JPH0975801A - Painting gun and painting robot system using the painting gun - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make coating color capable of being changed easily and efficiently without uselessly consuming a coating material in coating robot system. SOLUTION: The system is provided with a plurality of nozzles 8,... for supplying coating materials which are opened, closed and changed over respectively independently for a coating gun. The coating materials supplied from the tips of the respective nozzles are mixed by an impeller 7 and sprayed. Coating color is regulated to the desired color by controlling opening/closing of the respective nozzles and controlling the feed rate of coating material for the respective nozzles.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating gun and a coating robot system using the coating gun.

[0002]

2. Description of the Related Art Conventionally, in a coating robot, one color of paint has been supplied to one coating gun. When the color of the coating is changed, the color is changed on the CCV (color change valve) or the paint supply device side.

[0003]

By the way, the color change in the above-mentioned prior art is performed by first blowing away the remaining paint, washing it with thinner, and co-washing it with the replaced paint. . Therefore, there is a problem that the paint is wasted and the switching time becomes very long.

The present invention has been made in view of such circumstances, and in the case where the above-mentioned color changing work is unnecessary, the paint is not wasted, and the coating color is often changed. An object of the present invention is to provide a coating gun capable of efficiently performing coating even if there is any, and a coating robot system using the coating gun.

[0005]

According to a first aspect of the present invention, there is provided a gun main body, a plurality of paint supply nozzles disposed in the gun main body, each of which is independently opened and closed, and the gun. A coating gun is provided, which is provided in the main body and has means for mixing and spraying each coating material supplied from each nozzle.

The invention according to claim 2 is a coating robot system using the coating gun according to claim 1, and is designated as a means for supplying paints of a plurality of colors to each nozzle of the coating gun. A coating robot comprising means for adjusting the supply amount of each of the paints of a plurality of colors based on the coating color and means for controlling the opening / closing of each nozzle of the coating gun based on the coating color. The system is the gist.

A third aspect of the present invention is a coating robot system using the coating gun according to the first aspect, wherein a means for supplying a plurality of colors of paint to each nozzle of the coating gun, and the coating gun. The coating robot system is characterized in that it comprises means for repeatedly performing opening and closing operations of each of the nozzles and controlling a time for which each nozzle is in an open state based on a designated coating color.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a vertical sectional view of a coating gun according to an embodiment of the present invention. In addition, FIG. 2 is a transverse cross-sectional view of the same coating gun as seen in the line II '.

As shown in FIG. 1, a flange 2 is provided inside the coating gun, and the flange 2 and the cap 21 constitute a motor chamber 19. An air motor 3 is attached to the flange 2. The output shaft 4 of the air motor 3 is connected to a rod 6 via a coupling 5. An impeller 7 is attached to the tip of the rod 6 so that the impeller 7 can be rotationally driven by the rotation of the air motor 3.

Further, as shown in FIG. 2, five nozzles 8, 8, ... Are provided so as to surround the periphery of the rod 6. The interior of each nozzle 8 is divided into two chambers 35a and 35b by a flange 33, and a chamber 35b farther from the motor chamber is provided with a paint supply hole 9 among these chambers. A tip of a tube 10 for supplying paint to each nozzle is attached to the supply hole 9, and the paint is introduced into the nozzle 8 through the supply hole 9.

The flange 33 in the nozzle 8 has a hole 3
4 is open, and an O-ring 38 is attached to this hole 34. And for this O-ring 38,
The pin 11 is inserted. The pin 11 has a base end fixed to the cap 12, and a tip end facing the nozzle opening 25 at the tip of the nozzle 8.

A spring 14 is inserted between the cap 12 and a flange 13 common to the five nozzles. Also,
Chamber 35a provided between the cap 12 and the flange 33
There is a hole 15 in the chamber, and air is supplied to the chamber 35a through the hole 15. The structure for supplying this air is as follows.

First, a cable 17 consisting of tubes 36 and 36m of six systems for supplying air is introduced into the chamber 18. Of these tubes, one tube 36m is introduced into the motor chamber 19, and the air motor 3 is driven by the air supplied through the tube 36m. Further, the other five tubes 36, 36, ... Are guided to the respective holes 15 of the chambers 35a, 35a, ... respectively provided in the five nozzles 8, 8 ,. Air is supplied into each chamber 35a.

As shown in FIG. 2, the outer wall 23 of the nozzle is 5
It is integrally formed so as to cover the two nozzles 8, 8, .... The impeller 7 is covered by the column 24.

In the above structure, each nozzle 8, 8, ...
The opening / closing operation is performed by supplying air into the chamber 35a. That is, when air is supplied to the chamber 35a, the cap 12 is pushed up to the position shown in FIG. 1 by the pressure of this air, so the nozzle port 25 is open. When the supply of air is stopped, the spring 14 drives the pin 11 forward (downward in FIG. 1), and the tip of the pin 11 closes the nozzle port 25. In the present embodiment, since the air can be supplied to each chamber 35a of each nozzle 8, 8, ... Independently, the opening / closing operation of each nozzle is also performed independently.

FIG. 3 shows the construction of a coating robot system to which this coating gun is applied. This system is a coating robot 26 provided with the coating gun 1 according to the embodiment of the present invention.
And a robot controller 27 for controlling this,
It is composed of paint supply devices 28, 29, 30, 31 and 32 for supplying paints of five colors of white, black, red, yellow and blue.

The construction of the paint supply control system in this system is shown in FIG. As shown in this figure, each paint supply device 28-32 supplies a paint supply unit 28a-32.
a and throttle valves 28b to 32b for limiting the flow rate of the paint. The robot control device 27 controls the supply pressure of the paint and the throttle amount of the throttle valve of each supply part of each paint supply device 28-32. Further, the robot control device 27 outputs the opening / closing information of the nozzle of the coating gun 1.

FIG. 5 shows a color setting process performed by the robot controller 27. The robot control device 27 reads the orbital data for reproduction (step S1) before the painting by the painting robot 26, and then takes in the color data for designating the painting color (step S).
2). Next, by referring to a table stored in advance in a memory (not shown), the diaphragm adjustment information to be applied to each paint supply device 28-32 is determined (step S3). FIG. 6 illustrates the contents of this table. In this table, as shown in the figure, the coefficients for calculating the aperture adjustment information corresponding to the five colors of white, black, red, yellow, and blue are set for each coating color such as white, pink, orange, ... Each is defined. In this step S3, coefficients for five colors corresponding to the paint color designated by the color data are selected from these, and the aperture adjustment information is calculated based on the selected coefficients. Next, the robot controller 27
Sends information for controlling the opening and closing of the nozzles to the coating gun 1 and adjusts the throttles of the throttle valves of the paint supply devices 28 to 32 according to the throttle adjustment information for the five colors thus determined (step S4). . Then, the painting robot 26 performs a reproducing operation (step S5).

Here, the control of opening / closing of the throttle valves 28b to 32b and the nozzles 8, 8, ... Is described by taking the case of coating with beige shown in FIG. 6 as an example. First, FIG.
In the case of beige, the coefficient corresponding to three colors of white, red, and yellow is 3, the coefficient corresponding to blue is 0, and the coefficient corresponding to black is 1. Therefore, assuming that the supply amount of paint is Q, beige white, red, and yellow diaphragm adjustment information is obtained by the formula: Q × 0.1 × 3 (1). Similarly, the aperture adjustment information corresponding to black is obtained by the formula Q × 0.1 × 1 (2). Since the coefficient is 0 for blue, the aperture adjustment information is set to 0.

The robot controller 27 controls each paint supply device 28 according to the diaphragm adjustment information thus determined.
The throttling amount of each of the throttling valves 28b to 32b is adjusted.

Further, the robot controller outputs the opening / closing information of the nozzle to the coating gun 1, and for the nozzle 8 corresponding to the blue paint, the pin 11 is projected forward to close the hole 25 and the other four colors. For each nozzle 8 corresponding to the paint, the pin 11 is separated from the hole 25 and opened.

In this way, the setting of the coating color of the coating gun 1 is completed. Then, at the time of coating, the impeller 7 is rotationally driven by the motor 3. The paint of each color of white, red, yellow, and black is discharged from the four nozzles 8, 8, ... In the opened state, and the paints are mixed by the impeller 7 and blown out from the tip of the coating gun 1. The amount of paint of each color of white, red, yellow, and black is the amount corresponding to the diaphragm adjustment information determined by the above formulas (1) and (2). Therefore, beige painting color should be applied. Becomes

Although one embodiment of the present invention has been described above, the scope of application of the present invention is not limited to this. For example, the opening / closing operation of the nozzles 8, 8, ... Corresponding to each color is frequently performed, and the length of time for which the nozzles are in the open state is adjusted to adjust the discharge amount of the paint corresponding to each color. . In the case of this configuration, the throttle valves 28b to 32b shown in the figure are unnecessary. In the above embodiment, the paints are mixed by the impeller at the tip of the coating gun, but they may be mixed at a position before the tip and the mixed paint may be sent to the impeller.

[0024]

According to the present invention, the following effects can be obtained. (1) The paint to be used for painting is selected by controlling the opening / closing of the nozzle of the painting gun, and the mixture is mixed to paint. Therefore, the coating color is arbitrary only by the supply amount of each paint and the opening / closing control of each nozzle. Can be changed to Therefore, the color changing work which has been conventionally required becomes unnecessary, and the production efficiency is improved. (2) Since paints of a plurality of colors are mixed and painted, the paints are not limited to the original colors of the paints and can be painted in any color. (3) The cost is reduced because the paint is not wasted. (4) Since a device such as CCV is not needed, the painting robot can be made small. (5) Since the conventional color changing work is unnecessary, locus accuracy and life are improved.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a coating gun according to an embodiment of the present invention.

FIG. 2 is a transverse cross-sectional view of the same coating gun taken along line I-I ′.

FIG. 3 is a configuration diagram of a coating robot system using the same coating gun.

FIG. 4 is a diagram showing a configuration of a control system of the system.

FIG. 5 is a diagram showing a control procedure of the system.

FIG. 6 is a diagram showing an example of a table for obtaining aperture amount adjustment information applied to each color paint in the system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coating gun 7 Impeller (mixing injection means) 8 Nozzle 11 pin 25 Nozzle mouth 26 Coating robot 27 Robot controller 28-32 Paint supply device

Claims (3)

[Claims] 1. A gun main body, a plurality of paint supply nozzles which are provided in the gun main body and are independently opened and closed, and each of which is provided in the gun main body and is supplied from each of the nozzles. A coating gun, comprising: a mixing and spraying unit that mixes and sprays paints. 2. A coating robot system using the coating gun according to claim 1, wherein means for supplying a plurality of colors of coating material to each nozzle of the coating gun, and the plurality of coating materials based on a designated coating color. A coating robot system comprising: a unit that adjusts the supply amount of each color paint; and a unit that controls the opening and closing of each nozzle of the coating gun based on the coating color. 3. A coating robot system using the coating gun according to claim 1, comprising means for supplying paints of a plurality of colors to each nozzle of the coating gun, and opening / closing operation of each nozzle of the coating gun. Let me repeat it
A coating robot system, comprising: a means for controlling a time during which each nozzle is in an open state based on a designated coating color.