JPS6140377Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a coating range confirmation device used during teaching of a painting robot.

2. Description of the Related Art Conventionally, teaching has been performed to make a painting robot memorize the movement locus of a spray gun depending on the object to be painted. During this teaching, move the spray gun to what you think is the desired position, and then adjust the spray gun to the desired position while actually spraying the paint onto the object and checking the paint pattern. , this position is stored in the storage device of the painting robot. However, when adjusting the spray gun position while actually spraying paint and checking the paint pattern as described above, it is necessary to spray more paint on top of the uncured paint and check the paint pattern. At this time, the discrimination between the painting pattern at the previous position and the subsequent position becomes unclear, making it difficult to perform accurate teaching. This can be countered by adjusting the position of the sprayed paint after it has hardened or replacing it with a new object, but this can result in long teaching times and a large number of objects to be repainted. There are drawbacks.

This invention aims to eliminate the above-mentioned conventional drawbacks and provide a coating range confirmation device that can accurately teach a coating robot in a short period of time.

An embodiment of this invention will be described below based on the drawings.

FIG. 1 shows a state in which a coating range confirmation device 2 is attached to a coating robot 1 for coating the lower surface of an automobile body. There are various types of robots 1, but in FIG. 1, the robot 1 is mounted perpendicular to the drawing paper along a guide stand 4 in order to support the spray gun 3 so that it can be moved to a number of points on a desired trajectory. A support base 5 that is movable in the axial direction, an arm 7 that can swing around a support shaft 6 attached to the support base 5, and a rod 8 fitted to the arm 7 so as to be movable in the axial direction.
The rod 8 includes a rotating member 10 rotatably supported by a support shaft 9 at the tip thereof, and a gun holding support member 12 rotatably attached to the rotating member 10 via a support shaft 11. . The application range confirmation device 2 removes the nozzle 3b screwed onto the screw 3a at the front of the spray gun 3 shown in FIG. They are screwed together and installed as shown in Figure 2. At the front of this base 13,
Two confirmation bars 14 are used to confirm the application range.
14 is attached at an angle α. This angle α
is set to be the same as the paint ejection angle α of the spray gun. Further, the confirmation bar 14 is configured to be expandable and retractable so that it can be used even when the application range is changed from _l1 to _l2 , for example. That is, in the confirmation bar 14, a rod 14b having a smaller diameter than the rod 14a is slidably fitted in the axial direction to a rod 14a whose one end is fixed to the base body 1, and a rod 14b having a smaller diameter than the rod 14b is fitted into the rod 14b. 1
4c is fitted so as to be slidable in the axial direction. This verification bar 14 therefore closely resembles the structure of a rod antenna. In addition, 3c is spray gun 3
The paint supply hole, t, is the thickness of the paint jetted from the slit-shaped nozzle of the spray gun 3.

With the above structure, when teaching the painting robot 1 the movement trajectory of the spray gun 3, first remove the nozzle 3b of the spray gun 3, and attach the application range confirmation device 2 to the front of the spray gun 3 instead. . In this case, the confirmation bar 14 is naturally installed so that the position indicates the paint ejection range of the nozzle 3b. Then, the object to be painted is placed in the painting position. Here, the teaching control device of the painting robot 1 is operated to control the support stand 5, arm 7, rod 8, rotating member 10, and support member 12.
The coating range confirmation device 2 is moved to a predetermined position by moving each of them independently, and this position is memorized. Perform this teaching operation with spray gun 3.
This is done for many points on the movement trajectory. In addition, since the application range during the above-mentioned teaching is the interval l where the tips 14d, 14d of both confirmation bars 14 are in contact with the surface of the object to be coated, it is possible to quickly and accurately confirm the application range while teaching. can. Note that when the application range is to be made smaller, the confirmation bar 14 may be reduced, and when the application range is to be made larger, the confirmation bar 14 may be extended.

In the above embodiments, the confirmation bar is configured to be extendable and retractable, but it may be made to have a fixed length depending on the application range.

As described above, this invention allows teaching of the coating robot while checking the coating area using the coating area confirmation device equipped with two confirmation bars, making the teaching work easy and requiring no skill. Teaching can be done accurately in a short time without having to do it. Further, since paint is not applied to the object to be painted during teaching, the object to be painted does not have to be reworked. Furthermore, the structure of the application range confirmation device is simple, and it is safer than the conventional example which uses lamp irradiation from a power source because there is no risk of fire or the like. In addition, if the confirmation bar is configured to be extendable and retractable, there is an advantage that the application range can be easily changed.

[Brief explanation of the drawing]

Fig. 1 is a front view of an application range confirmation device according to an embodiment of the present invention mounted on a painting robot, and Fig. 2 is an enlarged partial cross-sectional view of the attachment part of the application range confirmation device of Fig. 1. FIG. 3 is a partially sectional front view showing the spraying situation at the tip of the spray gun. 1: Painting robot, 2: Application range confirmation device,
3: Spray gun, 13: Base, 14: Confirmation bar, 14a, 14b, 14c: Rod.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) A coating range confirmation device that is removably attached to a painting robot, which includes two confirmation bars at the front of the base of the confirmation device that correspond to the paint ejection angle of a spray gun. A coating range confirmation device for painting robots installed at the same angle. (2) The application range confirmation device for a painting robot according to claim 1, wherein the confirmation bar is configured to be extendable and retractable by fitting together a plurality of rods having different diameters.