JPS6338936Y2 - - Google Patents

Description

[Detailed description of the invention] This invention allows movement in three-dimensional directions by command signals such as signals inputted from a pin board, tape, card, etc., or playback signals that memorize movement trajectories by manual operation. The present invention relates to a painting robot having a nozzle attached to the tip of its arm to spray paint, and particularly to a painting robot suitable for painting the inner surface of a box-shaped object to be painted.

A painting robot that sprays paint by attaching a nozzle to the tip of an arm that moves in three-dimensional directions based on command signals has the advantage of being applicable to automatic painting of objects of various shapes. However, when painting the inner surface of a box-shaped object such as a case,
It has the disadvantage that it is difficult to apply a uniform coating even if the wrist part of the arm on which the nozzle is attached is made a complicated rotation movement.

The purpose of the present invention is to eliminate the drawbacks of the conventional coating robot and to enable the inner surface of a box-shaped object to be coated to be coated efficiently and uniformly.

An embodiment of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 shows the outline of the system.
Driven by an actuator installed inside93
A turntable 11 that rotates at a rotation angle is mounted on the turntable 11, and a vertical arm 12 is attached to a shaft 1.
3, the longitudinal arm 12
A horizontal arm 14 is attached to the upper end by a shaft 15 so as to be able to move up and down freely, and hydraulic cylinders 16 and 17 are mounted on the turntable 11 at the front and rear of the vertical arm 12.
The piston rod 17a of the rear hydraulic cylinder 17 is pivoted to a bracket projecting from the upper rear surface of the vertical arm 12, and the piston rod 16a of the front hydraulic cylinder 16 is pivoted to the lower surface of the horizontal arm 14. It is worn.

A hydraulically driven rotary actuator 18 whose output shaft 18a rotates approximately 210 degrees in alternate directions is mounted on the lower surface of the tip of the side arm 14 with the output shaft 18a protruding to the front. A hydraulically driven rotary actuator 20 is also mounted on the upper surface of the support plate 19 fixed to the support plate 19, and a block 21 is fixed to the output shaft 20a protruding from the lower surface of the support plate 19.
A rotary paint spraying device A is attached to a mounting rod 22 that is inserted and fixed in a direction perpendicular to 0a.

As shown in detail in FIG. 2, this paint spraying device A has a mounting rod 22 that is screwed into the rear surface of the boss 24 through a mounting hole 25 of a boss 24 formed on the rear surface of a base plate 23 having an oval shape in the front. It is fixed by pushing the mounting rod 22 with a bolt 26. A tube shaft 27 with a transparent center hole 28 is screwed onto the front surface slightly above the center of the substrate 23, and a cylinder 30 is freely rotatable at the tip of the tube shaft 27 via bearings 29, 29. Furthermore, a connector 31 having a center hole 32 is connected to the center hole 3 at the tip thereof.
An elongated paint pumping pipe 33 having a diameter of 4 is screwed. As shown in FIG. 3, short branch pipes 35 and 36 are protruded in a cross shape near the tip of the paint pressure feed pipe 33, and the branch pipes 35 and 36 on both sides of the paint pressure feed pipe 33
At the tips of the nozzles 5 and 36, there are nozzles 37a and 37 whose injection holes communicate with the center hole 34 of the paint pressure feeding pipe 33, respectively.
b, 37c are attached by a nozzle holder 38. A paint hose 40 communicating with the center hole 28 is connected to the rear end of the tube shaft 27 via a nipple 39, and this paint hose 40 is connected to a paint pressure pump (not shown). An air motor 41 is mounted on the rear surface of the lower part of the board 23, and a pinion 4 is screwed onto an output shaft 41a protruding from the front surface of the board 23.
2 is a gear 4 screwed onto the outer periphery of the base of the cylindrical body 30;
3, pinion 42 and gear 4
3 is covered by a cover 44 attached to the front surface of the substrate 23. In addition, the tube shaft 27 and the cylinder body 30
In between, the spaces between the cylinder 30 and the connector 31 and between the connector 31 and the paint pressure feeding pipe 33 are sealed by a V gasket 45, an O ring 46, and a gasket 47, respectively.

Next, to explain the operation of this embodiment, the paint injection device A rotates the turntable 11 operated by a command signal, and tilts the vertical arm 12 by expanding and contracting the piston rods 16a and 17a of the hydraulic cylinders 16 and 17. The rotary actuator 1 moves in a three-dimensional direction by the elevation and elevation of the side arm 14.
The attitude of the output shafts 18a, 20a is controlled by rotation of the output shafts 18a, 20a.

As shown in FIG. 1, when a box-shaped workpiece c with an open front is conveyed by being suspended by a hanger b on a conveyor a that runs intermittently, each of the actuators is activated. After the tip of the paint pressure feeding pipe 33 of the paint injection device A is controlled to a position facing approximately the center of the open surface of the object to be painted c, the air motor 41 is started and the pinion 42
The cylinder body 30 and the paint pressure pipe 33 are connected to the output shaft 41 of the air motor 41 by the meshing of the gear 43 and the gear 43.
At the same time as rotating at a lower speed than a, high pressure paint is supplied from a paint pump (not shown) through a paint hose 40, and the pipe shaft 27 and connector 3
1 and the center hole 28, 32, 34 of the paint pressure feed pipe 33
Atomized paint is sprayed from nozzles 37a, 37b, and 37c attached to the tip and both sides of the paint feeding pipe 33, and is reciprocated back and forth by the synchronous expansion and contraction of the piston rods 16a and 17a of the hydraulic cylinders 16 and 17. As the paint pressure feeding pipe 33 rotates around its axis while moving, the nozzles 3 on both sides
The paint sprayed from the nozzles 7b and 37c mainly coats the inner wall surface of the object c, and the paint sprayed from the nozzle 37a at the tip mainly coats the bottom surface of the object c.

In the above, if a so-called fan-shaped nozzle that sprays paint in a wide-angle conical shape is used as the nozzle 37a attached to the tip of the paint pressure-feeding pipe 33, the inner wall surface of the object to be painted c will be painted by its back-and-forth movement. Therefore, the nozzles 37b and 37c on both sides
is unnecessary, and the nozzles 37b, 37 on both sides
Only one of the nozzles 37a and 37c may be used, and if nozzles with a large paint spray angle are used for these nozzles, the nozzle 37a at the tip becomes unnecessary.

As specifically explained in the above embodiment,
The painting robot of the present invention is equipped with a motor and a straight paint pumping tube that rotates around its own central axis driven by the motor at the tip of an arm that moves in three dimensions in response to a command signal. The main feature is that a nozzle for spraying paint in the direction of the outer circumference of the paint pressure-feeding tube is provided at the tip of the paint pressure-feeding tube, and the paint pressure-feeding tube is connected to a paint pressure pump, and the paint is sprayed from the nozzle. Since the paint is uniformly spread around the entire circumference of the paint pressure pipe, the inner surface of the box-shaped object to be painted can be coated efficiently and uniformly.

[Brief explanation of the drawing]

The accompanying drawings show one embodiment of the present invention, with Fig. 1 being a perspective view showing an outline, Fig. 2 being an enlarged partially cutaway side view of the main part, and Fig. 3 being an enlarged plan view of the tip of the paint pressure pipe. It is. 14: Side arm, 41: Air motor, 33: Paint pressure feeding pipe, 37a, 37b, 37c: Nozzle.

Claims (1)

[Scope of utility model registration request] A motor and a straight paint pressure tube that is driven by the motor and rotates around its own central axis are attached to the tip of the arm that moves in three-dimensional directions based on command signals. A painting robot characterized in that a nozzle for spraying paint in the outer circumferential direction of the paint pressure feeding pipe is provided, and the paint pressure feeding pipe is connected to a paint pressure pump.