ACI.
The stopping position of the painting gun GUN2 can be set every 90 degrees in the horizontal position.

On the other hand, the central axis of the spraying direction of the second coating gun GUN2 attached to the rotating member 11 changes as follows.

When the piston rod CL21 of the second double-acting cylinder CL2 is on the head side, the central axis of the second painting gun GuN2 is aligned with the central axis of the second swinging actuator AC2, as shown by the solid line in FIG. It is perpendicular to the bending angle of 06 degrees of the rotating member 11 on the same axis, that is, it is inclined at 64 degrees with respect to the central axis of the first coating gun GUNI. When the piston rod CL21 of the second double-acting cylinder CL2 is on the cap side, the second double-acting cylinder CL2
The center axis of the painting gun GUN2 changes by 05 degrees, and the center becomes θ4-θ5 degrees.

That is, as shown in the main part plan views illustrating the rotation of the second swinging actuator AC2 in the axial direction in FIGS. 9 and 10, the second coating is applied to the position indicated by the dashed line in FIG. When the gun GLIN2 is present, the state becomes as shown by the solid line in FIG. In this state, the second swinging actuator AC2
When the cylinder is rotated by 03 degrees, the cylinder support member 22 is rotated by 03 degrees, and at the same time, the gun rotating member 23 and the second coating gun mounting member 26 are rotated as one, so the second coating is not shown in FIG. This is the position of gun GUN2. 2nd paint gun GUN
The center of the injection direction of No. 2 changes from 04-05 degrees in FIG. 9 to a position where the movable axis of the second swinging actuator AC2 is a line-symmetrical axis.

However, when the second painting gun GUN2 is in the position shown by the solid line in FIG.
Even if it rotates by θ3 degrees, since the second painting gun GuN2 is set on the extension of the same axis as the movable axis of the second swinging actuator AC2, the center of the injection direction of the second painting gun GLJN2 will be never changes.

For example, the bending angle of the rotating member 11 is θ4-45 degrees, the central axis of the second painting gun GUN2 is set on the central axis of the movable shaft 21 of the swinging actuator AC2 for rotating the painting gun, and the second double-acting If the center of the spray direction of the second paint gun GtJN2, which is changed by the formula cylinder CL2, is set to change by 65-22°5 degrees in the vertical direction,
When the piston rod CL21 of the second double-acting cylinder CL2 is set to the head side, the injection direction of the second paint gun GUN2 is at a position 04-45 degrees angularly displaced from the downward vertical direction, and when the piston rod CL21 is set to the cap side ,
The position is θ4-05-22.5 degrees.

Then, the second swing actuator AC2 is 03=18
When the second coating gun GUN2 rotates by 0 degrees, the vertical spray angle becomes θ4+θ5=67.5 degrees.

In this way, the first double-acting cylinder CLI and the first swinging actuator AC1 are used to horizontally rotate the second painting gun GUN2. Therefore, the first
The swinging actuator for swinging is intended for swinging, and any swinging means that can swing by a predetermined rotation angle and maintain that state can be used. Furthermore, for the first double-acting cylinder CLI, any reciprocating means that can convert linear motion into rotational angular displacement and maintain that state can be used.

Similarly, the second double-acting cylinder CL2 and the second swing-swinging actuator AC2 also have reciprocating means that can convert linear motion into rotational angular displacement and maintain that state, and can rotate by a predetermined rotational angle. The use of a turning means that can maintain that state is gradient. Further, the paint spraying angle of the second painting gun is angularly displaced in two stages by the reciprocating means, but as in the embodiment shown in FIG. The paint spraying angle of the paint gun GUN2 is perpendicular to the rotating member 11, and the second paint gun GUN
The second rotational swing actuator AC controls the paint injection angle of 2.
Although it is set on the same axis as the movable axis of 2,
It is not necessary to set the paint spraying angle of the second painting gun GLIN2 on the same axis as the movable axis of the second swinging actuator AC2.

That is, the paint spray angle of the second paint gun GUN2 is set to the second paint spray angle.
The setting on the same axis as the movable axis of the swinging actuator AC2 is intended to set the vertical angular displacement of the second painting gun GLIN2 in three stages. Unless the paint injection angle of the gun GUN2 is set on the same axis as the movable axis of the second swinging actuator AC2, the vertical angular displacement of the second painting gun GUN2 can be set in four stages.

For example, the bending angle θ6 of the swing member 11 is set to 75 degrees, the movable axis of the second swing swing actuator AC2 is perpendicular to the bending angle θ6, and the 2 painting gun GUN2
By setting the paint spray angle of 04=60 degrees and θ5-30 degrees, the paint spray angle of the second paint gun GtJN2 can be angularly displaced to 30 degrees, 60 degrees, 90 degrees, and 120 degrees.

These, the bending angle of the rotating member 11 and the second coating gun GU
The paint spray angle of N2 is set using the first and second paint guns G.
This is a matter arbitrarily determined based on the paint spray floor angle of UN1 and GUN2, the properties of the object to be coated, etc.

Next, a pneumatic circuit for driving the mechanism shown in FIGS. 1 to 4 will be explained using FIGS. 11 to 14.

Figure 11 shows the first painting gun GUN1 and the second painting gun G.
This is a pneumatic circuit for UN2's gun attitude control system and gun operation control system.

The air pressure supplied from a pneumatic pressure source such as an air pump is filtered with an automatic drain to remove dust and moisture, the pressure is adjusted with a pressure reducing valve, and the lubricant is supplied with a lubricator using a well-known air pressure adjustment method. A predetermined air pressure is obtained by the unit AtJ and the air pressure is supplied to each valve.

Gun horizontal θ1 rotation valve RZ consisting of 5 boat 2 position valves controlled by np sub-control by solenoid G21
The air pressure guided to θ1 is applied to the first double-acting cylinder CLI.
Install the piston rod CLII on the head side or cap side.
By displacing , the position of the second painting gun GUN2 is rotated by 01 degrees in the horizontal direction. Also, solenoid G22
The air pressure guided to the gun horizontal θ 2-degree rotation valve RZθ2, which consists of a 5-boat 2-position valve whose opening and closing are controlled by
It can rotate by 22 degrees and change the position of the second painting gun GUN2 by 02 degrees in the horizontal direction.

Similarly, the air pressure guided to the vertical angle 05 setting pulp Hθ5 consisting of a 5-boat 2-position valve controlled to open and close by a solenoid G23 moves the piston rod CL21 of the second double-acting cylinder CL2 to the head side or cap side. , and the vertical angle of the second painting gun GUN2 is changed by 05. And solenoid G2
The air pressure applied to the vertical direction angle 03 setting pulp Hθ3 consisting of a 5-boat 2-position valve whose opening and closing are controlled by 4 allows the second swinging actuator AC2 to rotate θ33 degrees, and the second painting gun GUN2 The vertical angle of is changed by θ4-θ5 degrees. Note that there is a non-return check between the boats of the first and second double-acting cylinders CLI and C10 and the first swinging actuators AC1 and AC2 and the boats of the valves RZθ1, RZθ2, HO2, and HO2. A speed controller in which a valve and a variable throttle valve are connected in parallel is inserted to arbitrarily set the moving speed of the piston rod and the turning speed of the actuator.

In addition, the air pressure from the air pressure adjustment unit AU is controlled by the air supply valve GUN11, which is a 3-boat 2-position valve that is controlled to open and close by a solenoid (32G), and the air supply valve G, which is a 3-boat 2-position valve that is controlled by a solenoid (32G).
Guided by UN 21, the first painting gun GUN1, the second
Used as spray air for painting gun GUN2. Further, the first paint gun GUN1 and the second paint gun GLIN2 are provided with paint supply control valves GUN 1G and GUN 2G, which are two-boat two-position valves that are controlled to open and open by a solenoid Q25 and a solenoid 328. The air pressure from the pressure source is guided through a filter with an automatic drain discharge valve and a speed controller consisting of a check valve and a variable throttle valve to control cylinders (not shown) in the first painting gun GUN1 and the second painting gun GUNZ. Then, the spray paint sprayed from the first paint gun GUN1 and the second paint gun GUN2 is controlled.

Air pressure supplied from the air pressure adjustment unit AU is guided to each axis position setting system.

FIG. 12 shows the pneumatic circuit of the X-axis position setting system.

The air pressure supplied to the drive system on the X-axis arm x1 side is supplied to the X-axis air motor valve XFR, which is made of 5-boat 3-position pulp and whose opening and closing are controlled by solenoid X21F and solenoid X21R. The X-axis air motor XAM performs forward rotation when the solenoid X21F is driven, and performs reverse rotation when the solenoid X21R is excited.

The rotational speed of the X-axis air motor XAM is determined by the throttle valve X26 on the exhaust boat side of the X-axis air motor By opening and closing, the circuit of the throttle valve X26 can be bypassed.

Therefore, the excitation of the solenoid X22 causes the X-axis air motor XAM to rotate at high speed.

On the other hand, the air pressure led to the pneumatic circuit of the X-axis position setting system is reduced by the pressure reducing valve
23 and a three-boat two-position valve whose opening and closing are controlled by a manual pushbutton switch. Normally, the reduced air pressure is guided to the X-axis air brake XAB by the X-axis air brake valve XB and is in a braking state, so the X-axis air motor
Constrains the rotation of. Said X-axis air brake valve X
When B is closed, the air pressure of the X-axis air brake XAB is discharged by the quick exhaust valve X24, and the brake state of the X-axis air brake XAB is released. Note that the brake speed at this time is determined by a speed controller consisting of a check valve and a throttle valve.

In this way, the pneumatic pressure circuit of the position setting system on the X-axis arm x 1 side operates, but the Y-axis position setting system and the first
Since the pneumatic circuit of the Z-axis position setting system shown in FIG. 4 operates in the same manner, the explanation of its operation will be simplified.

Y-axis air motor valve VFR is solenoid Y21F
The opening/closing is controlled by the solenoid Y21R.

The Y-axis air motor YAM is controlled to rotate at high speed by a high-speed setting valve YS consisting of a two-boat, two-position valve whose opening and closing are controlled by a solenoid Y22. The Y-axis air brake YAB controls the air pressure reduced by the pressure reducing valve Y25 by an air brake valve YB consisting of a 2-boat 2-position valve. Note that the throttle valve Y26 is used to control the rotational speed of the Y-axis air motor YAM, and the rapid exhaust valve Y24 is used to control the Y-axis air brake YAB.

The air pressure supplied to the position setting system on the Z-axis arm Z1 side in FIG.
A forward valve ZF consisting of two boat position valves, a reverse valve ZR consisting of three boat two position valves whose opening and closing are controlled by a solenoid 228, and a two-axis air valve consisting of five boat three position valves whose opening and closing are controlled by these valves. The two-shaft arm motor ZAM is controlled in forward and reverse directions by the motor valve ZFR. The rotational speed of the Z-axis air motor ZAM is determined by the throttle valve Y26 on the exhaust boat side. The machine arm motor ZAM can be rotated at high speed.

On the other hand, the air pressure supplied to the position setting system on the Z-axis arm Z1 side is also guided to the pressure reducing valve 225, where it is reduced to a predetermined pressure, and the air pressure is reduced to a predetermined pressure to open and close the three-boat two-position 2-axis air brake ZA through the air brake valve ZB consisting of a syon valve.
Guided by B. Normally, the reduced air pressure is guided to the Z-axis air brake ZAB by the air brake valve ZB, resulting in a braking state, thereby restricting the rotation of the Z-axis 1-ar motor ZAM. When the valve ZB closes, the air pressure of the Z-axis air brake ZAB is discharged by the quick exhaust valve Z24, and the Z-axis air brake ZA
Release the brake state of B.

The above-mentioned axis position setting system, coating gun attitude control system, and gun operation control system are controlled by a microcomputer, etc., but since they are not directly related to the gist of the present invention, a description of the control will be omitted.

As described above, in the embodiment of the present invention, the second reciprocating gun is constructed of a double-acting cylinder, etc. operated by air pressure, which angularly displaces the paint injection angle of the second paint gun in two steps: 04 degrees and θ4-θ5 degrees. and a swinging actuator operated by pneumatic pressure that changes the paint spraying angle of the second painting gun symmetrically with respect to the movable axis of the second painting gun, which is angularly displaced in two stages; A first turning means comprising a turning member to which a reciprocating means and a second turning means are attached, and a swinging actuator for turning operated by air pressure that horizontally turns the turning member by 62 degrees about its movable axis. ,
a first reciprocating means constituted by a double-acting cylinder operated by air pressure, etc., which rotates the first rotation means for rotating the rotation member horizontally about its movable axis; and a first reciprocating means for rotating the rotation member; The paint spray angle setting mechanism of the coating gun is composed of a first coating gun disposed on a movable shaft of a first rotation means for suspending the first coating gun, and a suspension bearing means attached to the first rotation means for suspending the first coating gun.

The paint spraying angle of the second paint gun is set on the extension line of the movable axis of the second swinging actuator disposed on the swinging member, and the angle has an inclination of 45 degrees in the vertical direction. For objects, θ4-06-45 degrees, θ5
= 22.5 degrees, the paint spray angle of the second paint gun will be -67.5 degrees, -45 degrees, -22.5 degrees in the vertical direction.
Angular displacement can be made by degrees, 22.5 degrees, 45 degrees, and 67.5 degrees.

Also, if θB=751 and θ4=60 degrees and θ5-30 degrees, the paint spraying angles of the second paint gun will be 1120 degrees, -90 degrees, -60 degrees, -30 degrees, and 30 degrees in the vertical direction. Angular displacement can be made by degrees, 60 degrees, 90 degrees, and 120 degrees.

Then, rotation θ2 of the first swinging actuator =
If the rotation by the first reciprocating means is set to 01=90 degrees, the rotation member, that is, the second painting gun, is set to 0 degrees, 90 degrees.
It can rotate 0 degrees, 180 degrees, and 270 degrees.

Therefore, by simultaneously driving the first turning means and the first reciprocating means and the second turning means and the second reciprocating means, the angle of the second painting gun can be set from multiple angles in the three-dimensional space.

When used in combination with the first painting gun, it is possible to set the entire paint spray angle necessary for the object to be painted.

[Effects of the Invention] As described above, the present invention includes a first turning means, a first reciprocating means for rotating the first turning means about its movable axis, and a first turning means for rotating the turning member. a second reciprocating means for angularly displacing the paint injection angle of a first painting gun disposed on an extension of the movable axis of the means and a second painting gun attached to the rotating member in two stages; Since it consists of a second turning means that changes the paint spray angle of the second paint gun that is angularly displaced in symmetry with its movable axis, the paint spray angle of the paint gun can be changed without using an expensive multi-joint arm using a hydraulic system. The present invention can be used as a paint spray angle setting mechanism for a paint gun of an inexpensive painting robot that can control the paint spray angle and set the paint spray angle from multiple angles.

[Brief explanation of drawings]

FIG. 1 is a front view of a painting robot according to an embodiment of the present invention, and FIG.
The figure is a side view of the painting robot shown in Figure 1, Figure 3 is a configuration diagram of the main parts of the position setting means, Figure 4 is an enlarged front view of the main parts of the painting gun and its attachment means, and Figures 5 to 5 are Figure 8 is a sectional view of the main part taken along the line A-A in Figure 4, and is an explanatory diagram showing the horizontal angle change of the painting gun, and Figures 9 to 10 are
Explanatory diagram showing the vertical angular displacement of the coating gun in a plan view of the main part of the swinging actuator for rotation as seen from the axial direction, No. 11
Figures are pneumatic circuit diagrams for the gun attitude control system and gun operation control system, Figure 12 is the pneumatic circuit diagram for the X@position setting system, and Figure 13 is
The figure is a pneumatic circuit diagram of the Y-axis position setting system, and FIG. 14 is a pneumatic circuit diagram of the Z-axis position setting system. In the figure, ACl...first swing swing actuator, AC2
...Second swing swing actuator, GUNl...
・First painting gun, GUN2... Second painting gun, CL'l... First double acting cylinder, C10... Second double acting cylinder, CLll, CL21... Piston rod, 1.・・・
Suspension bearing, 4... Horizontal turning member, 5... Turning auxiliary member, 10.21... Movable shaft, 11...
12... First painting gun mounting member, 22... Cylinder support member, 26... Second painting gun mounting member. In addition, in the figures, the same reference numerals and the same symbols indicate the same or equivalent parts.

Claims (9)

[Claims] (1) a first pivoting means for attaching the fixed side to a suspension bearing fixed to the painting gun driving means and rotating a pivoting member attached to the movable side about the movable shaft; and the first pivoting means. a first reciprocating means that rotates about the movable shaft; a first painting gun disposed on an extension of the movable shaft of the first rotating means that rotates the rotating member; and a first painting gun that is attached to the rotating member. a second reciprocating means for angularly displacing the paint spraying angle of the second paint gun in two stages; and a second reciprocating means for changing the paint spraying angle of the second paint gun angularly displacing the second paint gun in two stages symmetrically with respect to an extension line of its movable axis. A paint spray angle setting mechanism for a paint gun characterized by comprising two rotating means. (2) The paint injection angle setting mechanism for a paint gun as set forth in claim 1, wherein the first reciprocating means and the second reciprocating means are constituted by double-acting cylinders. (3) The paint injection angle setting mechanism for a paint gun as set forth in claim 1, wherein the first turning means and the second turning means are constituted by swinging actuators. (4) Claims 1 or 2 or 3, characterized in that the first turning means, the second turning means, the first reciprocating means, and the second reciprocating means are pneumatic. The paint spray angle setting mechanism of the paint gun described in . (5) The angle of rotation by the first reciprocating means is 9
The paint spray angle setting mechanism for a paint gun according to claim 1, wherein the paint spray angle setting mechanism is set to 0 degrees. (6) The paint injection angle setting mechanism for a paint gun as set forth in claim 1, wherein the angle at which the rotating member is rotated by the first rotating means is 180 degrees. (7) The paint spraying angle of the second paint gun is angularly displaced in two stages at 22.5 degrees and 45 degrees with respect to the vertical axis. Paint spray angle setting mechanism for paint gun. (8) The movable axis of the second turning means is set at 4 degrees with respect to the vertical axis.
8. The paint injection angle setting mechanism for a paint gun according to claim 7, wherein the rotation angle is 5 degrees and the angle at which the rotating member is rotated is 180 degrees. (9) The angle at which the paint spraying angle of the second painting gun is angularly displaced in two steps is 30 degrees and 60 degrees with respect to the vertical axis, and the movable axis of the second rotating means is set with respect to the vertical axis. 2. The paint injection angle setting mechanism for a paint gun according to claim 1, wherein the rotating member is rotated at an angle of 75 degrees and an angle of 180 degrees.