WO1999067026A1 - Dispositif de peinture - Google Patents
Dispositif de peinture Download PDFInfo
- Publication number
- WO1999067026A1 WO1999067026A1 PCT/JP1999/003255 JP9903255W WO9967026A1 WO 1999067026 A1 WO1999067026 A1 WO 1999067026A1 JP 9903255 W JP9903255 W JP 9903255W WO 9967026 A1 WO9967026 A1 WO 9967026A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hose
- unit
- feed
- arm
- paint
- Prior art date
Links
- 238000010422 painting Methods 0.000 title abstract description 28
- 239000003973 paint Substances 0.000 claims abstract description 101
- 239000011248 coating agent Substances 0.000 claims description 109
- 238000000576 coating method Methods 0.000 claims description 109
- 210000000078 claw Anatomy 0.000 claims description 32
- 239000002904 solvent Substances 0.000 claims description 29
- 238000012546 transfer Methods 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000004904 shortening Methods 0.000 abstract 1
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 239000002245 particle Substances 0.000 description 8
- 210000000707 wrist Anatomy 0.000 description 6
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000003086 colorant Substances 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005686 electrostatic field Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000009500 colour coating Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
- B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
-
- 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
-
- 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
- B05B12/1472—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 separate supply lines supplying different materials to separate outlets of the spraying apparatus
Definitions
- the present invention relates to a coating apparatus suitable for use in coating an object to be coated such as an automobile body while changing colors.
- a coating device for coating an object to be coated such as an automobile body includes a working device provided with an arm swingable, a coating machine provided at an end of the arm of the working device, and a coating device provided with a coating device.
- a paint hose for supplying paint for the paint is generally provided, and the upstream side of the paint hose is connected to a color changing valve device for selecting and supplying paint of a plurality of colors.
- a coating machine is attached to the tip of the arm, and a coating tank is provided on the coating machine. Paint in the ink It is known that the paint is replaced after filling (Japanese Patent Application Laid-Open No. Sho 63-175662). As a result, in the coating apparatus according to the second conventional technique, the color changing valve apparatus is eliminated and the number of hoses is reduced.
- the hose through which the air for spraying the paint in the paint tank from the painting machine hangs down from the arm, so that the hose is hung during the painting operation.
- a coating failure may occur due to contact with an object to be coated or a hose may be worn or damaged by contacting another member.
- the present invention has been made in view of the above-mentioned problems of the related art, and an object of the present invention is to reduce the time required for color changing work. Another object of the present invention is to provide a coating apparatus capable of preventing poor coating and damage to a paint hose.
- a coating device employed by the present invention includes a working device having an arm swingably provided, and a working device provided at a tip of the arm of the working device and rotated by an air motor.
- a rotary atomizing head type coating machine having a rotary atomizing head; a rotary atomizing head type coating machine which is attached to the rotary atomizing head type coating machine so as to be detachable and supplies paint to the rotary atomizing head;
- a feed tube for each color having a feed tube, and a feed tube connected to each feed unit for each color through which the paint supplied from the paint source flows.
- Paint hose a hose support pipe provided in the middle of each paint hose, and an arm of the working device for mounting and detachably supporting the paint hose.
- An arm-side hose gripping device for gripping the hose support tube;
- a unit that is provided in the vicinity of an industrial apparatus and includes a feed unit and a unit standby unit for each color for holding the paint hose at a standby position. Transfers the paint hose between the feed unit attaching / detaching device that attaches and detaches the feed unit to and from the head-type coating machine, and the arm-side hose holding device. Therefore, the hose supporting tube is attached to the hose holding device on the standby device side for detachably holding the hose supporting tube.
- the feed unit attachment / detachment device inserts the next color feed unit into the rotary atomizing head type coating machine, and connects the hose supported by the hose holding device on the standby device side.
- the support pipe is transferred to the arm-side hose holding device, and the paint hose is supported by the arm-side hose holding device, thereby completing the color changing operation.
- paint supplied through the paint hose is directed from the feed unit to the rotating atomizing head of the rotary atomizing head type coating machine. Then, the paint is atomized by a rotary atomizing head and sprayed on the object. At the time of this coating, the arm swings according to the shape of the coating surface of the object to be coated, but the coating hose is supported by the arm-side hose gripping device via the hose support tube. In addition, the hose of the paint can be prevented from wobbling.
- the present invention is configured such that the unit standby devices are arranged at desired angles in the circumferential direction around the swing fulcrum of the arm.
- the present invention provides a feed-unit stand-by plate and a supply hose stand-by plate which are located within an operation range of an arm in the vicinity of a working device, and wherein the feed-unit is provided.
- a feed duct attaching / detaching device is arranged at a desired angle in the circumferential direction around the arm swing fulcrum on the standby plate.
- the rotary atomizing head type coating machine is provided with a feed tube insertion hole through which a feed tube is inserted when the feed unit is attached
- the feed unit attaching / detaching device includes a feed unit for holding the feed unit and a unit for holding the feed unit, and the feed unit holding unit for connecting the feed unit to the feed tube inserting hole.
- the feed unit can be configured by a gripper moving mechanism that attaches and detaches the feed unit by moving in the axial direction.
- the feed unit is gripped by the feed unit holder, and the feed unit is moved by the gripper moving mechanism.
- the gripper By moving the gripper along the feed tube through hole, the feed unit can be inserted into or removed from the rotary atomizing head type coating machine. Can be done.
- a feed tube insertion hole is provided through the rotary shaft of the air motor, and the feed unit of each unit standby device is provided.
- the detachable device is Each feed unit is inserted by moving the feed tube of each unit from the back side of the coating machine to the feed tube opening. Can be worn and removed.
- the feed unit attaching / detaching unit of the unit standby unit is installed. Then, insert the feed tubes of each feed unit from the rear side of the coating machine into the feed tube insertion holes, and insert each feed unit into the coating machine.
- the feed unit attaching / detaching unit of the unit for standby unit is connected to the feed tube through the feed tube insertion hole. Pull out the feed tubing of the feed unit and remove each feed unit from the rear side of the sprayer.
- the arm-side hose gripping device and the standby device-side hose gripping device according to the present invention can be constituted by a pair of claw portions operated by the actuator. .
- the hose support tube can be gripped by each of the claws when the actuator is operated in a direction to narrow the gap between the claws of the actuator. Also, when actuated in a direction to widen between the claws, it is possible to release the holding of the hose support tube by the claws.
- each feed unit according to the present invention a solvent hose through which a solvent for cleaning the rotary atomizing head of the rotary atomizing head type coating machine flows is provided in parallel with the paint hose. This is what happens.
- the rotary atomizing head of the rotary atomizing head type coating machine can be washed with the solvent flowing through the solvent hose.
- the arm-side hose holding device and the standby device-side hose holding device can be used together with the paint hose.
- FIG. 1 is a front view showing a coating apparatus according to an embodiment of the present invention.
- FIG. 2 is a left side view showing the coating apparatus according to the embodiment of the present invention.
- Figure 3 shows the arm of the painting robot placed at the unit replacement position of the unit standby unit and at the painting position facing the workpiece, as indicated by arrows III-III in Figure 1.
- FIG. 3 shows the arm of the painting robot placed at the unit replacement position of the unit standby unit and at the painting position facing the workpiece, as indicated by arrows III-III in Figure 1.
- FIG. 4 is an enlarged longitudinal sectional view showing a state in which a feed unit is attached to a rotary atomizing head type coating machine.
- FIG. 5 is an enlarged sectional view of a main part showing a state in which the rotary atomizing head type coating machine is arranged at a unit replacement position.
- FIG. 6 is a side view showing the feed unit gripping tool together with the feed unit with the pair of claws separated from each other, as viewed from the direction indicated by arrows VI-VI in FIG.
- FIG. 7 is an enlarged cross-sectional view of a main part as viewed from the same position as in FIG. 5, showing a state in which the feed unit grip is disposed on the outer peripheral side of the feed unit.
- FIG. 8 is a side view showing the state in which the feed unit has been gripped by the feed unit gripper, as viewed from the direction indicated by arrows VIII-VIII in FIG.
- Fig. 9 is an enlarged cross-sectional view of the main part as viewed from the same position as Fig. 5, showing a state where the feed unit has been removed from the housing.
- FIG. 10 is an arrow in FIG. 9 showing a state in which the removed feed unit is being gripped by the feed unit gripping tool. Shown X-Side view from X direction.
- FIG. 11 is an enlarged cross-sectional view of a main part showing a state in which the arm is brought close to the supply hose standby plate.
- Figure 12 shows the hose gripper on the standby device side with the pair of claws separated from each other, together with the hose gripper on the arm side and the hose support tube. It is sectional drawing seen from.
- FIG. 13 is an enlarged cross-sectional view of a main part as viewed from the same position as in FIG. 11 showing a state in which the hose support tube is arranged between the claws of the hose gripping device on the standby device side.
- FIG. 14 is a cross-sectional view taken along the direction indicated by arrows XIV-XIV in FIG. 13 showing a state in which the hose support tube is gripped by each claw portion of the hose gripping device on the standby device side.
- FIG. 15 is an enlarged cross-sectional view of the main part as viewed from the same position as in FIG. 11 showing a state in which the hose support tube has been transferred to the hose holding device on the standby device side.
- FIG. 16 is a cross-sectional view taken along the direction indicated by arrows XVI-XVI in FIG. 15 showing a state in which the hose support tube has been passed to the hose gripping device on the standby device side.
- Reference numeral 1 denotes a painting robot used as the working device of the present invention.
- the painting robot 1 includes a base 2 and a column 3 rotatably and swingably provided on the base 2.
- the arm 4 is roughly constituted by an arm 4 swingably provided at the tip of the column 3 and a wrist 5 provided at the tip of the arm 4. Then, the wrist 5 is provided with a rotary atomizing head type coating described later. Housing 7 of equipment 6 is installed.
- Reference numeral 6 denotes a rotary atomizing head type coating machine (hereinafter referred to as a coating machine 6) provided at the tip of the arm 4 of the coating robot 1.
- the coating machine 6 includes a housing to be described later as shown in FIG. It is roughly constituted by a coating 7, a coating machine main body 11, a feed tube through hole 19, a feed unit 20A to 2OH, and the like.
- Reference numeral 7 denotes a housing formed of, for example, a resin material and attached to the tip of the wrist 5, and the housing 7 is provided with a coating member 8a through a cylindrical fastening member 8a. It is composed of a neck portion 8 fastened to the wrist 5 of the bot 1 and a head portion 9 integrally formed at the tip of the neck portion 8.
- a coating machine mounting portion 9a is formed in a concave cylindrical shape in front of the head portion 9, and a unit mounting portion 9b is formed in a concave cylindrical shape in the rear side of the head portion 9.
- the mounting portions 9a and 9b are communicated by stepped through holes 9c.
- Reference numeral 10 denotes a spacer cylinder inserted into the stepped through hole 9c, and a conical recess 10a is provided on the rear side of the spacer cylinder 10 and the conical recess is provided.
- the reference numeral 10a designates that a conical convex portion 22 of a feed unit 20 to be described later comes into contact with and fits therewith and positions it axially and radially.
- Reference numeral 11 denotes a coating machine main body mounted inside the coating machine mounting portion 9a of the head portion 9, and the coating machine main body 11 is formed by an air motor 12 and an air motor 12 described later. It comprises a rotating atomizing head 13 to be rotated, and a shaping air ring 14 provided on the front end side of the air motor 12.
- Reference numeral 12 denotes an air motor.
- the air motor 12 is provided so as to extend in the axial direction within the motor case 12 a inserted into the coating machine mounting portion 9 a and the motor case 12 a.
- Reference numeral 13 denotes a rotary atomizing head which is located at the front side of the air motor 12 and is attached to the tip end of the rotary shaft 12 b.
- the rotary atomizing head 13 is rotated by the air motor 12.
- the rotating atomizing head 13 is rotated at a high speed, whereby the paint supplied to the rotating atomizing head 13 is centrifugally atomized and atomized. Charged paint particles charged to voltage. Further, the rotary atomizing head 13 applies the charged paint particles along an electrostatic field formed between the charged paint particles and an object 42 to be described later.
- the shaving air ring 14 is a shaping air ring provided on the front side of the air motor 12.
- the shaving air ring 14 is a shaving air ring from a spray port toward a discharge end of the rotary atomizing head 13. And forms a pattern of the charged paint particles released from the rotary atomizing head 13.
- Reference numeral 15 denotes a high-voltage generator provided in the neck portion 8 of the housing 7, and the high-voltage generator 15 is constituted by, for example, a cockcroft circuit, and includes a power supply line.
- the voltage supplied via 16 is boosted to, for example, 90 to 120 KV.
- a high voltage cable 17 is connected to the output side of the high voltage generator 15, and the high voltage cable 17 is connected to, for example, the air motor 12.
- the high voltage generator 15 applies a high voltage to the rotary atomizing head 13 via the rotary shaft 12b of the air motor 12 to directly charge the paint.
- Reference numeral 18 denotes a plurality of air passages provided in the neck portion 8, and each of the air passages 18 includes turbine air, brake air, and a shear air. Although it supplies one air or the like, this embodiment typically shows only one air passage.
- the air passage that supplies the turbine air is
- Air will be supplied to the air turbine 12c in the evening 12.
- the air passage that supplies the brake air supplies the brake air to stop the rotation toward the air bin 12c. Further, the air passage for supplying the shaving air supplies the air to the shaving air ring 14.
- Reference numeral 19 denotes a feed tube insertion hole provided through the rotation shaft 12 b of the air motor 12 in the axial direction.
- the rear end of the feed tube insertion hole 19 is An opening is formed in the conical recess 10a of the spacer cylinder 10 and the tip side is opened in the rotary atomizing head 13. Then, the feed tube 23 of the feed unit 20 is removably inserted into the feed tube insertion hole 19 so as to be able to be inserted and detached therefrom.
- the feed unit 20 A, 20 B, ⁇ ' ⁇ 20 ⁇ are feed units that individually supply color A, B, and color paints (hereinafter, feed unit 2 as a whole). 0).
- the feed unit 20 is a valve formed as a cylindrical body having a diameter dimension that is removably inserted into the unit mounting portion 9b. It is provided on the front end face of the housing 21 and the valve housing 21 and abuts and fits into the conical recess 10 a to move the feed unit 20 in the axial direction and the radial direction.
- This is roughly constituted by a feed tube 23 formed as described above, a paint valve 24 and a solvent valve 25 provided in the valve accommodating portion 21.
- the feed unit 20 inserts the feed tube 23 into the feed tube through hole 19 and attaches the valve housing 21 to the housing 7 of the housing 7. It is attached to the nozzle 7 by being inserted into the part 9 b.
- the feed unit 20 is moved from the tip of the feed tube 23 to the rotary atomizing head 13 by opening and closing the paint valve 24 and the solvent valve 25. Discharges paint and solvent
- the paint valve drive air hose 29 indicates the solvent valve drive air hose connected to the feed unit 20, and the hoses 26 to 29 are bundled to supply hose 30 (hereinafter referred to as each color). Each time the supply hose is referred to as 30 A, 30 B, ' ⁇ ' 30))
- the paint hose 26 is connected to the paint passage of the feed tube 23 via a paint valve 24.
- the solvent hose 27 is connected to the solvent passage of the feed tube 23 via a solvent valve 25.
- the paint valve driving air hose 28 supplies a pilot drive for driving the paint valve 24 and is connected to the paint valve 24.
- the solvent valve drive air hose 29 supplies pilot air for driving the solvent valve 25 and is connected to the solvent valve 25.
- the hose support tube 31 is made of, for example, a metal material. Pipe made of high-strength material with a supply hose
- hose support tube 31 is partially covered.
- the outer peripheral side of the hose support tube 31 is gripped when the supply hose 30 is supported by hose grippers 32, 40 described later.
- the hose support tube 31 prevents the supply hose 30 from being damaged when the supply hose 30 is supported by the hose gripping devices 32, 40.
- each arm side hose gripping device 32 is connected to an actuating unit 3 2a which is arranged at a distance in the length direction of the arm 4 as shown in FIG. 11 or FIG. It is constituted by a pair of claw portions 32b, 32b which are operated to be wide and narrow by the actuating portion 32a. Then, each arm-side hose gripping device 32 operates between the pair of claw portions 32b, 32b in a direction in which the pair of claw portions 32b, 32b becomes narrower.
- the hose support tube 31 (supply hose 30) is gripped, and the hose support tube 31 is gripped by operating in a direction in which the pair of claw portions 32b, 32b expands. To release.
- Reference numeral 3 denotes a feed-unit standby plate located near the painting robot 1 and provided within the operating range of the arm 4.
- the feed-unit standby plate 33 tilts the column 3. It is formed as a substantially fan-shaped plate centered on the swing fulcrum ⁇ (shown in FIG. 1) of the arm 4 in the folded state.
- Reference numeral 34 denotes a supply hose standby plate similarly positioned near the painting robot 1 and provided within the operation range of the arm 4.
- the supply hose standby plate 34 also has a center on the swing support point 0. And a substantially fan-shaped plate smaller than the feed-unit stand-by plate 33. You.
- the feed unit standby plate 33 and the supply hose standby plate 34 are placed one on top of the other, with the supply hose standby plate 34 positioned on the front side. It is installed so that it faces.
- unit standby units 35 are unit standby units for each color provided on the standby plates 33 and 34 (hereinafter, unit standby units 35)
- the unit standby devices 35 are arranged at desired angles in the circumferential direction around the swing fulcrum ⁇ of the arm 4 in a state where the column 3 is inclined.
- Each unit standby unit 35 is constituted by a feed unit attaching / detaching unit 36 described later and a standby unit-side hose gripping unit 40. Therefore, the feed unit attaching / detaching device 36 and the standby device side hose holding device 40 are arranged on substantially the same radiation for each color.
- Reference numeral 36 denotes a feed unit attaching / detaching device provided on the feed unit standby plate 33 for each color, and the feed unit attaching / detaching device 36 includes a feed unit attaching / detaching device.
- a guide rail 37 radially arranged on the front side of the standby plate 33, a feed unit grip 38 provided movably along the guide rail 37,
- An air filter is provided on the rear side of the feed unit standby plate 33, and serves as a gripper moving mechanism that moves the feed unit grip 38 along the guide rail 37. It is roughly constituted by a cylinder 39.
- the feed unit grip 38 is fixed by the actuator 38a and the actuator 38a. It is composed of a pair of claw portions 38b, 38b that operate to be wide and narrow.
- the feed-unit grip 38 is actuated in a direction in which the space between the pair of claw portions 38b, 38b is narrowed, so that each of the claws 38 is actuated.
- Reference numerals 40 and 40 denote a pair of standby device side hose holding devices provided on the supply hose standby plate 34 for each color, and each of the hose holding devices 40 corresponds to the supply hose standby plate 34. They are spaced apart in the radial direction.
- each hose gripping device 40 has a pair of claw portions that operate so as to be wide and narrow by the actuator 40a and the actuator 40a. It is composed of 40b and 40b.
- Each of the standby device-side hose gripping devices 40 operates in a direction in which the space between the pair of claw portions 40b, 40b is narrowed, so that the hose between each of the claw portions 4Ob is operated. The gripping of the hose support tube 31 is released by gripping the support tube 31 and operating in a direction in which the pair of claw portions 40b, 40b expands.
- Reference numeral 41 denotes a locking device (shown in FIG. 4) provided in the housing 7.
- the locking device 41 is provided on the outer periphery of the valve housing portion 21 of the feed unit 20. Side, and keep the feed unit 20 out of the housing 7 in a retaining state. When the feed unit 20 is pulled out with a certain large force, the engagement by the locking device 41 is released, and the feed unit 20 can be removed. You.
- the coating apparatus according to the present embodiment has the above-described configuration. Next, the operation of the coating apparatus will be described.
- the paint valve 24 When the paint valve 24 is opened, the A-color paint supplied via the supply hose 3 OA rotates and atomizes through the paint passage of the feed tube 23. Discharged toward head 13. At this time, the rotary atomizing head 13 is rotated at a high speed by the air motor 12 and a high voltage is applied to the rotary atomizing head 13 by the high voltage generator 15. On the other hand, the color A paint is centrifugally atomized by the rotary atomizing head 13 to be atomized to become charged paint particles charged at a high voltage. The charged paint particles are formed into a desired spray pattern by shaving air ejected from each of the single-pipe air ejection holes of the single-piece air ring 14. While flying, it flies along an electrostatic field formed between the object 42 connected to the ground potential and adheres to the object 42.
- the solvent valve 25 is opened, and the solvent is supplied to the solvent passage of the feed tube 23 via the solvent hose 27. As a result, the solvent is discharged from the solvent passage toward the rotary atomizing head 13 to wash the A-color paint adhered to the rotary atomizing head 13.
- the feed unit standby plate 33 and the supply hose standby plate 34 are vertically connected to a fan-shaped plate around the swing fulcrum 0 of the arm 4 of the coating robot 1. They are arranged in the same direction.
- the coating machine 6 can be arranged at the unit replacement position by the unit standby unit 35A.
- the feed unit grip 38 of the feed unit attaching / detaching device 36 separates the claw portions 38 b and 38 b from each other. Let it.
- the air cylinder 39 is extended, and the feed unit gripping tool 38 has its claw portions 38b, 38b attached to the A color feed unit.
- G 2 OA valve housing 2 1 Placed on the outer circumference side.
- the pawls 38b, 38b are brought closer to each other, and the valve accommodating portion 21 is gripped by the pawls 38b.
- the air cylinder 39 is held while the feed unit 20A is gripped by the claws 38b and 38b. Then, feed unit 20A is pulled out from housing unit 9b of housing 7 and detached. As a result, the A-color feed unit 2OA comes off the coating machine 6.
- the hose gripping device on the standby device side is gripped as shown in FIG.
- the device 40 separates the claw portions 40b, 40b.
- the hose support tube 31 A gripped by the arm 4 via the arm-side hose gripping device 32 is disposed between the claws 4 Ob and 40 b.
- the hose gripping device 40 on the standby device side brings the claws 4 O b and 40 b closer to the hose support tube 31 A, and the hose support tube 31 A ( Hold the supply hose 30 A).
- the arm side hose The gripping device 32 moves the arm 4 from the supply hose standby plate 34 by separating the claw portions 32b and 32b.
- the standby-device-side hose gripping device 40 can support the supply hose 3OA for the A-color paint.
- the above operation is for removing the A-color feed unit 20 A, which is the paint of the previous color, and the supply hose 3 OA from the coating machine 6 and the arm 4.
- the B color feed unit 20 B When installing the B color feed unit 20 B to be the next color paint on the coating machine 6 from which the head unit 2 OA has been removed, and mounting the supply hose 30 B on the arm 4 Will be described.
- the robot 1 for painting is operated, and the arm 4 and the painting machine 6 are rotated in the direction of arrow (c) in FIG. 1, and the arm 4 and the painting machine 6 are moved as shown in FIG.
- Unit B standby unit for color B 35 B is placed at the unit replacement position.
- the air cylinder 39 is extended, the feed tube 23 is inserted into the feed tube insertion hole 19, and the valve accommodating portion 21 is inserted into the unit. Attach the feed unit 20B to the housing 7 by inserting it into the mounting part 9b.
- the feed unit grip 38 is moved to the position shown in FIG. , Between a pair of claws 3 8 b, 38 b After releasing the grip of the feed unit 20B, the air cylinder 39 is reduced to return the feed unit grip 38 to the initial position.
- the arm side hose gripping device 32 when the arm 4 approaches the standby device side hose gripping device 40, the arm side hose gripping device 32, as shown in FIG. Separate between 2b and 38b. Then, as shown in FIG. 13, when the hose support tube 31 B is disposed between the claws 32 b and 32 b, as shown in FIG. Move between 3 2 b and 3 2 b close and hold the hose support tube 3 1 B. Next, as shown in FIG. 12, the hose gripping device 40 on the standby device side separates the claws 40b, 40b, and releases the gripping of the hose support tube 31B. As a result, as shown in FIG. 11, the arm-side hose gripping device 32 can support the supply hose 30B for the B color paint.
- the support 3 of the painting robot 1 is attached. Rotate in the direction indicated by the arrow (b) in Fig. 3 and place it at the painting position.
- the coating machine 6 can apply the B color paint to the workpiece 42 in the same manner as the A color painting operation.
- the rotary atomizing head type coating machine 6 is provided at the tip of the arm 4 of the coating robot 1 and paints of different colors are supplied to the coating machine 6.
- one rotary atomizing head type coating machine 6 is Since it can be used in common for the DUNIT 20 A to 2 OH, color change can be performed only by washing the front color paint adhered to the rotary atomizing head 13, and the color can be changed. It is possible to shorten the replacement time, reduce the amount of paint and solvent discharged, and improve the reliability of the coating apparatus.
- the supply hose 30 composed of the paint hose 26 and the solvent hose 27 can be gripped by the arm-side hose gripping device 32.
- the supply hose 30 can be prevented from coming into contact with the workpiece 42, and coating defects and the wear and damage of the supply hose 30 can be prevented, and reliability can be improved.
- the feed unit standby plate 33 and the supply hose standby plate 34 are arranged vertically, and the unit standby devices 35 A to 35 H are connected to the standby plate 33,
- the arm 4 is arranged at a desired angle in the circumferential direction around the swing fulcrum 0 of the arm 4. Therefore, the arm 4 of the coating robot 1 is swung at a desired angle around the swing fulcrum 0 to thereby provide the rotary atomizing head type coating machine 6 and the arm. 4 and can be accurately and easily arranged at the unit replacement positions of the unit standby units 35A to 35H.
- the supply hose 30 is covered by a hose support tube 31, and the hose support tube 31 is covered by an arm-side hose holding device 32 and a standby device-side hose holding device 40. Since the supply hose 30 is supported by gripping, it is possible to prevent the supply hose 30 from being damaged by the hose gripping devices 32 and 40, and to prevent the supply hose 30 from being damaged. The durability can be improved and the service life can be extended.
- a case where a painting machine 6 is attached to a wrist 5 of a painting robot 1 as a working device will be described as an example.
- the present invention is not limited to this.
- another working device such as a reciprocator that reciprocates the coating machine 6 may be used.
- the arm 4 of the coating robot 1 is provided with the arm-side hose gripping device 32, and the arm-side hose gripping device 32 is located at the position where the arm-side hose gripping device 32 faces when the column 3 is rotated.
- the case where the unit standby device 35 for transferring the supply hose 30 to and from the arm-side hose holding device 32 is disposed has been described as an example.
- the present invention is not limited to this.
- the arm 4 is provided with an arm-side hose holding device on both sides of the arm 4 and the unit for each color is provided on both sides of the coating robot 1.
- a unit standby unit can be arranged on both sides of the painting robot 1 so that twice as many kinds of paints are required as compared with the embodiment. And can cope with an increase in paint color.
- the coating robot 1 may be provided so as to be movable (so-called tracking), and a plurality of unit standby devices 35 may be provided along the moving direction. Good. In this case, more than twice as many kinds of paints can be used as compared with the embodiment.
- a high voltage is applied to the rotary atomizing head 13, and the paint passing through the rotary atomizing head 13 is directly charged to a high voltage.
- an external electrode is provided on the outer peripheral side of the housing 7, and a corona discharge area is formed on the outer peripheral side of the rotary atomizing head 13 by the external electrode.
- this corona discharge area is A configuration using an indirect charging type rotary atomizing head type coating machine that charges the coating particles to a high voltage when the particles pass through may be adopted.
- a feed unit for each color can be attached to and detached from the rotary atomizing head type coating machine provided at the arm tip of the working device.
- the arm of the working equipment is provided with an arm-side hose gripping device that attaches and detachably supports a paint hose by gripping the hose support tube. Attach and remove the feed unit attachment / detachment device for attaching and detaching the feed unit to and from the rotary atomizing head type coating machine near the equipment, and remove the hose support tube.
- the unit is provided with a unit standby unit including a standby unit-side hose gripping unit that grips as much as possible.
- the color can be changed by exchanging the feed unit attached to the rotary atomizing head type coating machine, and the color changing time can be reduced. You. Moreover, even if the arm or the like swings, the hose supporting tube is gripped by the arm-side hose gripping device, so that the paint hose can be prevented from wobbling. As a result, it is possible to prevent paint defects due to the paint hose coming into contact with the workpiece, and also to prevent wear and damage of the paint hose and extend the life of the paint hose, thereby improving reliability. It can be.
Landscapes
- Spray Control Apparatus (AREA)
- Electrostatic Spraying Apparatus (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP99925372A EP1004360B1 (en) | 1998-06-22 | 1999-06-18 | Painting device |
KR1020007001750A KR100334556B1 (ko) | 1998-06-22 | 1999-06-18 | 도장장치 |
DE69937136T DE69937136T2 (de) | 1998-06-22 | 1999-06-18 | Lackiervorrichtung |
US09/464,000 US6234405B1 (en) | 1998-06-22 | 1999-06-18 | Painting device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19109598 | 1998-06-22 | ||
JP10/191095 | 1998-06-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999067026A1 true WO1999067026A1 (fr) | 1999-12-29 |
Family
ID=16268781
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1999/003255 WO1999067026A1 (fr) | 1998-06-22 | 1999-06-18 | Dispositif de peinture |
Country Status (5)
Country | Link |
---|---|
US (1) | US6234405B1 (ja) |
EP (1) | EP1004360B1 (ja) |
KR (1) | KR100334556B1 (ja) |
DE (1) | DE69937136T2 (ja) |
WO (1) | WO1999067026A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3263373B2 (ja) * | 1998-12-18 | 2002-03-04 | エービービー株式会社 | 自動塗装装置 |
CA2376486C (en) | 2000-04-25 | 2007-12-11 | Abb K.K. | A cartridge type coating system |
FR2811917B1 (fr) * | 2000-07-24 | 2002-12-20 | Sames Sa | Procede et station de changement de produit dans une installation de projection de produit de revetement |
JP4520268B2 (ja) * | 2004-09-28 | 2010-08-04 | 川崎重工業株式会社 | ロボット |
TW200719290A (en) * | 2005-11-01 | 2007-05-16 | Datadot Technology Ltd | Article marking system |
US9555441B2 (en) | 2013-05-03 | 2017-01-31 | Abb Schweiz Ag | Dynamic synchronized masking and coating |
US9808820B2 (en) | 2013-05-03 | 2017-11-07 | Abb Schweiz Ag | Automatic painting and maintaining wet-surface of artifacts |
CN108144770B (zh) * | 2018-02-08 | 2019-04-30 | 重庆雷钜电子科技有限公司 | 一种喷涂机 |
CN109876955B (zh) * | 2019-04-12 | 2021-04-06 | 郑州工业应用技术学院 | 一种机电一体化快速喷涂装置 |
CN112604845A (zh) * | 2020-12-23 | 2021-04-06 | 神华铁路装备有限责任公司 | 颜料切换方法及喷涂装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60112371U (ja) * | 1983-12-28 | 1985-07-30 | 関東自動車工業株式会社 | 塗装ロボツト |
JPH03242254A (ja) * | 1990-02-20 | 1991-10-29 | Tokico Ltd | チューブ切替装置 |
JPH08229446A (ja) * | 1995-03-01 | 1996-09-10 | Toyota Motor Corp | 回転霧化静電塗装装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4532148A (en) * | 1983-04-01 | 1985-07-30 | General Motors Corporation | Robot painting system for automobiles |
JPS60112371A (ja) | 1983-11-22 | 1985-06-18 | Canon Inc | 画像出力装置 |
JPS6220853A (ja) | 1985-07-22 | 1987-01-29 | Daido Steel Co Ltd | 機械構造用鋼 |
FR2609252B1 (fr) | 1987-01-02 | 1989-04-21 | Sames Sa | Installation de projection de produit de revetement tel que par exemple une peinture et notamment installation de projection electrostatique de peinture a base d'eau |
US5029755A (en) * | 1990-02-12 | 1991-07-09 | Motoman, Inc. | Paint color change system |
WO1997024189A1 (de) * | 1995-12-29 | 1997-07-10 | Ingenieurbüro Inovac | Verfahren und einrichtung zum beschichten von gegenständen mit häufig wechselnden arten von beschichtungsmedien |
JPH1119553A (ja) * | 1997-07-01 | 1999-01-26 | Honda Motor Co Ltd | 多色塗装装置 |
-
1999
- 1999-06-18 WO PCT/JP1999/003255 patent/WO1999067026A1/ja active IP Right Grant
- 1999-06-18 DE DE69937136T patent/DE69937136T2/de not_active Expired - Fee Related
- 1999-06-18 KR KR1020007001750A patent/KR100334556B1/ko not_active IP Right Cessation
- 1999-06-18 US US09/464,000 patent/US6234405B1/en not_active Expired - Fee Related
- 1999-06-18 EP EP99925372A patent/EP1004360B1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60112371U (ja) * | 1983-12-28 | 1985-07-30 | 関東自動車工業株式会社 | 塗装ロボツト |
JPH03242254A (ja) * | 1990-02-20 | 1991-10-29 | Tokico Ltd | チューブ切替装置 |
JPH08229446A (ja) * | 1995-03-01 | 1996-09-10 | Toyota Motor Corp | 回転霧化静電塗装装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1004360A4 (en) | 2006-07-26 |
KR100334556B1 (ko) | 2002-05-04 |
DE69937136T2 (de) | 2008-06-19 |
EP1004360A1 (en) | 2000-05-31 |
US6234405B1 (en) | 2001-05-22 |
EP1004360B1 (en) | 2007-09-19 |
KR20010023128A (ko) | 2001-03-26 |
DE69937136D1 (de) | 2007-10-31 |
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