KR0169259B1 - Apparatus to change color of spray robot - Google Patents
Apparatus to change color of spray robot Download PDFInfo
- Publication number
- KR0169259B1 KR0169259B1 KR1019950054821A KR19950054821A KR0169259B1 KR 0169259 B1 KR0169259 B1 KR 0169259B1 KR 1019950054821 A KR1019950054821 A KR 1019950054821A KR 19950054821 A KR19950054821 A KR 19950054821A KR 0169259 B1 KR0169259 B1 KR 0169259B1
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- KR
- South Korea
- Prior art keywords
- color change
- valve
- valve unit
- cleaning
- color
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
- B05B15/555—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids discharged by cleaning nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1418—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet for supplying several liquids or other fluent materials in selected proportions to a single spray outlet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
도장 색의 변경시 더블 컬러체인지밸브에 의해 그 변경시간을 대폭 단축시켜 전체적인 도장작업의 효율을 높일 수 있도록 하는 도장로봇의 컬러체인지 장치를 제공하는 것이다.When changing the color of the painting, the color change device of the painting robot is provided so that the change time can be greatly reduced by the double color change valve.
종래 로봇 베이스에 설치된 컬러체인지밸브가 1세트로 구성되어 있기 때문에 도료 세정시간에 도장로봇은 도장작업을 할 수 없었다.Since the conventional color change valve installed in the robot base consists of one set, the painting robot could not paint during the cleaning time.
본 발명은 에어라인과 신너라인 및 이와 연결되는 게이트밸브로 구성된 방폭용(防爆用) 세정밸브유닛 1과, 상기 세정밸브유닛 1과 각각의 게이트밸브로 연결되고 압출신너용 밸브를 갖춘 다수의 밸브로 이루어진 컬러체인지밸브유닛 1과 2로 구성되는 더블 컬러체인지밸브유닛과, 에어라인과 신너라인 및 이와 연결되는 복수의 게이트밸브와 에어 오퍼레이트 레귤레이터(air operated regulator)로 구성된 방폭용 세정밸브유닛 2를 상기 컬러체인지밸브유닛 1과 2를 통해 연결한 것과, 상기 세정밸브유닛 2의 게이트밸브와 연결되어 폐액을 배출하는 색변경회로덤프밸브와, 상기 세정밸브유닛 2의 에어 오퍼레이트 레귤레이터와 연결되는 도장 전과 이 도장 건에 설치된 덤프밸브를 상기 색변경회로덤프밸브와 연결되도록 한 것이다.The present invention relates to an explosion-proof cleaning valve unit 1 composed of an air line, a thinner line, and a gate valve connected thereto, and a plurality of valves connected to the cleaning valve unit 1 and respective gate valves and having a valve for an extrusion thinner. Explosion-proof cleaning valve unit 2 consisting of a double color change valve unit consisting of color change valve unit 1 and 2, air line and thinner line, and a plurality of gate valves and air operated regulator connected thereto Is connected through the color change valve unit 1 and 2, the color change circuit dump valve is connected to the gate valve of the cleaning valve unit 2 to discharge the waste liquid, and is connected to the air operated regulator of the cleaning valve unit 2 The dump valve installed before and after coating is connected to the color change circuit dump valve.
Description
제1도는 본 발명의 더블 컬러체인지밸브의 구성예시도이고,1 is an exemplary view of the configuration of a double color change valve of the present invention,
제2도는 본 발명의 실시예로서, 세정시간의 타임차트도를 도시한 것이다.2 shows a time chart of cleaning time as an embodiment of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10 : 방폭용 세정밸브유닛 1 11, 31 : 에어라인10: explosion-proof cleaning valve unit 1 11, 31: air line
12, 32 : 신너라인 13, 23, 24, 33, 34 : 게이트밸브12, 32: thinner line 13, 23, 24, 33, 34: gate valve
20 : 더블 컬러체인지밸브 유닛 21 : 컬러체인지밸브유닛 120: double color change valve unit 21: color change valve unit 1
22 : 컬러체인지밸브유닛 2 25, 26 : 압출시너용 밸브22: color change valve unit 2 25, 26: valve for extrusion thinner
30 : 방폭용 세정밸브유닛 2 35 : 오퍼레이트 레귤레이터30: explosion-proof cleaning valve unit 2 35: operated regulator
40 : 색변경회로덤프밸브 50 : 도장 건40: color change circuit dump valve 50: paint gun
52 : 덤프밸브 100 : 도장로봇 베이스부52: dump valve 100: painting robot base portion
200 : 도장로봇 수평암부 300 : 도장로봇 손목부200: painting robot horizontal arm 300: painting robot wrist
본 발명은 도장로봇에 사용되는 컬러체인지 밸브에 관한 것으로, 특히 도장 색의 변경시 더블 컬러체인지밸브에 의해 그 변경시간을 대폭 단축시켜 전체적인 도장작업의 효율을 높일 수 있도록 하는 도장로봇의 컬러체인지 장치에 관한 것이다.The present invention relates to a color change valve used in a painting robot, and in particular, the color change device of the painting robot to increase the efficiency of the overall painting work by significantly reducing the change time by the double color change valve when changing the painting color It is about.
종래의 도장로봇시스템에서 도장 색의 변경시에는 도장로봇이 도장작업을 일시 중단한 상태에서 컬러체인지밸브 및 도료라인에 대한 도료 세정작업을 실시하였다. 즉, 로봇 베이스에 설치된 컬러체인지밸브가 1세트로 구성되어 있기 때문에 도료 세정시간에 도장로봇은 도장작업을 할 수 없는 것이다. 통상적으로 컬러체인지밸브의 도료세정 시간은 약 17-24초 이상 소요되기 때문에 도장로봇의 가동율을 크게 저하시킬 뿐 아니라 이로 인한 전체라인의 생산성 저하의 결과를 가져오게 된다.In the conventional painting robot system, when changing the painting color, the painting robot performed paint cleaning work on the color change valve and the paint line while the painting work was temporarily suspended. That is, since the color change valve installed in the robot base is composed of one set, the painting robot cannot paint during the cleaning time. In general, since the color cleaning valve takes about 17-24 seconds or more, the paint robot not only significantly lowers the operation rate of the painting robot but also results in lower overall productivity.
본 발명은 상기와 같은 종래 기술의 문제점을 해결하기 위해 창안된 것으로, 그 목적은 더블 컬러체인지밸브에 의해 다음색으로의 색 변경시 이미 세정된 컬러체인지밸브의 세정시간이 생략됨으로 인해 색변경에 따른 도장 건 및 그 부근의 도장호스만을 세정하면 되고, 이같은 세정시간은 약 4-5초 정도만을 필요로 함으로써 결국 색 변경에 따른 도장로봇의 대기시간을 크게 단축시킬 수 있게 하여 도장로봇의 가동율 및 생산성을 대폭 향상시킬 수 있도록 하는 도장로봇의 컬러체인지 장치를 제공하는데 있다.The present invention has been made to solve the problems of the prior art as described above, and its object is to change the color due to the omission of the cleaning time of the color change valve that is already cleaned when the color changes to the next color by the double color change valve. It is only necessary to clean the coating gun and the coating hose in the vicinity of the coating gun. Such cleaning time requires only about 4-5 seconds, so that the waiting time of the coating robot due to the color change can be greatly shortened. The present invention provides a color change device of a painting robot that can greatly improve productivity.
상기의 목적을 구현하기 위한 본 발명은 에어라인과 신너라인 및 이와 연결되는 게이트밸브로 구성된 방폭용(防爆用) 세정밸브유닛 1과, 상기 세정밸브유닛 1과 각각의 게이트밸브로 연결되고 압출신너용 밸브를 갖춘 다수의 밸브로 이루어진 컬러체인지밸브유닛 1과 컬러체인지밸브유닛 2로 구성되는 더블 컬러체인지밸브유닛과, 에어라인과 신너라인 및 이와 연결되는 복수의 게이트밸브와 에어 오퍼레이트 레귤레이터(air operated regulator)로 구성된 방폭용 세정밸브유닛 2를 상기 컬러체인지밸브유닛 1과 2를 통해 연결한 것과, 상기 방폭용 세정밸브유닛 2개의 게이트밸브와 연결되어 폐액을 배출하는 색변경회로덤프밸브와, 상기 방폭용 세정밸브유닛 2의 에어 오퍼레이트 레귤레이터와 연결되는 도장 건과 이 도장 겉에 설치된 덤프밸브를 상기 색변경회로덤프밸브와 연결되도록 한 것이다.The present invention for realizing the above object is an explosion-proof cleaning valve unit 1 consisting of an air line and a thinner line and a gate valve connected thereto, and the washing valve unit 1 and the gate valve connected to each of the extrusion thinner A double color change valve unit comprising a color change valve unit 1 and a color change valve unit 2 having a plurality of valves, and a plurality of gate valves and air operated regulators connected to the air line and thinner line a color change circuit dump valve connected to the explosion-proof cleaning valve unit 2 composed of an operated regulator through the color change valve units 1 and 2, and connected to two gate valves of the explosion-proof cleaning valve unit to discharge waste liquid; The color change between the paint gun connected to the air operated regulator of the explosion-proof cleaning valve unit 2 and the dump valve installed on the outside of the paint A circuit will be connected to the dump valve.
이하에서 본 발명의 바람직한 실시예를 첨부된 도면에 의거 상세히 설명하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
제1도는 본 발명의 더블 컬러체인지밸브의 구성예시도를 도시한 것이다.1 shows an exemplary configuration of the double color change valve of the present invention.
도시된 바와 같이 로봇 베이스부(100)에 에어라인(11)과 신너라인(12) 및 이와 연결되는 게이트밸브(13)로 구성된 방폭용 세정밸브유닛 1(10)이 설치되고, 상기 로봇 베이스부(100)에 설치되는 복수의 컬러체인지밸브유닛 1(CCV 1)(21) 및 컬러체인지밸브유닛 2(CCV 2)(22)에 상기 게이트밸브(13)와 연결되는 각각의 게이트밸브(23)(24)가 설치되고, 또한 각각의 신너압출용 밸브(25)(26)가 설치된 더블 컬러체인지밸브 유닛(20)이 설치된다. 그리고 로봇 수평암부(200)에는 에어라인(31)과 신너라인(32)이 복수의 게이트밸브(33)(34)와 연결되고, 이 게이트밸브(33)(34)가 상기 컬러체인지밸브유닛 1(21)과 2(22)에 연결되며, 상기 게이트밸브(33)(34)와 연결되는 에어 오퍼레이트 레귤레이터(35)로 구성된 방폭용 세정밸브유닛 2(30)가 설치되며, 상기 세정밸브유닛 2(30)의 게이트밸브(33)(34)와 연결되어 폐액을 배출하는 색변경회로덤프밸브(40)가 설치된다. 그리고 상기 로못 손목부(300)에 설치되는 도장 건(50)이 상기 세정밸브유닛 2(30)의 에어 오퍼레이트 레귤레이터(35)와 연결되고, 상기 도장 건(50)의 덤프밸브(52)가 상기 색변경회로덤프밸브(40)와 연결되어 구성된 것이다.As shown, explosion-proof cleaning valve unit 1 (10) consisting of an air line 11, a thinner line 12, and a gate valve 13 connected thereto is installed in the robot base unit 100, and the robot base unit Each gate valve 23 connected to the gate valve 13 to a plurality of color change valve unit 1 (CCV 1) 21 and color change valve unit 2 (CCV 2) 22 installed at 100. The double color change valve unit 20 provided with 24 and each thinner extrusion valve 25 and 26 is provided. In addition, the robot horizontal arm 200 has an air line 31 and a thinner line 32 connected to a plurality of gate valves 33 and 34, and the gate valves 33 and 34 are the color change valve unit 1. Explosion-proof cleaning valve unit 2 (30), which is connected to (21) and 2 (22) and composed of an air operated regulator 35 connected to the gate valves 33 and 34, is installed, and the cleaning valve unit The color change circuit dump valve 40 is connected to the gate valves 33 and 34 of 2 (30) to discharge the waste liquid. In addition, the paint gun 50 installed on the lobe wrist part 300 is connected to the air operated regulator 35 of the cleaning valve unit 2 30, and the dump valve 52 of the paint gun 50 is It is configured to be connected to the color change circuit dump valve 40.
제2도는 본 발명의 실시예로서, 세정시간의 타임차트도를 도시한 것으로, 이는 Y색에서 Z색으로 색변경을 하는 경우를 예시한 것이다. 여기서의 컬러체인지밸브유닛 1(21) 및 2(22)는 1-15색의 도료를 체 인지할 수 있는 것을 예시하고 있다. 따라서 피도물(被塗物)의 색상에 따라 체인지 밸브의 수를 달리할 수 있는 것이다.2 shows a time chart diagram of cleaning time as an embodiment of the present invention, which illustrates a case of changing the color from Y color to Z color. The color change valve unit 1 (21) and 2 (22) here illustrate that the paint of 1-15 colors can be changed. Therefore, the number of change valves can vary depending on the color of the workpiece.
상기와 같이 타임차트도에서는 컬러체인지밸브유닛 2(22)에서는 지정된 색으로 도장로봇이 도장하고 있고, 컬러체인지밸브유닛 1(21)에서는 방폭용 세정밸브유닛 1(10)의 색변경회로세정 에어라인(11) 및 신너라인(12)에서 에어3초, 신너 0.8초, 에어 1.2초, 신너 0,8초 ....와 같이 교호하면서 컬러체인지밸브유닛 1(21)의 게이트밸브(32)를 통해 컬러체인지밸브유닛 1(10)을 세정하게 된다. 여기서 폐액(도료, 신너, 에어의 혼합상태)은 방폭용 세정밸브유닛 2(30)의 게이트밸브(33)와 연결된 색변경회로덤프밸브(40)를 통해 밖으로 배출되게 된다.As described above, in the time chart, the painting robot is painted in the designated color in the color change valve unit 2 (22), and the color change circuit cleaning air of the cleaning valve unit 1 (10) for explosion proof in the color change valve unit 1 (21). Gate valve 32 of color change valve unit 1 (21) alternating in line 11 and thinner line 12 such as air 3 seconds, thinner 0.8 seconds, air 1.2 seconds, thinner 0,8 seconds. The color change valve unit 1 (10) is cleaned through. The waste liquid (mixed state of the paint, thinner, air) is discharged out through the color change circuit dump valve 40 connected to the gate valve 33 of the explosion-proof cleaning valve unit 2 (30).
상기와 같이 도장로봇은 컬러체인지밸브유닛 2(22)를 통해 공급되는 Y색에 의해 도장을 하고 있지만, 도장작업과 동시에 이루어지는 세정시간은 제3도에 도시된 바와 같이 약 17초에서 24초 가량 소요된다. 상기와 같은 상태에서 도장로봇에서 Z색으로의 색변경이 필요한 경우, 컬러체인지밸브유닛 1(21)에서 색을 선정하기 전에 도장한 도료가 내부에 있는 도장 건(50) 및 그 부근의 도장호스만 세정을 하게 되면 색변경이 가능하게 된다.As described above, the painting robot is painted by the Y color supplied through the color change valve unit 2 (22), but the cleaning time performed at the same time as the painting work is about 17 to 24 seconds as shown in FIG. It takes If it is necessary to change the color from the painting robot to the Z color in the above state, the coating gun 50 and the coating hose in the vicinity of the coating material are coated before the color is selected in the color change valve unit 1 (21). Only washing will change the color.
상기와 같은 도장 건(50) 및 그 부근의 도장호스의 세정은 제3도와 같이 건 세정을 위한 에어라인(31) 및 건 세정을 위한 신너라인(32)이 교호하면서 에어 0.9초, 신너 0.7초, 에어 0.7초, 신너 0.7초, 에어 0.9초 합 4초 정도면 도장 건(40) 및 부근 도장호스의 세정이 완료되어 컬러체인지밸브유닛 1(21)에서 Z색의 도장이 가능하게 되는 것이다.The cleaning of the coating gun 50 and the coating hose in the vicinity as described above is carried out as follows: air line 31 for cleaning the gun and thinner line 32 for cleaning the gun, 0.9 seconds, thinner 0.7 seconds 4 seconds in total, 0.7 seconds of air, 0.7 seconds of thinner, 0.9 seconds of air is completed, and the coating gun 40 and the surrounding coating hose are cleaned, and the color change valve unit 1 (21) can be painted in Z color.
상기의 실시예에서와 같이 본 발명의 도장로봇에서의 색변경은 약 4초면 가능하게 되는 것이다.As in the above embodiment, the color change in the coating robot of the present invention is possible in about 4 seconds.
이상에서 설명한 바와 같이 본 발명의 도장로봇의 컬러체인지 장치에 의하면 종래 도장로봇의 색변경시 소요되는 17-24초 정도의 시간이 소요되는 반면 더블 컬러체인지밸브유닛에 의해 도장로봇의 도장 작업과 컬러체인지밸브 유닛의 세정작업을 병행할 수 있어 색변경이 약 4초 정도면 가능하게 되어 자동차의 보디 도장라인과 같이 색변경이 빈번하게 발생되는 곳에서의 적용에 따라 도장로봇의 가동율 및 생산성을 종래에 비해 현저하게 높일 수 있는 효과를 갖게 되는 것이다.As described above, according to the color change device of the painting robot of the present invention, it takes about 17-24 seconds to change the color of the conventional painting robot, while the painting work and the color of the painting robot by the double color change valve unit. Since the change valve unit can be cleaned simultaneously, the color change can be performed in about 4 seconds, and the operation rate and productivity of the coating robot can be improved according to the application where the color change occurs frequently, such as the body coating line of a car. Compared to that will have a significantly higher effect.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019950054821A KR0169259B1 (en) | 1995-12-22 | 1995-12-22 | Apparatus to change color of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019950054821A KR0169259B1 (en) | 1995-12-22 | 1995-12-22 | Apparatus to change color of spray robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR970033640A KR970033640A (en) | 1997-07-22 |
| KR0169259B1 true KR0169259B1 (en) | 1999-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019950054821A KR0169259B1 (en) | 1995-12-22 | 1995-12-22 | Apparatus to change color of spray robot |
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| Country | Link |
|---|---|
| KR (1) | KR0169259B1 (en) |
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1995
- 1995-12-22 KR KR1019950054821A patent/KR0169259B1/en not_active IP Right Cessation
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| Publication number | Publication date |
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| KR970033640A (en) | 1997-07-22 |
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