JPH04200760A - Feed apparatus for robot painting - Google Patents

Abstract

PURPOSE:To paint a larger article to be painted and to eliminate time loss by providing an apparatus erecting the article to be painted up to a predetermined angle to a moving truck, and painting a necessary region without moving the article to be painted. CONSTITUTION:An erecting apparatus 23 is constituted so that the base plate 16 placing and inclining an article to be painted arranged to the upper end of a moving truck 9 is pivotally mounted on a base stand 18 at one end thereof by a support shaft 17, and connected to the gear 22 of an index motor 21 through the connection link 20 connected to the support plate 19 of the base stand 18. When the moving truck 9 is stopped at a painting position, predetermined painting is applied to the article A to be painted on the base plate 16 from a spray gun 4 but, when a necessary painting region can not be painted, the base plate 16 is erected by the connection link 20 cooperated through the gear 22 provided to the drive shaft 21a of the index motor 21, and only the bottom surface of the article A to be painted becomes a dead angle and the other surface can be painted within a narrower range.

Description

[Detailed Description of the Invention] Industrial Application Fields> The present invention is used in automatic painting by a painting robot to convey the object to be coated to the painting position and to stand it up, so that the necessary work can be done without moving the object. This invention relates to a robot painting conveyance device that paints parts.

<Conventional technology> In general, painting robots basically spray paint from the front of the object within a predetermined range of motion, but there is a natural limit to the extension of the arm, and the robot's base point It is limited to a central fan-shaped movement range. For this reason, it is almost impossible to paint the back side of the object, and only the part in front of the robot that spreads out to the left and right can be painted. Or they were painting difficult areas facing the front.

For example, as in the robot painting apparatus shown in Japanese Utility Model Publication No. 61-15974, a conveyor b of cable cylinders a is installed in a figure 7 shape around the painting robot, and a workpiece (subject to be coated) rotating device is mounted on each moving cart C. The workpiece is rotated 90 degrees four times at the painting position to assist in painting areas that cannot be covered within the range of motion of painting robot d.

In this case, most conveyors for painting robots transport the workpiece to the painting position and then rotate the workpiece intermittently (for example, 90° x 4 times) to position the workpiece appropriately for painting (see Figure 6). .

<Problems to be Solved by the Invention> However, this coating method has problems such as time loss due to rotating the workpiece at least four times and inability to handle large workpieces.

In other words, it is difficult to adjust the traveling speed, the speed control becomes unstable, the cylinder end stops, so stopping accuracy is not achieved, and the time between rotating the workpiece is lost, which affects production capacity. It turns out. Furthermore, due to the relationship between the stop position of the workpiece and the operating range of the painting robot, it is not possible to handle large workpieces, and the spray direction is not optimal for the booth.

In view of the above-mentioned circumstances, the present invention provides a robot painting conveyance device which solves the above-mentioned problems by placing the object to be coated on a speed-controllable movable trolley, transporting it, and standing it up at the robot's painting position. It is intended to provide.

Means for Solving the Problems> The present invention provides a transport device equipped with a movable trolley for transporting an object to be coated to a painting position by a robot, in which the movable trolley is provided with an upright device for raising the object to be coated to a predetermined angle. , to paint the necessary areas without moving the object.

The mobile trolley in this case is a self-propelled mobile trolley that uses a variable speed motor to adjust the speed by controlling the rotation speed of the variable speed motor with a variable speed cam installed along the transfer path when it approaches the stop position. .

Function> As described above, the movable trolley on which the object to be coated is placed moves by itself by the drive of the variable speed motor mounted on the movable trolley, and when it approaches the stop position, the variable speed cam installed along the transfer path A lever with a loco is moved by the inclined surface of the lever, a link connected to the tip of the lever is pushed down, and a speed change lever connected to the link controls the rotation of the speed change motor for moving the trolley to a low speed, and the predetermined painting position is reached. to stop.

However, the motor does not stop completely; only the cart is stopped with a load on the output shaft, and the motor immediately starts rotating at a low speed when the cart is reversed. Here, a painting robot installed on the side sprays paint onto the object to perform painting. In addition, if the required area cannot be coated within the painting robot's operating range, the lifting device installed on the top of the moving trolley is activated to raise the mounted object to an arbitrary angle between 20° and 60°. Paint the necessary painting positions.

In this case, the plywood of the movable trolley is rotated intermittently by an index motor to a predetermined rotation angle, and is erected by a connecting link, so that the paint can be sprayed onto the necessary areas to be painted.

<Example> The present invention will be described below based on the drawings of the example.

Figures 1 to 5 show robot painting conveyance devices installed in a 7-shape with respect to the painting robot, where 1 indicates the main body 2.
The painting robot has a spray gun 4 attached to the tip of a protruding arm 3, and robot painting conveyance devices 5.5 are installed on both sides of the painting robot 1 in a figure-7 shape. This conveying device 5 includes a rail-type conveyor path 7 consisting of a conveyor 6 of a predetermined length, the rear end of which is at a loading/unloading position 6a of the object to be coated, and the tip end thereof at a coating position 6b, and a self-propelled vehicle with a vehicle 8 that runs along the conveyor 6. Model moving trolley 9
It consists of Reference numeral 10 denotes a sloped rail-type speed change cam installed near the stop position of the transfer path 7. On the slope 10a of the speed change cam 10, a roller 12 at the rear end of a lever 11 whose center is provided as a fulcrum on the movable cart 9 is rolled. so that the lever 1
A link 13 vertically connected to the tip of the wheel 1 is connected to an end of a speed change lever 15 of a speed change motor 14 for moving the cart. Also, a base plate 1 for placing the object to be coated and for tilting side is provided at the upper end of the movable trolley 9.
6 has one end pivotally connected to the base 18 side with a support shaft 17, and
A connecting link 2 connected to the support plate 19 of the base 18
Connected to the gear 22 of the index motor 21 via Q,
These as a whole serve as an upright device 23.

Next, to explain this operation, first, the self-propelled movable carts 9 of each conveyance device 5 on both sides of the painting robot 1 alternately load the objects to be coated from the loading/unloading position 6a of the objects to be coated to the painting position 6b. It is something that moves.

In this case, the variable speed motor 14 for moving the trolley becomes high speed and moves forward from the loading/unloading position 6a, but it reaches the point of painting! 16b, the rollers 12 of the gear shift lever 11 ride on the parallel inclined surface 10a of the gear shift cam 10 and move.
In order to push up the lever 11, the tip of the lever 11 is lowered around the fulcrum, and the link 13 connected thereto is pulled down to actuate the speed change lever 15 and cause the speed change motor 14 to rotate at a low speed. When the output shaft of this variable speed motor 14 reaches the lowest speed,
The movable cart 9 is set and positioned so as to be in contact with the end surface 24 of the rail type transfer path 7. In the case of the lowest speed, the motor does not stop completely and the moving cart 9 is moved with a load on the output shaft.
The variable speed motor 14 itself continues to rotate.

Therefore, when reversed, it immediately starts moving at the lowest speed and gradually increases in speed.

When the movable trolley 9 stops at this painting position, the spray gun 4 applies the prescribed coating to the object A made of plywood 1G. However, if the necessary coating area (the entire surface except the bottom surface) cannot be coated, By erecting the plywood 16 using the connecting link 20 interlocked via the gear 22 provided on the drive shaft 21a of the motor 21, only the bottom surface of the object A to be coated becomes a blind spot, and other surfaces can be painted within a narrower range. . In general, since most objects to be coated are placed on a conveyor and moved in a state where the stable height is the lowest, the depth is usually large.

However, this index motor 21 rotates every 45'', the speed is changed to a predetermined rotation angle by a gear 22, and the plywood 18 is erected by a connecting link 20.

<Effects of the Invention> As described above, the robot painting conveyance device of the present invention allows the object to be painted to stand up to a predetermined angle at the painting position, so the depth is reduced and the proportion of painting from the front is increased. Large objects can be coated.

In addition, there is no need to rotate the object to be coated, so there is no time loss, and the faster running of the trolley reduces lost time (30% compared to conventional cable cylinders).
).

Furthermore, by adopting a method of stopping the movable cart against the end surface of the rail-type transfer path, positioning accuracy can be improved, and impact at the time of stopping and misalignment of the object to be coated can be prevented.

The erecting device of the present invention is not limited to the V-shaped conveyor shown in the embodiment, but the same effect can be obtained by erecting it at the coating position on a line conveyor.

[BRIEF DESCRIPTION OF THE DRAWINGS] Fig. 1 is a plan view showing a robot painting conveyance device according to an embodiment of the present invention arranged in a 7-shape with respect to a painting robot; Fig. 2 is a side view of the main parts; 3 is a side view of the movable cart, FIG. 4 is a front view thereof, FIG. 5 is an explanatory diagram of a transmission mechanism of an upright device, and FIG. 6 is an explanatory diagram of a conventional robot painting conveyance device. 1. Painting robot 48. ,, spray gun 5
,,,,Transport device 6. ,,,conveyor 6a,,
, painting equipment 7. ,,,transfer route 8,,,,vehicle
9. , , Self-propelled mobile trolley 10 , , Variable speed cam 11. ,,,Lever 13,,,,Link
14. , Speed change motor 15, Speed change lever 1B, - Base plate 20, Connection link
23. ,,, Erecting device patent applicant Iwata Painting Machine Industry Co., Ltd. 1st rl! J Figure 2 Figure 6

Claims (1)

[Scope of Claims] 1. In a conveying device equipped with a movable trolley for transporting an object to be coated to a painting device using a robot, a raising device for raising the object to be coated up to a predetermined angle is provided on the movable trolley to raise the object to be coated. A robot painting conveyance device that is capable of painting the necessary parts without moving them. 2. The mobile cart is a self-propelled mobile cart that uses a variable speed motor to adjust the speed by controlling the rotational speed of the variable speed motor with a variable speed cam provided along the transfer path when the moving cart approaches a stop position. Conveyance device for robot painting.