JPS6295162A - Coating robot - Google Patents

Abstract

PURPOSE:To decrease the installation cost of a coating robot and to contrive the small-sizing of an apparatus by hanging a work on the hanging member of a movable arm provided with a coating gun and conveying the work between a carrying-in position of the work and a coating position and between the coating position and a carrying-out position of the work. CONSTITUTION:In a coating robot wherein paint and adhesive or the like are coated on a work, a movable arm 6 is reciprocated by the reciprocating turn of a turn table 4 between a carrying-in position A of the work in a side wherein a carrying-in conveyer 12 exists and an intermediate coating position B wherein a coating booth exists and between the coating position B and a carrying-out position C of the work wherein a carrying-out conveyer 14 exists. A hanging member 15 for conveying the work is fitted to an underside of the tip of a front arm part 62 of an arm 6 and the work 16 is hung thereon and separated in the coating position B and thereafter the work 16 is re-engaged on the member 15 and conveyed. In such a way, installation cost can be decreased and both the simplification and the compating of an apparatus is contrived.

Description

DETAILED DESCRIPTION OF THE INVENTION A0 OBJECTS OF THE INVENTION (1) Field of Industrial Application The present invention relates to a coating robot used to apply paint, adhesive, etc. to a workpiece.

(2) Conventional technology Conventionally, this type of coating robot was
As disclosed in Japanese Patent No. 061, there is known a device that can perform door opening/closing operations in addition to coating operations, but there is no known device that is equipped with a workpiece conveyance function.

(3) Problems to be solved by the invention Therefore, it is necessary to install a workpiece transport device between the workpiece loading position and the coating position, and between the coating position and the workpiece transporting position, which not only increases the equipment cost but also increases the overall cost. There is a problem that the construction becomes complicated and the size of the equipment increases.

In addition to the above, it is an object of the present invention to provide a coating robot that is equipped with a workpiece conveyance function, thereby eliminating the need for a workpiece conveyance device.

B0 Configuration of the Invention (Means for Solving Problems 11) The present invention is configured such that a movable arm equipped with a coating gun can reciprocate between a workpiece loading position and a coating position, and between the coating position and a workpiece unloading position. The present invention is characterized in that the movable arm is provided with a workpiece conveying suspension member that can be engaged with and detached from the workpiece at each of the positions.

(2) Operation The suspension member is engaged with the workpiece located at the workpiece loading position, and the workpiece is suspended and conveyed to the coating position by movement of the movable arm. At the coating position, the hanging member is removed from the workpiece and the coating operation is performed. After the coating operation, the suspension member is engaged with the workpiece, and the movable arm moves to suspend and convey the workpiece to the workpiece unloading position. At the workpiece unloading position, the suspension member is removed from the workpiece.

(3) Embodiment In FIG. 1, the coating robot 1 includes a fixed base 3 fixed to a floor 2, and a rotary base 4 supported by the fixed base 3 so as to be rotatable around an axis perpendicular to the floor 2. , a movable arm 6 connected to the rotary table 4 via a pivot 5 and capable of swinging within a plane including the axis, and a wrist 7 provided at the tip of the movable arm 6 and capable of rotating around the axis. We are prepared. As clearly shown in FIG. 2, a bracket 8 is provided on the wrist 7 and extends in the axial direction thereof, and a coating gun 9 is attached to the bracket 8 via a tilt mechanism 10. It is designed to be able to tilt around an axis perpendicular to the .

The movable arm 6 consists of an upper arm part 61 on the rotary table 4 side and a forearm part 6□ on the coating gun 9 side, and these 61°6□ are connected to the pivot 11.
are connected to each other through the plane, and can be bent and stretched within the plane. As shown in FIG. 3, the movable arm 6 is moved between the workpiece carry-in position A on the side where the carry-in conveyor 12 exists and the intermediate coating position B where the coating booth 13 exists, as well as between the coating position B and the carry-out position, by the reciprocating rotation of the rotary table 4. It is designed to be able to reciprocate between the workpiece discharge positions C on the side where the conveyor 14 exists.

A workpiece transport suspension member 15 is attached to the lower surface of the tip of the forearm 6□. As clearly shown in FIG.
It consists of a letter-shaped hook 21.

The vertical portion 20a of the mounting member 20 is suspended from the lower surface of the forearm portion 6□, and both hooks 21 are provided at both ends of the horizontal portion 20b. Each hook 21 has a base end portion 21a suspended from the horizontal portion 20b,
It consists of an intermediate part 21b bent at a substantially right angle from the base end 21a, and a distal end part 21c bent at a substantially right angle from the intermediate part 21b to face the base end 21a. The tip of the tip portion 21c is sharply formed to have a cutting edge shape, and the sharp tip serves as a first engagement portion e1 for the workpiece, and the corner between the tip portion 21C and the outer surface of the intermediate portion 21b serves as a second engagement portion e1 for the workpiece. Each functions as a retaining part e2.

The synthetic resin workpiece 16 has a plate-shaped first bent part 16a that is bent at a substantially right angle to the back side of the application surface a on its upper edge, and a plate that is bent at an obtuse angle to the back side of the coated surface a on its lower edge. The plate-shaped reinforcing portions 1 each have second bent portions 16b, and further protrude from the back surface so as to be substantially parallel to the first bent portions 16a.
It has 6c.

A U-shaped groove G along the upper edge of the workpiece 16 is formed by the first bent portion 16a, the reinforcing portion 16C, and the back surface.

Third. As shown in FIG. 5, the workpiece cutting conveyor 12 has a pair of endless bands 221 parallel to each other.
21 is suspended around a plurality of rollers 23I (only one is shown in the figure). A large number of trays 24 on which workpieces 16 are placed on both endless bands 22 degrees. are attached at predetermined intervals, and the trays 24 . and the tray 24 of the other endless band 221 facing it. The work pieces 16 are transported as a set. Each set of trays 24I is rectangular in plan, with bent edges 24a on three sides excluding opposite sides.
is formed.

As shown in FIG. A first telescopic rod 25I is disposed near the endless belt 220 for raising up the workpiece 16 that has been conveyed in a lying state between the endless belts 220. 2
6. are first hydraulic, pneumatic, etc. actuating cylinders that actuate the first telescopic rod 25.

In addition, as shown in Figs. 3 and 6, the workpiece delivery conveyor 14
has a pair of endless bands 22□ that are parallel to each other, and these endless bands 22□ are suspended around a plurality of rollers 23□ (only one is shown in the figure). A large number of trays 24□ on which workpieces 16 are placed are attached at predetermined intervals to both endless bands 22□, and the tray 24□ of one endless band 22□ and the tray 24□ of the other endless band 22□ facing it are attached. The tray 24□ is used as a set for transporting the workpiece 16. Each set of trays 242 has a rectangular shape when viewed from above, and curved edges 24b are formed on three sides excluding opposing sides.

As shown in FIG. 6, in the vicinity of the roller 23□, between both endless bands 22□, the workpiece 1G in an upright state is placed on the workpiece delivery conveyor 14 as it is, and then a second telescopic rod is installed for laying down the workpiece 16. 25□ will be provided. 2
6□ is a second hydraulic or pneumatic operating cylinder that operates the second telescopic rod 25□.

As clearly shown in FIG.
7a and a horizontal portion 17b, a support stand 17 formed in an oval shape is provided, and the workpiece 16 can be placed on the support stand 17 in an upright state during coating work.

Next, the coating work will be explained.

Third. As shown by the chain lines in FIG. 5, the workpiece 16 is placed in a pair of trays 24. The workpiece is placed between the workpieces and the workpiece is brought to the workpiece carry-in position A by the workpiece carry-in conveyor 12 in a lying down state.
will be transported to. When the workpiece 16 is in the laid down state, the tips of the second bent portion 16b and the reinforcing portion 16c are in the tray 24. is in contact with.

The first telescopic rod 251 is in a contracted state as shown by the chain line in FIG.
6, so that the conveyance of the workpiece 16 is not obstructed.

When the workpiece 16 reaches the workpiece carry-in position A, the workpiece carry-in conveyor 12 stops, and the tip of the first telescopic rod 251 is connected to the second bent portion 16b and the reinforcing portion 16c of the workpiece 16.
In between, the reinforcing portion 16c of the back surface faces the vicinity.

As shown by the solid line in FIG. 5, the first actuating cylinder 261 is operated to extend the first telescopic rod 251, and the second bent portion 16b is expanded.
Place the edge of the tray 24. The workpiece 16 is brought into contact with the bent edge 24a of the workpiece 16, and the workpiece 16 is rotated clockwise in FIG. When the workpiece 16 is in the upright state, the tip of the first telescopic rod 25° comes into contact with the corner between the lower surface and the back surface of the reinforcing portion L6c.

The movable arm 6 is rotated to the work loading position A and extended,
Both hooks 2 on the hanging member 15 as shown in FIG. 5(I)
1 is located near the mG opening in the workpiece 16. As shown in FIG. 5 (■), the movable arm 6 is retracted, the tip 21C is loosely inserted into the groove G of the workpiece 6, and the first engaging portion e1 of the tip 21c is inserted between the upper inner surface and the bottom surface of the groove G. Engage with the corner. As shown in FIG. 5 (III), the movable arm 6 is further retracted and the workpiece I6 is lifted up via both hooks 21. By this lifting, the workpiece 16 swings clockwise in FIG. 5 around the corner due to its own weight, and with this swinging, the lower inner surface of the groove G in the workpiece 16 engages with the second engaging part e2. , and the first engaging portion e bites into the corner portion.

The workpiece 16 is reliably suspended by the suspension member 15 by the biting engagement of the first retaining portion e1 and the engagement of the second retaining portion e2.

Rotate the movable arm 6 to application position B, and proceed as shown in Fig. 5 (1) to
In FIG. 1 (1) to (III) corresponding to (III), the work 16 is installed on the support stand 17 in the order of (I[[), (n), (1). In this installation state, the support stand 1 is placed at the corner between the lower surface of the reinforcing portion 16C and the back surface of the work 16.
7 are engaged, and the second bent portion 16b is engaged with the horizontal portion 17b of the support base 17. A coating process is performed on the coating surface a of the workpiece 16 using the coating gun 9.

Similar to the workpiece lifting operation at the workpiece loading position HA, the first
The workpiece I6 is suspended from the suspension member 15 in the order of FIG.

At this time, the workpiece delivery conveyor 14 is stopped, and as shown in FIG.
Located above 4□. The extended state of the second telescopic rod 25□ is symmetrical with the extended state of the first telescopic rod 251 when the workpiece 16 is suspended at the workpiece loading position A.

FIGS. 6(I) to (I[
In I), (III), (II), (1)
The workpieces 16 are placed upright on a pair of trays 24□ facing each other in this order. In this upright state of the workpiece 16,
The tip of the second telescopic rod 25□ contacts the corner between the lower surface and the back surface of the reinforcing portion 100, and the edge of the second bent portion 16b contacts the bent edge 24b of the tray 24□.

Operate the second operating cylinder 26□ to open the second telescopic rod 25.
□ is contracted until its tip is located below the tray 24 □, and the workpiece 16 is rotated clockwise in FIG. , the workpiece 16 is placed between a pair of trays 24 □ facing each other in the same laid-down state as when it was carried in.

The workpiece 16 is conveyed to a drying oven or the like by the workpiece carry-out conveyor 14, and the movable arm 6 is rotated from the coating position B to the workpiece carry-in position A to prepare for the next workpiece coating operation.

Large, complex-shaped parts, such as vehicle instrument panels, are manufactured by bonding a composite sheet consisting of a polyvinyl chloride skin layer and a foamed polypropylene cushion layer adhered to it to an ABS resin core material. Although the coating robot 1 is effective in applying adhesive to the core material, it can also be used for painting.

C9 Effects of the Invention According to the present invention, a workpiece is suspended by a suspension member of a movable arm equipped with a coating gun and transported between a workpiece loading position and a coating position and between a coating position and a workpiece revealing position. Therefore, unlike the conventional method, it is not necessary to provide a workpiece conveyance device between each position, thereby reducing equipment costs and making it possible to simplify and downsize the configuration.

[Brief explanation of drawings]

Fig. 1 is a front view of an embodiment of the present invention, and Fig. 2 is a front view of an embodiment of the present invention.
3 is a plan view showing the movement of the movable arm; FIG. 4 is a perspective view of the suspension member; FIG. 5 is a front view showing the workpiece suspension operation at the workpiece loading position; FIG. 6 is a front view showing the workpiece installation operation at the workpiece unloading position. A... Work loading position, B... Application position, C...
Workpiece delivery position, 6... Movable arm, 9... Coating gun, 15... Hanging member, 16... Workpiece patent applicant Honda Motor Co., Ltd. f5-
Figure 1 Figure 4

Claims (1)

[Claims] A movable arm equipped with a coating gun is configured to be able to reciprocate between a workpiece loading position and a coating position, and between the coating position and a workpiece loading position, and a workpiece conveying suspension member capable of engaging and disengaging the workpiece at each of the positions. The coating robot is provided with a movable arm.