JPH034952A - Robot spray gun - Google Patents

Abstract

PURPOSE:To freely set the direction of a nozzle without exerting effect on the posture of a nozzle block itself by controlling the respective nozzles arranged to both left and right side surfaces of the nozzle block in a freely angle- alterable state, using an operating mechanism part. CONSTITUTION:The angles of nozzles 3, 2 themselves to the surface of a nozzle block 1 supporting nozzles 2, 2 are made freely alterable in an arbitrary direction by the control operation of an operating mechanism part 10 and, for example, the directions of the nozzles 2, 2 arranged to both left and right side surfaces of the nozzle block 1 can be freely set without exerting effect on the posture of the nozzle block itself. Therefore, for example, by mounting the nozzle block to the robot arm inserted and arranged between a fixed mold M1 and a movable mold M2, compressed air for washing and cleaning, a release agent and other material to be injected can be certainly injected to the respective inside surfaces of the molds M1, M2 by the setting of the jet angles of the nozzles 2, 2 regardless of the posture of the robot arm.

Description

Detailed Description of the Invention ° (Industrial Application Field) The present invention is characterized in that the injection angles of a pair of facing inner mold sparks are controlled and changed in various directions simultaneously and from arbitrary directions.
The present invention relates to a robot spray gun suitable for washing and cleaning by spraying compressed air, mold release agent, and other predetermined spray materials.

(Prior Art) In various molds for casting, which are composed of a fixed mold and a movable mold arranged so as to be connected to and separated from the fixed mold, cleaning the inner surfaces of the molds, Cleaning is performed, for example, by using a predetermined spray such as compressed air or a mold release agent that is injected from a spray gun inserted between the fixed mold and the movable mold in a separated state.

This spray gun is attached to, for example, a remotely controlled robot arm, and the fixed molds facing each other,
Injection surfaces having nozzles corresponding to the inner flames of both movable molds are constructed on both left and right sides.

That is, nozzles for spraying compressed air, mold release agent, and the like are fixed to the left and right spray surfaces of such conventional spray guns. Since the nozzle is fixed to the spray surface, setting or changing the spray direction so that the nozzle tip points directly at the spray target surface is done by changing the attitude of the spray gun itself to a predetermined angle. There is.

(Problem to be Solved by the Invention) However, the spray gun itself has nozzles on both sides that spray compressed air, mold release agent, etc. for washing and cleaning both the fixed mold and the movable mold. However, when changing the posture for spraying onto the target surface, even if one side can be set at a certain angle, the other side faces a completely different direction. This is not only extremely troublesome, but also inefficient, such as stopping the injection and requiring separate attitude control operations for the left and right injection surfaces in response to the uneven shape of the inner surface of the mold. In addition, a complicated fFi is required to change the nozzle spray angle depending on the posture 11i1J# of the robot arm itself.
An elJ mechanism is required, and it may not be able to adequately accommodate the complex shape of the inner surface of the mold.

Therefore, the present invention was created in consideration of the various circumstances that existed in the past, such as steaming. can be changed to any angle without controlling the posture of the nozzle block itself, and this can be done without being restricted by the posture of the nozzle block itself. The purpose of the present invention is to provide a robot spray gun in which changes can be made freely, whether regular or irregular.

(Means for Solving the Problem) In order to achieve the above-mentioned object, in the present invention, each of the nozzles 2 arranged on the left and right sides of the nozzle block 1 is controlled by an operating mechanism section 10 so as to be able to freely change the angle. It is characterized by the following.

Further, the nozzle 2 can be configured to be connected and supported on one surface of the nozzle proc through a recessed joint 5 formed at the base of the nozzle 2 itself, in communication with a supply source of the injection material.

On the other hand, the operating mechanism section 10 connects the pair of operating wires 11 to the outer circumferential surface of the nozzle 2 by fixing the front ends of the nozzle 2 from two directions substantially perpendicular to the injection axis, and each of the pair of operating wires 11 It can be configured such that each part is pulled and pressed by a motor 13 drive.

(Function) In the robot spray gun according to the present invention, when the pair of operation wires 11 are moved forward and backward individually by the drive of the motor 13 in the operation mechanism section 10, the nozzle 2 connected and supported so as to be able to change the angle freely is moved. To pull or push from the side.

At this time, since the front ends of each of the operating wires 11 are fixed in two directions substantially perpendicular to the nozzle 2, the tip of the nozzle 2 is directed in an arbitrary direction.

That is, in a neutral state where no pulling or pressing is performed, the nozzle block 1 is approximately at the center position 1, and therefore the jet is injected in a direction that is approximately perpendicular to the nozzle block 1.

In addition, when either one is pulled or pressed, it tilts at a predetermined angle in the direction of pulling or pressing, and when the other is being pulled or pressed, it tilts further in the direction of pulling or pressing. tilted.

The inclination angle and inclination direction of the nozzle 2 can be set by the amount of movement of the operating wire 11, and each nozzle 2 arranged on both the left and right sides of the nozzle block 1 can be controlled individually, and the inclination angle, The direction of inclination is completely unaffected by the attitude of the nozzle block 1.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

<Overview> Reference numeral 1 shown in the figure is a nozzle block inserted between the fixed mold M1 and the movable mold M2, and is attached to a robot arm (not shown). Nozzles 2 are provided on both sides of this nozzle block 1, and the spray angle and spray direction of the nozzles 2 are controlled by the operating mechanism section 1.
It is designed to be remotely controlled by 0.

<Nozzle block> The nozzle block 1 itself is formed in the shape of a rectangular parallelepiped, and both left and right sides thereof are fixed molds M1. The movable mold M2 is inserted and arranged by a robot arm so as to face each other on the inner surface thereof.

The nozzles 2 provided on both left and right sides of the nozzle block 1 are arranged in a nozzle housing 3 that is partitioned on both sides of the nozzle block 1, and the tip thereof is formed to be expandable and retractable to cover the nozzle and the opening of the housing 3. Nozzle cover 4 has been removed.

The nozzle 2 itself is provided on the side surface of the nozzle block 1 by means of a spherical recess 5 formed at its base so that it can rotate or tilt within any plane. The ejection passage 6, which is formed in an open manner from the base to the tip, is a supply source (not shown) that supplies compressed air, mold release agent, and other ejected substances necessary for washing and cleaning the molds Ml and M2. is connected to the supplying IP that contacts
This supply path P is connected to the rear part of the nozzle block 1, for example.

Note that 7 in the figure is a coupling that supports the retractable joint portion 3.

Further, although not shown, the tip of the nozzle 2 may have a branched shape.

On the other hand, as shown in FIG. 2, the operating mechanism section 10 has an X
The nozzle 2 is operated to point in any direction by pulling and pressing the operating wire 11 from two directions, the axial and Y-axis directions, and the elastic force is used when pulling and pressing the operating wire 11. be done.

This operating mechanism section 10 is located at a rear position of the nozzle block 1,
For example, placed at the rear of the robot arm! has been done. That is, as shown in FIG. 4, a feed screw 14, which is rotated by a predetermined motor 13 such as a pulse motor or a servo motor, is provided in a linear housing 12 fixed at a rear position of the nozzle block 1, and whose rotation is restricted. The front end of the linear nut 15 is fixed to the rear end of an operating wire 11 whose front end is fixed to the nozzle 2. The operating wire 11 is connected to the front end of the linear housing 12. It is exited through the wire guide 16. As shown in FIG. 2, the operating wires 11 are composed of two wires in total, so the pulling and pressing operations are performed on each operating wire 11 separately. The motor 13 is to be driven.

Furthermore, the front end of the operating wire 11 and the nozzle 2 are fixed to each other by the second
3, a fixed ball 17 fixed to the front end of the operating wire 11 inserted into the nozzle housing 3 from the rear part of the nozzle housing 3 is fitted into a fixed hole 18 recessed in the outer peripheral surface of the nozzle 2. This is done by fixing the fixed ball 17 with a fixed cap 19 fixed to the outer peripheral surface of the nozzle 2.

On the other hand, the rear end of the operating wire 11 is fixed to the linear nut 15 as shown in FIG. This is done by correcting the position using the tips of an appropriate number of fixing screws 22 inserted from outside the protrusion 21.

Of course, the fixing structure of the front and rear ends of the operating wire 11 is not limited to the illustrated example, and can be easily changed to other structures by those skilled in the art.

In addition, 25 in the figure is a lubricating oil supply port for smooth feed screw action between the feed screw 14 and the linear nut 15, and the feed screw 14 and the linear nut 15 have a ball screw structure, for example, to ensure smooth feed. This is so that the effect can be obtained.

Further, 29 is an integrated cover that covers the operation wire 11 and the like connected between the nozzle block 1 and the operation mechanism section 10.

Furthermore, as shown in FIGS. 2 and 3, at the front end portion of the operating wire 11, there is an elastic force that tends to expand between the portion fixed to the nozzle 2 and the portion inserted into the nozzle housing 3. A coil-shaped return spring 8 is compressed to exhibit the following effects. This return spring 8 has a substantially trapezoidal shape when viewed from the side, with the diameter at the front end gradually becoming smaller than the diameter at the rear end, and when this is sufficiently reduced, the nozzle housing It is housed in a spring chamber 9 formed in the insertion portion of 3.

Now, when the operating wire 11 is moved back and forth by the drive of the motor 13, it pulls the nozzle 2 from the side,
Or press. At this time, the front end of the operating wire 11 is 5,
Since it is fixed in two directions almost perpendicular to the nozzle 2, the pulling and pressing action on the nozzle 2 is due to its
It is carried out from two directions: the axis and the Y axis, and the tip of the nozzle 2 can be directed in any direction. In other words, in a neutral state without being pulled or pressed, the nozzle block 1 is at approximately the center position.
Also, when either one is pulled or pressed, it tilts in the direction of the pulling or pressing, and when the other is pulled or pressed in that pulling or pressing state, it tilts in the direction of the pulling or pressing. It is further tilted. In this way, the angle and direction of inclination of the nozzle 2 can be set by varying the amounts of pulling and pressing of the two operating wires 11, respectively.

In addition, detection of such a tilted state is possible using the linear nut 15.
The detection means 30 detects the amount of movement of the object. As shown in FIG.
The inclination angle and direction of the nozzle 2 can be detected by associating the amount of movement of the operating wire 11 with its position.

Control of the operating mechanism section> Since such control of the operating mechanism section 10 is possible by changing the drive amount of the motor 13, it is possible to adjust the drive amount, the order, and even the various types of injected materials at that time. It is preferable to store in advance the magnitude of the injection amount, etc., in correspondence with the work procedure of the operator.

By doing so, it is possible to quickly and easily perform washing and cleaning corresponding to each of the fixed mold M1 and the movable mold M2 that can be combined in various ways.

Other pulling and pressing means for the operating wire> Although not shown in the drawings, the rear end of the operating wire 11 may be wound and fixed on a winding drum, and the rear end of the operating wire 11 may be wound or fixed on the winding drum. The front end of the operating wire 11 can be pulled and pressed by unwinding from the drum.

<Other elliptical examples> Furthermore, it is also possible to support and connect the nozzle 2 to the end of the rotating shaft arranged in the nozzle block 1 via a sparse joint structure so that the angle can be changed freely ( (not shown)
Then, the nozzle 2 itself is set at a predetermined inclination angle with respect to the side surface of the nozzle block 1, and the rotation axis is rotated. The injection range can be widened by using two tips. In this case, the jetted surface changes regularly in response to the rotation of the rotating shaft,
For example, a mold Ml in which the unevenness of the sprayed surface does not change significantly
, suitable for washing and cleaning the inner surface of M2.

<Multiple nozzle configuration> The above explanation is for the case where one nozzle 2 is arranged on both sides of the nozzle block 1, but it is also possible to arrange a large number of nozzles 2.

In this case, it is possible to arbitrarily select whether the nozzles 2 arranged in multiple rows are individually fiImed or whether they are operated under the same control.

(Effects of the Invention) As described above, the present invention allows the operating mechanism section 10 to control the nozzles 2 disposed on both the left and right sides of the nozzle block 1 so that the angle can be changed freely.
0 control operation, the angle of the nozzle 2 itself with respect to the nozzle block 1 surface on which the nozzle 2 is supported can be freely changed in any direction. For example, the direction of the nozzle 2 arranged on both left and right sides of the nozzle block 1 can be changed , nozzle block 1
It can be set freely without being affected by the posture of the inner body.

Therefore, for example, by being attached to a robot arm inserted between the fixed mold M1 and the movable mold M2, the nozzle 2
By setting the spray angle, it is possible to reliably spray the compressed air and mold release agent for washing and cleaning the inner surfaces of the molds Ml and M2.

Particularly, the nozzle 2 is connected and supported to the surface of the nozzle block 1 through a recessed joint 5 formed at the base of the nozzle 2 itself, while communicating with a supply source of the injection material.
is approximately perpendicular to the jet axis of nozzle 2.
The pair of operating wires 11 are connected to the outer circumferential surface of the nozzle 2 by fixing the front ends from the direction, and each of the pair of operating wires 11 is pulled and pressed by the motor 13 drive separately. By setting the drive amount of the motor 13, the spray angle and direction of the nozzle 2 can be changed smoothly and easily.

Moreover, the spray angle and direction can be set in any combination, for example, regular rotation or meandering, or even irregular movement patterns. In addition, since it is simple and does not have a complicated structure, it has excellent effects such as fewer breakdowns and easy maintenance.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a plan view of the whole with some parts omitted, FIG. 2 is a side view of a partially cutaway part, and FIG.
FIG. 3 is a sectional view, FIG. 4 is a sectional view of the operating mechanism, and FIG. 5 is a front view of the main part in a state of use. P... Supply path, Ml... Fixed mold, M2... Movable mold, 1... Nozzle block, 2... Nozzle, 3...
... Nozzle housing, 4... Nozzle cover 5...
・Evacuation joint part, 6... Ejection path, 7... Coupling,
8... Return spring, 9... Spring chamber, 10... Operating mechanism section, 11... Operating wire, 12...
...Linear housing, 13...Motor, 14...
Feed screw, 15... Linear nut, 16... Wire guide, 17... Fixed ball, 18... Fixed hole, 1
9... Fixed cap, 21... Fixed protrusion, 22...
・Fixing screw, 25... Fuel filler port, 29... Cover integrated, 30... Detection means, 31... Position sensor Fig. 2

Claims (1)

[Scope of Claims] 1. A robot spray gun characterized in that the nozzles arranged on both left and right sides of a nozzle block are controlled by an operating mechanism section so as to be able to change their angles. 2. The robot spray gun according to claim 1, wherein the nozzle is connected and supported to the nozzle block surface via a ball and socket joint formed at the base of the nozzle itself, in communication with a supply source of the sprayed material. 3. The operating mechanism unit connects a pair of operating wires to the outer circumferential surface of the nozzle by fixing the front end of the nozzle from two directions substantially perpendicular to the injection axis, and drives each of the pair of operating wires with a separate motor. 3. The robot spray gun according to claim 1, wherein the robot spray gun is pulled and pressed by a robot.