JPS6333653Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a gun bracket that is attached to an actuator at the end of an arm of a painting robot and supports a spray gun.

Conventionally, this type of gun bracket fixedly supports only one spray gun at the tip of the arm of a painting robot, and a painting robot has many cylinders and By complexly controlling the actuator, each end of the arm was moved in a trajectory that followed the shape of the surface to be painted. for example,
When painting a ring-shaped surface such as the side surface of an automobile wheel, the tip of the arm is controlled in a complicated manner so that it traces a circular trajectory. This is because the painter is trying to have the robot perform the painting work that was previously performed using a single spray gun.

Therefore, the present applicant first supported a plurality of spray guns at the tip of the arm, thereby simplifying the control of the arm and, for example, coating ring-shaped surfaces such as the side surfaces of automobile wheels at high speed. We have developed a robot that can carry out the tasks accurately.

As shown in FIG.
Two spray guns 4, 5 are symmetrically and fixedly supported via a gun bracket 3, with their rotation axis 2 aligned with the center line of the automobile wheel W, and each spray gun 4, 5 is Direct the spray directions A and B of the paint to point-symmetrical positions on the ring-shaped side surface 6 of the wheel W, and then rotate the rotation shaft 2 of the rotary actuator 1 by about 260 degrees to spray the ring-shaped side surface 6 into two sprays. gun 4,5
It is designed to quickly and symmetrically apply the paint at the same time. In addition, in FIG. 1, the spraying directions A and B of the paint of each spray gun 4 and 5 are twisted so that they are not located on the same plane, and are symmetrical with respect to the ring-shaped side surface 6 in the front and back directions of the page. is directed towards.

Incidentally, in such a painting robot, although the two spray guns 4 and 5 are supported by the gun bracket 3, their support is fixed, so for example, as shown in FIG. As shown in b, the types of automobile wheels to be painted change, and the aim positions of the spray guns 4 and 5 for those wheels W ₁ and W ₂ are P ₁ and P ₂ (in the figure, the aim of one spray gun is (only the position is shown) changes, that is, the angle formed by the spray directions A and B of the spray guns 4 and 5 and the axis of the rotating shaft 2 is θ ₁
to θ ₂ , and the distance between the nozzle positions of the spray guns 4 and 5 and the axis of the rotating shaft 2 changes from r ₁ to r ₂
It has been found that it is troublesome that the gun bracket 3 must be replaced each time the spray gun's support type changes.

In this way, the gun bracket 3 that fixedly supports the spray guns 4 and 5 at one location requires replacing the gun bracket 3 itself each time the type of object to be coated changes or the coating situation changes. It was extremely inconvenient.

This idea was made in consideration of the above circumstances, and by making the support form of the spray gun on the tip of the arm of the painting robot adjustable as appropriate, the spray gun can be adjusted depending on the type of object to be painted, etc. The aiming position of the gun can be optimally variably set, and as a result, there is no need to replace the gun bracket itself every time the painting situation changes, eliminating the hassle of replacing the gun bracket. To provide a gun bracket whose aiming position can be adjusted over a wide range.

An example of this invention is shown below in Figures 3 and 4.
This will be explained based on the diagram.

According to this embodiment, the actuator 1 at the tip of the arm of the painting robot is rotated by a rotating shaft 2.
Two spray guns 4 and 5 are supported point-symmetrically by two sets of gun brackets.
The gun brackets of a pair are identical and point-symmetrical with respect to each other about the rotation shaft 2 of the actuator 1, so in the drawings only the gun bracket supporting one of the spray guns 4 is shown, and the illustration and description of the bracket on the other side is omitted.

A base 7 is fixed to the rotary shaft 2 of the actuator 1 so that it does not rotate, and first and second connecting shafts 8 and 9 that extend along the axial direction and the tangential direction of the rotary shaft 2 are sequentially attached to the base 7 in a crank shape. is connected to. A small guide portion 1 is provided at the tip of the second connecting shaft 9.
0 and a left-handed threaded portion 11 are sequentially and integrally provided. A collar 12 is rotatably fitted into the small-diameter guide portion 10, and a crank-shaped stop lever 13 is fixed to the collar 12, which extends upward in FIG. 4 and then bends to the right in the figure. ing. On the other hand, the left-hand threaded portion 11 has a first and a second thread.
nuts 14, 15 and an elongated nut-like body 16 are screwed in sequence. The first nut 14 is
By being strongly screwed to the left collar 12 side, the collar 12 is fixed together with the stop lever 13 at an appropriate rotational position.

On the right side of the nut-shaped body 16 is a third connecting shaft 17.
A right-hand threaded portion 18 is screwed to the right-hand threaded portion 18, and a third nut 19 is screwed to this right-hand threaded portion 18. These right-handed threaded portion 18, nut-shaped body 16, and left-handed threaded portion 11 constitute a so-called turnbuckle mechanism 20 that can adjust the connection interval between the second and third connecting shafts 9, 17 by rotating the nut-shaped body 16. are doing. In this turnbuckle mechanism 20, the second and third nuts 15 and 19 are strongly screwed to the side of the nut-like body 16 that is close to each other, so that the second and third connecting shafts 9 and 10 are connected at an appropriate interval. are fixedly connected to each other.

A spray gun 4 is attached to the tip of the third connecting shaft 17.
is fixedly attached, and the stopper receiver 22 of the spray gun 4 on the opposite side from the nozzle 21 is brought into contact with the stop lever 13.

Furthermore, a degree indicator 23 is attached to the side of the first connecting shaft 8. This indicator 23 indicates the rotation angle of the stop lever 13 about the second connecting shaft 9, that is, the angle corresponding to the inclination angle θ of the spraying direction A of the spray gun 4 with respect to the axis of the rotation shaft 2 of the actuator 1. The display is made based on the correspondence between the angle scale on the periphery of the stop lever 13 and the indicator 24 on the stop lever 13 side.

Further, the stop lever 13 is provided with a connecting scale extending along the left-right direction in FIG. 4, thereby forming a stroke indicator 25. This indicator 25 is located between the center of the rotation axis 2 of the actuator 1 and the center of the nozzle 21 of the spray gun 4 due to the correspondence between its length scale and the left side 26 of the spray gun 4 in FIG. The distance r is displayed.

According to the gun bracket configured in this manner, the rotational position of the stop lever 13 is adjusted using the minute indicator 23, and the stop lever 13 is fixed at an appropriate rotational adjustment position by the first nut 14. At the same time, the stopper receiving portion 22 of the spray gun 4 is attached to the stop lever 13.
The spray gun 4 itself is rotated and positioned together with the third connecting shaft 17 until the actuator 1 comes into contact, and then the turnbuckle mechanism 20 is fixed with the second and third nuts 15 and 19 to prevent the rotation of the actuator 1. Spray gun 4 relative to the axis of shaft 2
The inclination angle θ of the injection direction A can be adjusted as appropriate.

Furthermore, by adjusting the turnbuckle mechanism 20 using the stroke indicator 25,
The distance r between the center of the rotation axis 2 of the actuator 1 and the center of the nozzle 21 of the spray gun 4 can be adjusted as appropriate.

Therefore, as shown in FIGS. 2a and 2b, when the aim positions P ₁ and P ₂ of the spray gun 4 change,
Correspondingly, by adjusting the inclination angle θ in Fig. 3 from θ ₁ to θ ₂ and adjusting the distance r in Fig. 4 from r ₁ to r ₂ , it is possible to It is possible to set an optimal support form for the spray gun 4.

By the way, since the other spray gun 5 is supported point-symmetrically with respect to the rotation axis 2 of the actuator 1 by a gun bracket having the same structure as described above, the two spray guns 4 and 5 are For example, the injection directions A and B are adjusted accurately so as to be directed to appropriate point-symmetrical positions on the ring-shaped side surface 6 of the automobile wheel W to be painted, and then the rotation axis 2 of the actuator 1 is rotated around the axis of the wheel W.
By rotating about 260 degrees, the sizes of the ring-shaped side surfaces 6 can be adjusted depending on the type of the wheel W, and the two spray guns 4 and 5 can spray the ring-shaped side surfaces 6 symmetrically. can be quickly painted at the same time.

Furthermore, since the inclination angle θ in FIG. 3 and the distance r in FIG. It can be appropriately adjusted over a wide range.

Also, the spray guns 4 and 5 are connected to the third connecting shaft 17.
If you install it again after removing it from the
By fixing the rotation angle of the stop lever 13 and the adjustment length of the turnbuckle mechanism 20, the support form of the spray guns 4, 5 can be accurately reproduced, and the reproducibility is good.

In addition, when teaching a painting robot to perform painting operations (usually referred to as "teaching"), by adjusting the support form of the spray guns 4 and 5, it is possible to improve the manufacturing efficiency of the gun bracket itself. It is also possible to correct deviations in the aiming positions of the spray guns 4 and 5 due to dimensional errors and the like.

In the above embodiment, the spray gun 4 is positioned with respect to the inclination angle θ by bringing the stopper receiving portion 22 of the spray gun 4 into contact with the stop lever 13. For example, the stop lever 13 may be passed through the spray gun 4, thereby regulating and guiding the spray gun 4 so as to be movable along the left and right directions in FIG. The structure of the so-called regulating body such as the stop lever 13 that adjustably regulates the inclination angle θ of the stop lever 13 is not limited to the above-mentioned embodiments and may be arbitrary.

Further, in the above embodiment, the turnbuckle mechanism 20 connects the second and third connecting shafts 10 and 17.
are connected to one side of the second and third connecting shafts 10 and 17, but are not limited to this, for example, a shaft that is rotatable about the axis and cannot be moved along the axis. Attach the nut-shaped body,
Then, this nut-shaped body is connected to the second and third connecting shafts 1.
0 and 17, the second and third connecting shafts 10 and 17 may be connected in a telescopically adjustable manner.In short, the rotation shaft 2 of the actuator 1 and the spray The so-called series of axes C between the gun 4 itself may be configured to support the spray gun 4 so as to be able to adjust its proximity to and distance from the rotating shaft 2.

In addition, in the above embodiment, two spray guns 4 and 5 are connected to the rotating shaft 2 of the actuator 1.
However, the number of spray guns supported with respect to the rotating shaft 2 is arbitrary. For example,
One spray gun may be supported and used to paint a semi-circular arc-shaped surface, and the shape of the surface to be coated is not specified as ring-shaped or semi-circular arc-shaped. It is optional and of course
According to these, the setting of the operation procedure of the arm of the painting robot can be changed as appropriate.

Further, the base 7 and the first connecting shaft 8 are connected to each other, and the first connecting shaft 8 and the second connecting shaft 9 are connected to each other so as to be rotatable in each direction, and the first connecting shaft
The connecting shaft 8 itself may be made adjustable for expansion and contraction along the left and right directions in FIG.

As explained above, according to the gun bracket of this invention, the support form of the spray gun on the tip of the arm of the painting robot can be adjusted as appropriate, so that the spray gun can be The aiming position of the gun can be optimally variably set, and as a result, the work of replacing the gun bracket itself, which had to be done every time the painting situation changes, is no longer necessary, eliminating the hassle of replacing the work. Moreover, the adjustment range of the aiming position of the spray gun is wide and the adjustment range is excellent.

[Brief explanation of the drawing]

Figure 1 is a side view of the tip of the arm of a painting robot equipped with a gun bracket that supports two spray guns, and Figures 2a and b are the support configurations of the spray guns that correspond to changes in the aiming position of the spray guns. FIG. 3 is a side view showing an embodiment of this invention, and FIG. 4 is a partially cutaway front view thereof. 1... Actuator, 4, 5... Spray gun, 13... Stop lever (regulator), 20...
...Turnbuckle mechanism, C...shaft.

Claims (1)

[Scope of utility model registration request] A gun bracket that is attached to an actuator at the tip of an arm of a painting robot to support a spray gun includes a shaft that supports the spray gun so as to be adjustable in proximity to and a distance from the actuator, and a support angle of the spray gun with respect to the shaft. A gun bracket characterized by comprising a regulating body that regulates in an adjustable manner.