JPS6333647Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to an industrial robot for painting.

In recent years, various industrial robots for painting have been developed, and, for example, one shown in FIG. 1 is in practical use. That is, a spray gun 2 is attached to the tip of an arm 1 whose drive is controlled in each direction. This arm 1 is connected to a base 4 provided at the top of the main body 3 so as to be rotatably controlled around a vertical axis by a hydraulic cylinder (not shown) in the main body 3, and a hydraulic cylinder 5. The base 4 is tilted so that the tilting is controlled around the horizontal axis.
a first arm portion 6 connected to the upper end of the first arm portion 6; and a second arm portion connected to the upper end of the first arm portion 6 so as to be rotationally controlled about a horizontal axis by a hydraulic cylinder 7. 8, and first, second, and third rotary hydraulic actuators sequentially connected to the tip of the second arm portion 8 so as to be rotationally controlled around horizontal, vertical, and horizontal axes, respectively. 9, 10, and 11, and the rotation shaft 12 of the third rotary type hydraulic actuator 11 is the tip of the arm 1, and the spray gun 2 is attached thereto.

Then, such an industrial robot memorizes the operation of the painting operation by performing the painting operation in advance with the spray gun 2 while holding the handle 13 attached to the second arm part 8, and from then on,
Each hydraulic cylinder is automatically controlled based on the stored contents, and the intended painting operation is automatically repeated.

By the way, in such an industrial robot, there is only one spray gun 2 attached to the tip of the arm 1. This is because the robot is now attempting to perform the painting work that was conventionally performed by a painter using a single spray gun.

However, with such a single spray gun 2, the painting area per unit time is small, and for example, when painting two surfaces that are at an angle of 90 degrees to each other, It is not possible to carry out painting work at the same time, and when painting surfaces of various shapes such as circles, complicated movement of the arm 1 is required to draw a circular or other trajectory along those shapes. Operating the handle 13 to actually teach the robot to perform these complex movements (usually referred to as "teaching") is extremely troublesome.
There are various problems such as the difference in the responsiveness of the movements at each joint of the arm 1 becomes noticeable, making it impossible to perform the correct painting job, and requiring a large capacity memory to memorize the complex movements. There was a problem.

In the end, the robot equipped with only one spray gun 2 was unable to accurately and quickly coat various forms and shapes of surfaces to be coated.

This idea was made in view of the above circumstances,
By attaching multiple spray guns to the tip of the arm to fully utilize the functions of the robot, the above conventional problems can be solved at once, and these can be applied to various forms and shapes of painted surfaces. The purpose of the present invention is to provide an industrial robot capable of accurately painting at high speed.

Examples of this invention will be described below with reference to FIGS. 2 to 9.

2 to 4 show a first embodiment thereof.
According to this embodiment, a jig 14 is attached to the rotation shaft 12 of the third rotary hydraulic actuator 11 described above, and the jig 14 is attached to the upper and lower sides in FIG. A total of two spray guns 17 and 18 are rotatably supported by pins 15 and 16 that are offset from each other along the middle and upper directions and in the front and back directions of the paper. Furthermore, the rotation angles of these spray guns 17 and 18 can be adjusted as appropriate with respect to the respective pins 15 and 16 by an angle adjustment mechanism (not shown). In the case shown, the rotation angles of the spray guns 17, 18 are adjusted so that the spray directions A, B of the paint at the center of their nozzles open to each other at an angle θ ₁ in FIG.

According to this embodiment, for one painting plane in the workpiece _W1 as shown in FIG.
The two spray guns 17, 18 simultaneously paint an area approximately twice as large as the area painted by one spray gun. This improves painting work efficiency and
The working time can be significantly shortened.

FIG. 5 shows a second embodiment of this invention. According to this embodiment, the base end portion of the T-shaped jig 19 is attached to the rotation shaft 12 of the third rotary type hydraulic actuator 11, and the portions of this jig 19 corresponding to both sides of the T-shape are attached. At the ends of the parts 19a and 19b, there are a total of two parts that can be rotated about an axis perpendicular to the axes of these parts 19a and 19b.
Two spray guns 17, 18 are supported. In the illustrated case, the rotation angles of the spray guns 17 and 18 are adjusted so that the spraying directions A and B of the paint at the center of their nozzles approach each other.

According to this embodiment, the spray guns 17 and 18 are arranged to face the two painting planes forming an angle of 90 degrees to each other on the workpiece _W2 , and the spray guns 17 and 18 are moved along the ridge line formed by these two painting planes.
By moving 8, these two painting planes can be efficiently painted at the same time.

6 to 9 show a third embodiment of this invention. According to this embodiment, the frame-shaped jig 20 is attached to the rotation shaft 12 of the third rotary type hydraulic actuator 11.
are attached to the upper and lower parts of this jig 20, and the base ends of pins 21 and 22 are attached to the upper and lower parts of the jig 20 so as to be rotatably adjustable about an axis along the front and back directions of the page in FIG. A total of two spray guns 17, 18 are attached to the tips of the pins 21, 22 so as to be rotatably adjustable about their axes. In the case shown, the paint spray directions A and B at the center of the nozzles of the spray guns 17 and 18 are open to each other at an angle of θ ₂ in FIG. They are adjusted so that they form an angle of θ ₃ in the middle and are close to each other.

As a result, the spraying directions A and B of the spray guns 17 and 18 are twisted relative to each other so as to open toward point-symmetrical positions with respect to the axis of the rotating shaft 12 and not to be located on the same plane.

According to this embodiment, the ring-shaped painted surface of the workpiece _W3 , such as an automobile wheel, can be painted very easily. That is, first, the arm 1 moves so that the axis of the rotating shaft 12 coincides with the center of the work W ₃ , and then the spray directions A and B of the spray guns 17 and 18 are directed to point-symmetrical positions on the ring-shaped painted surface. It will be done. Thereafter, the rotation shaft 12 of the third rotary type hydraulic actuator 11 rotates about 260 degrees, and the two spray guns 17 and 18 quickly paint the ring-shaped coating surface simultaneously and symmetrically. Therefore, the painting work can be performed accurately by positioning the spray guns 17, 18 with respect to the ring-shaped painting surface and by simply controlling the rotation of the third rotary hydraulic actuator 11. It is easy to teach a robot to learn the motions of such painting work, and the memory capacity required for this purpose is also small. Note that the rotation axis 12
Of the rotation angle of about 260°, actually spray gun 1
The angle between parts 7 and 18 during the painting operation is about 180°, thereby ensuring that the coating is applied all the way around the ring-shaped painting surface.

At the same time, the spray guns 17 and 18 also reliably paint the inner circumferential surface of the flange 23 formed to protrude toward the front side at the outer circumferential portion of the ring-shaped painted surface of the workpiece _W3 . This is spray gun 17, 18
The spray directions A and B of the spray guns 17 and 18 are twisted and are oriented obliquely to the circumferential direction of the flange 23, and the sprayed paint from the spray guns 17 and 18 is directed toward the flange 23.
This is because the coating can be quickly applied over a wide area from an angle to the inner circumferential surface of the coating.

After completing such painting work, use one of the two spray guns 17 and 18 to
Paint the inner surface of workpiece _W3 .

Incidentally, in the case of a conventional robot having one spray gun 2, the spray gun 2 must be moved along a circular trajectory corresponding to the ring-shaped painted surface. Complex control is required and it is difficult to perform the painting work quickly and accurately.

By the way, the means for adjusting the mounting angle of the spray guns 17 and 18 at the tip of the arm 1 can be arbitrarily selected, such as using a manual adjustment screw or automatically using a rotationally controlled servo motor. For example, in the latter case, each spray gun 1
7, 18 are provided with racks 24, 25, and these racks 24, 25 are synchronously displaced by a pinion 26 driven by a servo motor. The adjustment may be performed simultaneously and symmetrically around the center.

Also, spray gun 1 at the tip of arm 1
The mounting angles of 7 and 18 are not limited to those in the above embodiments, and their injection directions A and B are parallel to each other,
The angle of convergence or divergence may be arbitrary, and the injection directions A and B may be twisted with respect to each other in the attached state.
These are changed as appropriate depending on the shape of the painted surface, etc.

Further, two or more spray guns may be attached to the tip of the arm 1, and in this case, by adjusting the attachment angle of each spray gun, it is possible to quickly paint surfaces of various shapes.

As explained above, according to the industrial robot according to this invention, multiple spray guns are attached to the tip of the arm at appropriate angles, so the functions of the robot can be fully demonstrated and the problems of the conventional robot can be solved. It can be solved all at once, and can be applied to painted surfaces of various forms and shapes.
This provides effects such as accurate high-speed painting.

[Brief explanation of the drawing]

Fig. 1 is a side view showing an example of a conventional industrial robot, Fig. 2 is a plan view showing the main parts of an embodiment of this invention, Fig. 3 is a side view thereof, and Fig. 4 shows the state in which it is used. FIG. 5 is a diagram showing the state of use of another embodiment of this invention, FIG. 6 is a plan view showing the main part of still another embodiment of this invention, and FIG. FIG. 8 is a diagram showing its usage state, and FIG. 9 is a front view of the main part of FIG. 6. 1... Arm, 17, 18... Spray gun.

Claims (1)

[Claims for Utility Model Registration] (1) In an industrial robot that automatically performs painting work using a spray gun attached to the tip of a drive-controlled arm,
An industrial robot characterized by being equipped with multiple spray guns. (2) The plurality of spray guns attached to the tip of the arm are configured to rotate around the axial direction of the arm.
The industrial robot described in (1). (3) The utility model according to claim 1 or 2, wherein the plurality of spray guns are attached to the tip of the arm so that the spraying directions of their nozzles are parallel to each other. Industrial robot. (4) The industry according to claim 1 or 2, wherein the plurality of spray guns are attached to the tip of the arm so that the spraying directions of their nozzles converge to each other. Robots for use. (5) The industry according to claim 1 or 2, wherein the plurality of spray guns are attached to the tip of the arm so that the spraying directions of the nozzles diverge from each other. Robots for use. (6) The industrial use according to claim 1 or 2, wherein the plurality of spray guns are attached to the tip of the arm so that the spraying directions of the nozzles are twisted with respect to each other. Robot. (7) The industrial robot according to claim (1), wherein the plurality of spray guns are attached to the tip of the arm so that the spray directions of the nozzles can be automatically adjusted in angle.