JPH0116635B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a teaching device for a painting robot that teaches the spray trajectory of a painting gun attached to the tip of an arm of the painting robot.

In the teaching method of painting robots, three important factors that determine the quality of the painted appearance are the distance between the painting gun and the object to be painted, the moving angle of the painting gun with respect to the object to be painted, and the moving speed of the painting gun with respect to the object to be painted. Therefore, if even one of the requirements deviates from the teaching conditions, it is necessary to revise all three teaching requirements. It is considered necessary to teach the trajectory of a painting gun that is a combination of these three requirements.

As a general teaching method for painting robots, a direct teaching method as shown in FIG. 4 is used. That is, the teaching points 21 are marked in advance on the object to be painted W for teaching in accordance with the teaching conditions, and the teacher 25 holds the painting gun 24 provided at the tip of the arm 23 of the painting robot 22 in the hand 26 and performs the teaching. Person 2
The teaching is performed while aiming and moving the teaching point 21 with the visual sense of 5. However, the teaching point 21 and the painting gun 24 displayed on the teaching object W
Since the distance between the painting gun 24 and the teaching object W is 200 to 400 mm, it is difficult to aim, and the distance between the painting gun 24 and the teaching workpiece W, the moving angle of the painting gun 24 with respect to the teaching workpiece W, and the It is not possible to accurately teach the moving speed of the painting gun 24, and it is necessary to repeat direct teaching many times to one object W for teaching, and there is a thin part of the paint film in the overlapped part of the paint pattern. (Scale) may occur or a uniform coating film thickness may not be obtained. The teaching man-hours also vary greatly depending on the painting work experience of the instructor 25 and the skill level of the painting robot's teaching work.
For example, it takes about 10 to 20 hours to teach a robot to paint a workpiece that is 800 mm wide, 800 mm high, and 300 mm long. Therefore,
When there are several types of objects to be coated, there is a problem in that even more man-hours are required.

The present invention has been made to solve the above-mentioned problems, and based on the teaching points marked on the object to be painted, the distance between the painting gun and the object to be painted, the distance between the painting gun and the object to be painted, and the distance between the painting gun and the object to be painted are determined. It is an object of the present invention to provide a number indicating device for a painting robot that can accurately teach the three requirements of a moving angle and a moving speed of a painting gun in a short time.

The above-mentioned object of the present invention is to provide a mounting holder provided on a nozzle holder of a painting gun, and a mounting holder provided movably in the axial direction, the axial center of the tip being the axial center of the nozzle holder. A core rod formed to be identical to the core rod, a fixed rod provided near the tip of the core rod so as to intersect the core rod at right angles, and a fixed rod movably provided at both ends of the fixed rod. It consists of an adjustment holder and a target piece provided on the adjustment holder, and the core rod is moved and adjusted according to the spraying distance of the painting gun, and the target piece of the adjustment holder is adjusted to match the spray pattern of the painting gun. This can be achieved by a teaching device for a painting robot, which is characterized in that its movement is adjusted according to the width.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows a plan view of a teaching device according to the present invention, and FIG. 2 shows a sectional view taken along the line - in FIG. 1 and 2, reference numeral 1 denotes a painting gun provided at the tip of an arm (not shown) of a painting robot, and a nozzle holder 2 is provided at the tip of this painting gun 1. There is. This nozzle holder 2 is provided with a mounting bracket 3 formed in a mold, and a female groove 3c is formed in a side wall 3a of the mounting bracket 3, which is orthogonal to the axial direction. The mounting bracket 3 is fixed to the nozzle holder 2 by a fixing screw 4 screwed into the female groove 3c and a lock nut 5 provided on the fixing screw 4. Further, a mounting holder 6 is fixed to the side wall 3b of the mounting bracket 3 by welding or the like, and the mounting holder 6 has a through hole 6a penetrating in the axial direction and a through hole 6a.
A female groove 6b is provided which communicates with and is orthogonal to the axial direction. A fixing screw 8 having a lock nut 7 is screwed into this female groove 6b. A core rod 9 is inserted through the through hole 6a of the mounting holder 6 so as to be movable in the axial direction, and the core rod 9 is fixed by a fixing screw 8 and a lock nut 7. Further, the core rod 9 is formed in a square shape so that the axis of the tip 10 is the same as the axis of the nozzle holder 2, and the tip 10 is formed with a tapered target piece 9a. Also, the core rod 9
A bracket 11 is provided near the tip 10 of the bracket 11, and this bracket 11 is fixed to the core rod 9 by a fixing screw 12. A fixing rod 13 is provided. Adjustment holders 14, 14a are movably provided at both ends of this fixed rod 13, and these adjustment holders 14, 14a are movably provided.
is fixed to the fixing rod 13 by fixing screws 15, 15a. Further, a slide holder 16 is inserted in the middle of the core rod 9, and this slide holder 16 and adjustment holders 14, 1
4a is a rod member 17, 17a made of a flexible material.
has been erected. and adjustment holder 14,1
4a, each has a tapered target piece 18,
18a is provided.

In the teaching device A configured as described above, first, the nozzle holder 2 of the painting gun 1 is set to Attach the bracket 3 to the bracket 3 and secure it with the fixing screw 4 and lock nut 5. After that, loosen the lock nut 7 and fixing screw 8 of the mounting holder 6, slide the core rod 9 into the through hole 6a of the mounting holder 6, and adjust the spraying distance B of the painting gun 1, which is the teaching condition of the painting robot. Set. Thereafter, the lock nut 7 and fixing screw 8 are tightened to fix the core rod 9 to the mounting holder 6. Next, loosen the fixing screws 15, 15a of the adjustment holders 14, 14a, slide each of the adjustment holders 14, 14a on the fixing rod 13, and adjust the target pieces 18, 18a of the adjustment holders 14, 14a to the teaching conditions of the painting robot. The spray pattern width C is adjusted to set the simulated spray pattern width. Thereafter, the fixing screws 15, 15a are tightened to fix the adjustment holders 14, 14a. At that time, the slide holder 1 has rod members 17 and 17a made of a flexible material and is inserted into the core rod 9.
Since 6 is a free mechanism, an arbitrary spray pattern width C can be set by moving the adjustment holders 14, 14a. Further, the spraying distance B of the painting gun 1 can also be arbitrarily set by moving the core rod 9 in the axial direction.

As described above, the direct teaching method as explained in FIG. 4 is performed using the teaching device A in which the spraying distance B and the simulated spray pattern width C of the painting gun 1 are set. That is, in advance, the teaching point 21 marked on the object to be painted W for teaching is aimed with a target piece 9a shaped like a core rod 9, the target piece 9a is moved along the teaching point 21, and the object to be painted is painted. By performing direct teaching while checking the moving angle and direction of the painting gun 1 and the moving speed of the painting gun 1, the movement locus of the painting gun 1 is taught to the painting robot.

FIG. 3 shows a second embodiment, and is a partially cutaway plan view of a teaching device for a painting robot. Since the second embodiment is the same as the first embodiment (FIGS. 1 and 2) in many respects, the same parts will be given the same numbers and their description will be omitted.
This second embodiment is based on the core rod 9 shown in the first embodiment.
The slide holder 16 provided in the slide holder 16 and the adjustment holders 14, 14
The rod members 17, 17a made of flexible material and constructed between the two parts are omitted to simplify the structure and reduce manufacturing costs.

As explained above, in the teaching device of the present invention, the mounting holder provided on the nozzle holder of the painting gun is provided with a core rod movable in the axial direction, and the core rod can be moved and adjusted. The spraying distance of the painting gun is set by means of a movable adjustment mechanism, in which a fixed rod is provided near the tip of the core rod and intersects the core rod at right angles, and this fixed rod has target pieces at both ends. Since a holder is provided and the spray pattern width of the painting gun is set using this target piece, the target piece provided at the tip of the core rod can be used to spray the surface of the object to be taught according to the teaching conditions in advance. By moving along the marked teaching points, even people with little experience in painting work or skill in teaching work can easily determine the distance between the painting gun and the object to be painted, which are the three requirements for a painting robot. It is possible to accurately teach the moving angle of the painting gun relative to the object and the moving speed of the painting gun, and there is an effect that the teaching man-hour can be significantly reduced.

[Brief explanation of drawings]

FIG. 1 is a plan view of a teaching device according to the present invention, FIG. 2 is a sectional view taken along the line - in FIG. 1, and FIG. 3 is a plan view showing a second embodiment of the teaching device according to the present invention. 4 are explanatory diagrams showing a conventional teaching method for a painting robot. 1...Painting gun, 2...Nozzle holder, 3
...Mounting bracket, 3a, 3b...Side wall, 3
c...Female groove, 4...Fixing screw, 5...Lock nut, 6...Mounting holder, 6a...Through hole, 6
b... Female groove, 7... Lock nut, 8... Fixing screw, 9... Core rod, 9a... Target piece, 10... Tip, 11... Bracket, 12... Fixing screw, 1
3... Fixed rod, 14, 14a... Adjustment holder,
15, 15a...Fixing screw, 16...Slide holder, 17, 17a...Bar member, 18, 18a
...Target piece.

Claims (1)

[Claims] 1. A mounting holder provided on a nozzle holder of a painting gun, and a mounting holder provided on the mounting holder so as to be movable in the axial direction so that the axis of the tip is the same as the axis of the nozzle holder. A core rod is formed, a fixing rod is provided near the tip of the core rod so as to intersect the core rod at right angles, and an adjustment holder is movably provided at both ends of the fixing rod. , and a target piece provided on the adjustment holder, which adjusts the movement of the core rod according to the spraying distance of the painting gun, and adjusts the movement of the target piece of the adjustment holder according to the spray pattern width of the painting gun. A teaching device for a painting robot, characterized in that: