JPS6255903B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Technical Field of the Invention The present invention relates to a robot device for painting, and more particularly to a robot device for automatic painting comprising a combination of an air atomizing spray gun and an industrial robot.

(2) Background of the technology Recently, industrial robots have been increasingly used in industrial painting lines, and their purpose is to reduce production costs through unmanned operation and improve productivity, improve quality, and improve the working environment. and so on.

Painting robots are generally of the teaching playback type, which stores the movements taught by the operator in a memory device (teaching) and paints by continuous motion based on the stored contents (playback). ), but due to its free trajectory,
It is particularly effective when used for painting objects with complex shapes and for local correction painting of large curved parts, corners, grooves, etc. These painting robots are generally equipped with air or airless guns, and paint discharge is automatically turned on and off based on commands from the robot control unit.
It's starting to turn off.

However, in actual painting work using the painting robot, it is usually possible to set a spray pattern in advance (that is, a relatively small pattern) corresponding to a small area of the object to be coated, and then paint with the same spray pattern. Therefore, multiple coating processes are required for large areas, which results in an extended coating time, leading to the problem that the robot cannot sufficiently complete the coating process within the specified coating time. be. Therefore, it is desired to realize a coating robot device that can automatically change the spray pattern width in accordance with the area of the object to be coated.

(3) Prior Art and Problems Generally used spray guns are designed so that the width of the spray pattern can be adjusted manually, but when attached to the robot, it becomes impossible to change the pattern during operation, and it is practically impossible to do so. I had no choice but to paint with one spray pattern,
Guns that can change the spray pattern width by remote control are also being considered, but there have been no examples of them being put to practical use in robotic painting, and shortening of painting process time and automation have not been sufficiently achieved.

(4) Purpose of the Invention In view of the above-mentioned problems of the prior art, the object of the present invention is to provide a robotic coating device that can automatically change the spray pattern width according to the shape of the object to be coated even during robotic coating. It is something.

(5) Structure of the Invention The present invention provides a combination of a teaching playback type painting robot and an air atomization type spray gun, in which the air passage for paint atomization and the air passage for forming a spray pattern are separated from each other in the spray gun. Air is supplied to the spray gun by an air control unit that is connected to an air source and is made up of a plurality of combinations of an air regulator, a solenoid valve, and an air valve. The unit is also equipped with a control function for opening and closing the paint valve consisting of a combination of an air regulator and a solenoid valve, and the air control unit is electrically connected to the other provided painting control unit and robot control unit. An air control unit equipped with an electro-pneumatic conversion device is provided between the spray pattern forming air passage of the spray gun and the air source, and the air control unit, the coating control unit, and To provide a painting robot device characterized in that a robot control section and a robot control section are electrically connected to each other.

(6) Embodiments of the invention Hereinafter, embodiments of the present invention will be described based on the accompanying drawings.

FIG. 1 is a diagram showing the arrangement and system of each device in a robot device according to the present invention. In the figure, 1 is a robot, and a rotary table 3 is provided on a base 2. A support 4 is placed on the rotary table 3, an arm 5 is attached to one end of the support 4, and a wrist 6 is attached to the tip of the arm 5. A spray gun 7 is attached to the. Further, a driving cylinder mechanism (not shown) is disposed on the rotary table 3 so as to drive the column 4 and the arm 5 by pin connection. Also, a paint source 8 and an air source 9 are installed in the robot 1, and the paint is fed from the paint source 8 through a paint regulator 10, a color change device 8a, a paint valve 11, and a paint feed hose 12. The air is then fed to the spray gun 7, while the air is once fed from the air source 9 to the air control section 13, and after predetermined division control is performed within the air control section 13,
A portion is fed to the spray gun 7 through the paint atomizing air hose 14 and the spray pattern forming air hose 15, and the other portion is fed to the paint valve 11 through the paint valve opening/closing air hose 16. On the other hand, the robot 1 is provided with a robot control section 17 to control the operation of the entire robot device.Based on the signal from the robot control section 17, the painting control section 18 operates to control the air control section 13. The hydraulic unit 19 is driven to operate each part of the robot.

Here, air regulators 20, 21a, 21b...21n,
22 and 23 are provided in parallel, among which the air regulator 20 is connected to the paint atomizing air hose 14 via an air valve 201, and the air regulators 21a, 21b...21n are connected to air valves 211a, 211b..., respectively. …2
It is connected to the previous spray pattern forming air hose 15 via 11n. In addition, the air valves 201, 211a, 211b...211n have electromagnetic valves 202, 212a, 212, respectively.
b...212n are connected, and these electromagnetic valves 202, 212a, 212b...212
n are also interconnected with the air regulator 22 and electrically connected to the coating control section 18, respectively. On the other hand, apart from this, a solenoid valve 232 is provided connected to the air regulator 23, and the solenoid valve 232 is also connected to the air hose 16 for opening and closing the paint valve, and is electrically connected to the paint control section 18. There is.

With this configuration, among the air sent from the air source 9, the air for paint atomization is sent to the air regulator 2.
0. Air is supplied to the spray gun 7 via the air valve 201 and the air hose 14 for paint atomization, and the air for forming the spray pattern is supplied to the air regulator 2.
1a, 21b...21n, air valve 211
a, 211b......211n, and the air hose 15 for forming the spray pattern to the spray gun 7, and the air for opening and closing the paint valve goes through the air regulator 23 and the solenoid valve 232, and the air hose 16 for opening and closing the paint valve, and then the air hose 16 for opening and closing the paint valve. 11, and another part of the air passes through the air regulator 22 to the solenoid valves 202, 212a, 21
2b...212n.

However, such air supply control is carried out by the coating control section 1.
Based on the electrical signal sent from 8, the electromagnetic valves 202, 212a, 212b...212n,
232 is activated, air signals are emitted from these electromagnetic valves, and the air valves 201, 211a, 21
1b...211n and the paint valve 11 are configured to open and close. Especially air valve 21
Either one of the air regulators 1a, 211b...211n is selectively opened, so if the air regulators 21a, 21b...21n are set to different pressures in advance, the spray will not start. This allows the pattern width to be changed in multiple stages. Thus, the number n of air regulators, air valves, and electromagnetic valves can be arbitrarily selected as required.

FIG. 2 shows another embodiment of the present invention, and the same parts as in FIG. 1 are designated by the same reference numerals. The feature of this embodiment is that the air control section 1
3, an air passage 24 is installed between the electro-pneumatic converter 24 and the air source 9 and the spray pattern forming air hose 15.
a and 24b, and electrically connected to the coating control section 18. With this configuration, the air sent from the air source 9 is continuously changed in the electro-pneumatic conversion device that operates based on the signal from the painting control section 18, and the air whose pressure has been adjusted in this way is used for spraying. It is fed to the spray gun via the pattern forming air hose 15,
After all, the spray pattern width can be changed continuously. The arrangement and system of other devices not shown in FIG. 2 are exactly the same as those shown in FIG. 1, and their functions and operations are also the same as described with reference to FIG.

When actual painting work is carried out using the painting robot apparatus constructed as described above, first, during teaching, the contents of the painting that are normally performed are taught, and at the same time, the changing of the spray pattern width is also taught. These teaching contents are corrected by a correction section (not shown) as necessary and stored in the robot control section 17 or the painting control section 18. Next, the robot 1 performs a playback operation based on the above-mentioned stored contents and performs a painting operation. That is, in response to a signal from the robot control section 17, the hydraulic unit 19 is driven to operate each part of the robot, and at the same time, in response to a signal from the painting control section 18, the air control section 13 is operated to turn on/off paint atomization. control as well as automatic control of the spray pattern width. Note that the teaching of changing the spray pattern width at the time of teaching may be performed by additionally correcting the spray pattern width using a correction section (not shown) after teaching the normal coating content. Moreover, if an electrostatic gun with high installation efficiency is used as a spray gun, more effective painting can be performed.

FIG. 3 shows a specific example of painting by the robot device according to the present invention. For example, when painting objects with different coating areas as shown in figure a,
If the robot paints in the order of (A) → (B) → (C),
If the spray pattern widths corresponding to each coated area are set as LA, LB, and LC as shown in Figure c, the number of coatings can be completed once for each as shown in Figure c, which is different from the conventional example. As can be understood from the comparison with the number of coatings [1+3+2] shown in Figure d, the coating process is significantly shortened.

(7) Effects of the Invention As explained above, the present invention provides the function of automatically changing the spray pattern width according to the shape of the object to be coated, in addition to the functions of ordinary robot painting. Therefore, it is possible to simplify the movement of the robot, shorten the painting process, and improve work efficiency, which has a very large effect.

[Brief explanation of the drawing]

1 and 2 are arrangement and system diagrams of a painting robot apparatus according to the present invention, and FIG. 3 is a diagram for explaining a specific example of painting work. 1... Robot, 2... Base, 3... Rotating table, 4... Support, 5... Arm, 6... Wrist,
7...Spray gun, 8...Paint source, 8a...Color change device, 9...Air source, 10...Paint regulator, 11...Paint valve, 12...Paint feed hose, 13... Air control section, 14... Air hose for paint atomization, 15... Air hose for spray pattern control, 16... Air hose for opening/closing paint valve, 17... Robot control section, 18...
Painting control section, 19... Hydraulic unit, 20, 21
a, 21b...... 21n, 22, 23... Air regulator, 201, 211a, 211b...
211n...Air valve, 202, 212a, 2
11b...212n, 232...Solenoid valve.

Claims (1)

[Scope of Claims] 1. A painting robot device comprising a teaching playback type industrial robot and an air atomization type spray gun, which includes a pair of air regulators and an air valve connected to an air hose for paint atomization, and spray pattern molding. a pair of air regulators and air valves connected to a plurality of air hoses for use in parallel, a plurality of electromagnetic valves connected to each of the air valves and connected to one air regulator, and a pair of air regulators and an electromagnetic valve connected to the paint valve. An air control unit consisting of a valve is interposed between the air source and the spray gun,
A painting robot device characterized in that it is electrically connected to a painting control section. 2. An electro-pneumatic converter is disposed within the air control unit, and the electro-pneumatic converter, air source and spray pattern forming air hose are interconnected, and electrically connected to the coating control unit. A painting robot device according to claim 1.