JPS6314923Y2 - - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a robot for painting car bodies.

It takes a lot of time to paint the interior and exterior surfaces of the car body using a single robot, and high productivity cannot be achieved. In order to deal with this problem, if one attempts to shorten the painting time by simply arranging a plurality of robot bodies, a large painting booth is required. Generally, painting booths are formed in the form of a tunnel, so if the painting booth is large, a large amount of money will be required for air conditioning in the booth, which is impractical. On the other hand, when painting the interior and exterior surfaces of a vehicle body, opening and closing of the door is inevitably required, and conventionally, this opening and closing of the door has been performed manually. However, if manual labor is required only to open and close the door, the economic effect of introducing robots will be halved, and it will be difficult to simultaneously paint the interior and exterior surfaces of the vehicle body in the same painting booth.

This invention was made in view of the above points,
The purpose is to provide a car body painting robot that can simultaneously paint the inside and outside surfaces of a car body in a short time without human intervention in the same painting booth.

Next, a preferred specific example of the present invention will be explained based on the drawings.

In the figure, a pit 3 is formed on the floor of a painting booth 2 for painting the interior and exterior surfaces of a vehicle body 1. A pair of continuous parallel rails 4 are provided in the pit 3. Mobile carts 5 and 6 are placed movably in the A direction. Trolley 5
and 6 are each provided with a hydraulic motor,
The carriages 5 and 6 are each independently moved in the A direction by the operation of the hydraulic motor. As the moving mechanism for each of the carriages 5 and 6 including the hydraulic motor, a known mechanism using a rack, pinion, etc. can be applied. The carts 5 and 6 are provided with robot bodies 7 and 7a, respectively.

Since the main bodies 7 and 7a have the same configuration, the main body 7 will be explained in detail below, and the corresponding members in the main body 7a will be indicated with the same numeral code and a symbol a, and detailed explanation will be omitted. .

In the main body 7, a base 8 is placed on the traveling carriage 5, and the base 8 is provided with a turntable 10 that is rotatable in the direction B about an axis 9. The table 10 is rotated in the B direction by a hydraulic rotary actuator 11 provided within the base 8. A support column 13 connected to the table 10 via a shaft 12 is swung in the C direction about the shaft 12 by a hydraulic cylinder device 14 provided between the table 10 and the support column 13. An arm 16 is connected to the tip of a column 13 extending upward from the base 8 via a shaft 15. The arm 16 extending laterally to the column 13 is connected between the table 10 and the arm 16. Hydraulic cylinder device 1 provided
7, it is swung in the D direction about the shaft 15. A bendable wrist 19 covered by a dustproof cover 18 is attached to the tip of the arm 16.
The bending direction and degree of bending of the wrist 19 are controlled by a hydraulic rotary actuator (not shown) provided on the arm 16. As the wrist 19, what is known as a so-called elephant nose can be used. A bracket 21 is fixed to a rotary rod 20 protruding from the tip of the wrist 19, and a paint spray nozzle 22 and a door opening/closing member 23 are attached to the bracket 21. The member 23 has engaging claws 24 and 25, and the door 26 of the vehicle body 1
When opening and closing, either of the claws 24 and 25 is inserted into the window glass mounting slit of the door 26.
The rod 20 is rotated in the E direction about an axis 27 by the operation of a hydraulic rotary actuator provided on the arm 16 or the wrist 19 itself.

Paint, spray air, and control air are supplied to the nozzle 22 via piping 28 and the like. Telescopic covers such as bellows 31 and 32 are provided between the closing plates 29 and 30 provided at both ends of the rail 4 and the bogies 5 and 6, respectively.
A telescopic cover 33 is also provided between the two. Hydraulic motors for trucks 5, 6, main bodies 7 and 7a,
Pneumatic and hydraulic supply cables, paint supply cables, etc. to the rotary actuator, cylinder device, nozzle, etc. are arranged within the bellows 31, 32. The vehicle body 1 is suspended from above and transported in the F direction by a transport device such as a trolley conveyor.

Car body painting robot 50 configured as described above
As the vehicle body 1 is transported in the F direction, the main bodies 7 and 7a are transported in the A direction parallel to the transportation direction of the vehicle body 1 by the trolleys 5 and 6, and at the same time, the vehicle body 1 is painted according to the painting program stored in advance in the storage device. perform the painting operation. Then, when the main body 7a opens the door 26 and paints the inner surface of the vehicle body 1, the main body 7 simultaneously paints the front outer surface of the vehicle body 1, and when the inner surface of the vehicle body 1 is finished being painted by the main body 7a, The main body 7 closes the door 26, and the main body 7a paints the rear outer surface of the vehicle body 1.

The positioning of the nozzles 22 and 22a with respect to the vehicle body 1 and the positioning of the members 23 and 23a with respect to the door 26 are performed by supplying hydraulic pressure to each hydraulic motor, each rotary actuator, and each hydraulic cylinder device according to the painting program, and moving the carriages 5, 6. , arms 16, 16
This is done by moving and swinging parts a and the like.
The start and stop of paint injection is similarly performed based on the painting program. The painting program is stored in the storage device through a so-called teaching operation, and therefore the robot 50 is constructed as a teaching-playback type.

A similar robot is provided on the right side of the vehicle body 1 toward the downstream side in the conveyance direction. Paint the outer and inner surfaces of the left half of 1.

As mentioned above, according to the present invention, since two robot bodies that share the work are arranged in one painting booth, painting can be done in a short time and can be completed with a small amount of movement. To provide air conditioning in a booth with simple equipment without requiring a booth. In addition, each robot itself can open and close the door, saving human labor.
Full automation is possible, and the interior and exterior surfaces of the vehicle body can be painted simultaneously in the same painting booth.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a preferred example according to the present invention, FIG. 2 is a side view of the example shown in FIG. 1, and FIG.
The figure is a detailed explanatory view of the wrist, etc. of each painting robot body shown in FIG. 1. 1... Vehicle body, 5, 6... Moving trolley, 7, 7a...
... Painting robot body, 8 ... Base, 10 ... Rotating table, 13 ... Support, 16 ... Arm, 19
... Wrist, 22 ... Paint spray nozzle, 23 ... Door opening/closing member.

Claims (1)

[Scope of utility model registration request] It consists of two movable trolleys that move parallel to the direction of vehicle body transport on a continuous pair of rails, and a painting robot body mounted on each movable trolley, and each painting robot body is rotatably mounted on the movable trolley. a rotary table, a column swingably mounted on the rotary table, an arm swingably mounted on the column, a bendable wrist mounted on the tip of the arm, and a pivot mounted on the tip of the wrist. A car body painting robot comprising a paint injection nozzle and a door opening/closing member which is provided together with the nozzle at the tip of the wrist and has an insertion claw that is inserted into a slit for installing a window glass in a door of a car body.