JPS5935271B2 - Painting robot lighting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a light projection device used during teaching to memorize the movement locus of a spray gun in a painting robot that automatically paints an object to be painted.

Traditionally, when teaching a painting robot,
The spray gun is supported by multiple axes relative to the main body of the painting robot, and the worker operates the teaching control device to rotate the spray gun around the multiple axes to target multiple points on a desired trajectory. They are positioned sequentially and the same positions are stored in the storage device of the painting robot.

During painting, the spray gun is automatically moved to connect the multiple points based on signals from the storage device. However, whether or not the object to be painted will be painted correctly as a result of the teaching described above cannot be determined until the paint is actually sprayed from the spray gun and the object to be painted is painted, which makes teaching time-consuming and requires repeated teaching. Since trial coating must be performed after the first coating, there is a problem in that a large number of test coated objects are left with defective coatings, and that it takes time and effort to repair these objects. moreover,
There was also a problem in that the above-mentioned teaching had to be performed by an experienced person relying on intuition. The present invention aims to solve the above-mentioned problems, and is characterized in that the present invention is removably attached to the attachment part of a spray gun of a painting robot, and emits a light beam according to the shape of the paint jet of the spray gun. This paper focuses on a light projector for a commercial robot.

Therefore, during teaching, the projector according to the present invention is attached to the painting robot instead of the spray gun, and a beam of light corresponding to the shape of the paint ejected from the spray gun is emitted from the projector and projected onto the object to be painted. By doing this, it is possible to simulate the state of paint being sprayed from the spray gun during teaching, and since the worker moves the projector while visually observing this state, teaching can be performed reliably, and therefore teaching The time required for correction can be significantly reduced, improving work efficiency. Further, since teaching can be performed while visually checking a simulated spray state, even non-experts can easily perform the above-mentioned teaching. Examples of the present invention will be specifically described below.

The painting robot 1 currently in use is an example of the
As shown in FIGS. 1 and 2, the main body 11 is provided with an arm 13 that is rotatable around a first shaft 12, and a subframe 15 is rotatably supported on a second shaft 14 provided at the tip of the arm 13. A support member IT is rotatably mounted on the subframe 15 via a third shaft 16. The support member 17 is removably provided with a spray gun 2, and the spray gun 2 sprays paint in a fan shape having a thickness a, as shown by the two-dot chain line in FIGS. 1 and 2. Next, when painting is performed according to a command from the storage device of the painting robot 1, the paint is automatically pumped from a paint tank (not shown) to the spray gun 2, and the paint is applied from the spray gun 2 to a thickness of a. Make it squirt in a fan shape. At the same time, the painting robot 1 moves the arm 13, subframe 15, and support member 17 to the first to third axes 12, 1 according to a command from the memorial device.
4 and 16, the spray gun 2 is automatically moved along a predetermined trajectory, and the object to be coated is coated. In the first embodiment of the present invention shown in FIGS. 3 to 6, the light projecting device 3 has a casing 31 that can be freely connected to and detached from the support member 17 of the painting robot 1, and the casing 31 has a lamp 32 inside, The lamp 32 is surrounded by a cover 34, and the lens 33 is surrounded by a cover 34.
A convex lens formed in a rectangular shape as shown in FIG. It is also curved.

The slit 35 is formed to extend to the thickness a of the paint layer ejected from the spray gun 2 and to a position facing the lens 33 at the right end of the casing 31 in FIG.
An adjusting plate 36 that covers the front surface of the lens and adjusts the light passage area is fixed with a screw. When the lamp 32 is turned on, the light emitted from the lamp 32 (by the lens 33, it spreads into a fan shape in the vertical direction in FIG. Furthermore, the light is corrected by the slit 35 to have the same shape as the sprayed paint from the spray gun 2 that spreads in a fan shape with a width a, and is emitted to the outside. When teaching to memorize the movement trajectory of
Attach.

At this time, the casing 3 is placed so that the position of the filament of the lamp 32 matches the position of the paint outlet of the spray gun 2.
1 with respect to the support member 17. When the lamp 32 is turned on, light having the same shape as the paint ejected from the spray gun 2 is emitted from the slit 35.
Here, the object to be painted is locked in the painting position of the painting robot 1. Then, the worker operates the teaching control device of the painting robot 1 to move the arm 13, subframe 15, and support member 17 to the first to third shafts 12.
, 14 and 16, the light projected from the light projection device 3 is irradiated onto a predetermined position of the object to be coated, and the position of the light projection device 3 at this time is memorized. Next, shift the light projecting device 3 a little again, store the position in the storage device, repeat this operation, and move the light projecting device 3 again.
to memorize a number of positions. When painting the object to be painted, the projector 3 is removed from the support member 17,
The spray gun 2 is attached to the support member 17. Next, when the object to be painted is transported to a predetermined position by the transport device and clamped, the painting robot 1 automatically operates and moves the arm 13, subframe 15, and support member 17 to the first to third positions.
Continuously rotate around the third axes 12, 14, 16,
The spray gun 2 is moved so as to connect the many memorized positions, and at the same time, paint is ejected from the spray gun 2 to paint the object to be coated. Therefore, when teaching the painting robot 1, it is only necessary to perform the teaching while visually checking the irradiation state of the light from the light projector 3 onto the object to be painted, which makes the work extremely easy and even non-experts can do it reliably. Moreover, teaching can be performed with high precision, and work efficiency is improved since the time required to correct the teaching is extremely small.

In addition, by operating the coating robot 1 on a trial basis with the light projecting device 3 attached to the support member 17 after teaching, the results of the teaching can be known without spraying out paint, and the test operation can be performed. Since the object to be painted is not coated, there is no possibility of creating an object with poor coating. Furthermore, there is no problem that the paint is not applied to the object to be painted and is scattered outside. In addition, it is possible to correct and rememorize defective parts while checking the operation status of the first test, which reduces the time required for correction work. In the above embodiment, the adjustment plate 36 is adjusted according to the fan-shaped spread angle of the paint sprayed from the spray gun 2. Further, in the above embodiment, when the width a of the slit 35 is small, the lens 33 may not be provided.

In the second embodiment shown in FIG. 7, the same parts as those in the first embodiment will be described with the same reference numerals.

In FIG. 7, the light projecting device 3 has light source devices 41, 42, 43 that project three parallel light beams into the casing 31, and the light source devices 41, 42, 43 include a lamp 44, a convex lens 45, and a slit. [- Consisting of 46 and cylindrical body 47, cylindrical body 4
7 is fixed to the casing 31 and has a lamp 44 and a convex lens 45 inside, and the lamp 44 is at the focal point of the convex lens 45.
The slit 46 is provided at the right end of the cylinder 47 and has a diameter equal to the thickness a of the paint layer sprayed from the spray gun 2. Then, the three light source devices 41, 42, 4
3 are provided on the same vertical plane, the light source device 41 projects light diagonally downward to the right, the light source device 42 projects light horizontally to the right, and the light source device 43 projects light diagonally upward to the right. The lights projected from the three light source devices 41, 42, and 43 intersect at one point. When the light projecting device 3 is attached to the support member 17, the above-mentioned intersection points coincide with the position of the paint ejection port of the spray gun 2, and the angles of the light source devices 41 and 43 with respect to the horizontal line in the horizontal direction in FIG. light source device 41, 4
The point where the light rays from 2 and 43 intersect is moved in the left-right direction in FIG. 7 to match the fan-shaped shape of the paint layer sprayed from the spray gun 2. With the above structure, when the light projecting device 3 is attached to the support member 17 of the painting robot 1 and light is projected from the light projecting device 3 toward the object to be painted that is clamped at the painting position, the object to be painted 3 One spot is displayed. This spot is then used to teach the coating robot opening in the same way as in the first embodiment.
This embodiment provides the same effects as the first embodiment.
Note that among the three light source devices 41, 42, and 43 of the above embodiment, the light source device 42 that projects light in the horizontal direction may be omitted.

The third embodiment shown in FIG. 8 is a modification of the first embodiment, and common parts will be described with the same reference numerals.

In FIG. 8, a convex mirror 5 is provided inside the casing 31 of the projector 3, and the convex mirror 5 is a vertically long rectangular plane mirror curved, and the width in the short axis direction is larger than a. There is.

The lamp device 6 is provided between the convex mirror 5 and the slit 35, and consists of a lamp 61 and a concave mirror 62. The lamp 61 is provided at the focal point of the concave mirror 62, and the lamp device 6 projects parallel light rays toward the convex mirror 5. do. The parallel light beam projected from the lamp device 6 is reflected by the convex mirror 5 and spreads in the vertical direction in FIG. molded. In addition, when the light beam projected from the light projecting device 3 does not have a constant width a in the thickness direction and becomes wide, the convex mirror 5 is projected with its short axis center toward the left in FIG. The lamp 61 may be placed at the focal point of this curvature. The fourth embodiment shown in FIG. 9 relates to a light projection device used when the spray gun 2 is used to eject paint in a conical shape. Components in common with the first embodiment are designated by the same reference numerals. This will be explained below.

In FIG. 9, a lamp 32 is provided inside a casing 31 of the light projecting device 3, and the casing 31 on the right side of the lamp 32 is
A circular opening 37 is provided inside. Then, by moving the position of the lamp 32 in the left and right direction in FIG.
This adjusts the spread of the light beam projected from the In the above embodiment, instead of moving the position of the lamp 32, the aperture 37 may be formed by a mechanism similar to the diaphragm mechanism in photographs, and the opening area of the aperture 37 may be changed.

[Brief explanation of drawings]

FIG. 1 is a front view showing an example of a painting robot, FIG. 2 is a view taken from the direction of the arrow in FIG. 1, FIG. 3 is a front view showing the first embodiment of the present invention, and FIG. An enlarged cross-sectional view in the direction of arrows, FIG. 5, a front view of the lens 33 used in the first embodiment, and FIG. 8 is a sectional view showing a third embodiment of the present invention, and FIG. 9 is a sectional view showing a fourth embodiment of the present invention. 1: Painting robot, 13: Arm, 15 : subframe, 17: support member, 2: spray gun, 3: floodlighting device, 32: lamp, 33: lens, 35: slit, 37
: Opening, 41, 42, 43: Light projector, 5: Convex mirror, 6
: Lamp device.

Claims (1)

[Claims] 1. A light projection device for a painting robot, which is removably attached to a spray gun attachment part of a painting robot and emits a light beam according to the shape of the paint ejected from the spray gun.