JPH0122028B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a painting robot that automatically paints wheels, etc. of wheels.

(Prior technology) The reality is that the technology for fully automatic wheel painting has not yet been fully established, but in order to do the painting automatically, it is necessary to
It is necessary to move freely in dimensional space.

However, in order to move the paint gun in three-dimensional space, a hydraulic unit is required, which requires a considerable amount of installation space and a large amount of electric power. Moreover, the device has not only become larger and more expensive, but also requires explosion-proof measures, leaving room for improvement in various respects.

(Object of the Invention) An object of the present invention is to provide a painting robot that does not require explosion-proof measures in locations where explosion-proofing is required.

(Structure of the Invention) The present invention includes a first arm that is movable in one direction and rotatable about an axis, a second arm that is swingably attached to the first arm, and a second arm that is swingably attached to the first arm. The paint gun is swingably held by the arm, and the painting gun is installed so that its central axis of jetting does not coincide with the central axis of the first arm, so that it can be moved in one direction. Therefore, the wheels are painted automatically and without any explosion-proof measures.

(Embodiments) The present invention will be described below with reference to embodiments shown in the drawings.The movement in three-dimensional space mentioned in the section of the prior art has the following meaning. That is, as shown in Fig. 1, when aiming the painting gun at a certain point P on the wheel 1, first move it in the X-axis direction, then move it in the Y-axis direction, and then move it in the front and back directions of the page. In other words, it is necessary to move in the two axis directions of X and Y on a plane.

The present invention attempts to set the position of the coating gun by moving only in one direction, the X-axis direction. FIG. 2 shows its conceptual configuration. At the tip of a movable rod 3 movably provided on the rail 2, a first arm 4 is perpendicular to the rod 3 and rotates around its central axis. A second arm 4a is swingably attached to the tip of the first arm 4,
The second arm 4a includes a coating gun 5 that injects a solvent.
is attached so that it can swing freely. What is important here is that the coating gun 5 is mounted so that the spraying center axis L does not always coincide with the center axis 1 of the arm 4 despite its swinging. Specifically, the coating gun 5 may be mounted so that the spraying center axis L is parallel to the center axis 1 of the first arm 4 when the coating gun 5 is in a neutral state, that is, in a hanging state.

In other words, the coating gun 5 is mounted offset to the first arm 4 via the second arm 4a so that the operating angle is equal to the mounting offset angle α.

In order to apply the apparatus according to the above conceptual configuration to actual painting, the operating rod 3 may be placed along the X axis in FIG. For example, to paint an area R surrounding P in the same figure, move the first arm 4 so that the injection center axis L passes through a point where a line passing through P and the X axis intersect, for example, point a. When the second arm 4a is placed in the neutral position, that is, in the hanging state, as shown in FIG.
When the swing angle of the painting gun 5 is maximum, that is, when the swing angle is α, the spraying center axis L of the painting gun 5 can be set to be located at the periphery of the region R.

In order to paint the area R' which is symmetrical to the X-axis, the first arm 4 may be rotated 180 degrees from the position shown in FIG.

To paint a predetermined part on the X axis, rotate the first arm 4 90 degrees from the position shown in FIG. 3, swing the second arm 4a as shown in FIG.
What is necessary is to set the swing angle to θ.

In addition, in FIG. 3, the painting gun 5 is connected to the second arm 4.
It is attached to the mounting plate 4b attached to the mounting plate 4b via the swing shaft 5a. The gun 5 also includes an injection section 6 that can move forward and backward by driving a cylinder, and is movable in the Z direction as shown in FIG. 2.

(Effects) As is clear from the above, since the present invention can perform painting by moving in one direction, the chamber wall of the booth containing the solvent can be sealed with the arm, and therefore a drive source for spouting the solvent can be installed inside the booth. Therefore, there is no need to take explosion-proof measures for the drive source.

Furthermore, since an electric motor can be used instead of a conventional hydraulic unit, energy and space savings can be achieved. Furthermore, since the device is made more compact, it becomes easier to attach and detach the arm, thus improving maintainability.

Furthermore, since the painting gun is mounted offset from the first arm, the distance between the painting gun and the painted surface is always maintained constant by moving only in one direction on a flat surface, which ensures uniformity. It is possible to obtain a high quality coating.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing a painting method using the robot according to the present invention, Fig. 2 is a conceptual configuration diagram of the robot, Fig. 3 is a sectional view along the Y axis of Fig. 1, and Fig. 4 is a FIG. 2 is a sectional view taken along the X-axis of FIG. 1; 4...first arm, 4a...second arm, 5...
...painting gun, L...center axis of injection, 1...center axis of first arm.

Claims (1)

[Claims] 1. A first arm that is movable in one direction and rotatable about an axis, a second arm that is swingably attached to the first arm, and a second arm that is swingably held by the second arm. It has a paint gun and
A painting robot characterized in that the painting gun is mounted so that the central axis of jetting the paint gun does not coincide with the central axis of the first arm.