JPS6439865U - - Google Patents
Info
- Publication number
- JPS6439865U JPS6439865U JP13287587U JP13287587U JPS6439865U JP S6439865 U JPS6439865 U JP S6439865U JP 13287587 U JP13287587 U JP 13287587U JP 13287587 U JP13287587 U JP 13287587U JP S6439865 U JPS6439865 U JP S6439865U
- Authority
- JP
- Japan
- Prior art keywords
- robot
- holding
- spray gun
- painting
- robot arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000007921 spray Substances 0.000 claims description 11
- 238000010422 painting Methods 0.000 claims description 10
- 239000003973 paint Substances 0.000 claims description 2
- 239000003086 colorant Substances 0.000 claims 1
- 230000037431 insertion Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Description
第１図ないし第６図は本考案を適用してなる塗
装ロボツトシステムの第１実施例を示すもので、
第１図は塗装ロボツトシステム全体の構成の説明
図、第２図はロボツトアームおよびスプレーガン
の架台の側面図、第３図はロボツトアームとスプ
レーガンとの結合部分の側面図、第４図は同じく
平面図、第５図はロボツトアームとスプレーガン
との配置を示す平面図、第６図は色替え動作のタ
イミングチヤート、第７図は塗装用ロボツトシス
テムの第２実施例におけるロボツトアームとスプ
レーガンとの配置を示す平面図、第８図は塗装用
ロボツトシステムの第３実施例におけるロボツト
アームとスプレーガンとの配置を示す平面図であ
る。
１…ロボツト本体、２…ロボツト制御盤、３…
ロボツトアーム、４Ａ〜４Ｇ…スプレーガン、５
…ＣＣＶ（カラーコントロールバルブ）、６Ａ〜
６Ｉ…タンク（塗料タンクおよび溶剤タンク）、
７…架台、８Ａ〜８Ｃ…回収コーン、１３…ブラ
ケツト、１４…挿入シヤフト、１５…ガイド、１
６…エアシリンダ、１７…ホルダー、１７ａ…挿
入孔、１７ｂ…溝、１８…操作棒、１９…位置セ
ンサ（マイクロスイツチ）、２０…操作棒、２１
…位置センサ（マイクロスイツチ）。
Figures 1 to 6 show a first embodiment of a painting robot system to which the present invention is applied.
Figure 1 is an explanatory diagram of the overall configuration of the painting robot system, Figure 2 is a side view of the robot arm and spray gun mount, Figure 3 is a side view of the joint between the robot arm and the spray gun, and Figure 4 is a side view of the robot arm and spray gun mount. Similarly, FIG. 5 is a plan view showing the arrangement of the robot arm and spray gun, FIG. 6 is a timing chart of color changing operation, and FIG. 7 is a robot arm and sprayer in the second embodiment of the painting robot system. FIG. 8 is a plan view showing the arrangement of the robot arm and the spray gun in the third embodiment of the painting robot system. 1...Robot main body, 2...Robot control panel, 3...
Robot arm, 4A~4G...Spray gun, 5
...CCV (color control valve), 6A~
6I...Tank (paint tank and solvent tank),
7... Frame, 8A to 8C... Collection cone, 13... Bracket, 14... Insertion shaft, 15... Guide, 1
6... Air cylinder, 17... Holder, 17a... Insertion hole, 17b... Groove, 18... Operating rod, 19... Position sensor (micro switch), 20... Operating rod, 21
...Position sensor (micro switch).
Claims (1)
の塗料供給系に接続されたスプレーガンの一つを
前記塗装用ロボツトに選択させて複数色の塗装を
実行するようにした塗装用ロボツトの色替え装置
において、前記塗装用ロボツトのロボツトアーム
にスプレーガンを保持しあるいはこの保持を解除
する保持手段を設け、ロボツトアームがスプレー
ガンに対して所定の位置関係に到達したか否かを
検知するセンサを設け、ロボツトアームの移動経
路を所定のテイーチングデータにしたがつて制御
するとともに、スプレーガンとロボツトアームと
が所定の位置関係に配置された旨の前記センサか
らの信号の入力を条件として前記保持手段による
スプレーガンの保持もしくは保持の解除を実行さ
せるロボツト制御盤を設けたことを特徴とする塗
装用ロボツトの色替え装置。 Color changing of a painting robot, in which the painting robot selects one of the spray guns arranged within the working range of the painting robot and connected to a plurality of paint supply systems to execute painting in multiple colors. In the apparatus, a holding means for holding or releasing the holding of the spray gun is provided on the robot arm of the painting robot, and a sensor is provided for detecting whether or not the robot arm has reached a predetermined positional relationship with respect to the spray gun. The holding means controls the moving path of the robot arm according to predetermined teaching data, and controls the holding means on condition that a signal is input from the sensor indicating that the spray gun and the robot arm are arranged in a predetermined positional relationship. A color changing device for a painting robot, characterized in that a robot control panel is provided for holding or releasing the holding of a spray gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987132875U JPH0433974Y2 (en) | 1987-08-31 | 1987-08-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987132875U JPH0433974Y2 (en) | 1987-08-31 | 1987-08-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6439865U true JPS6439865U (en) | 1989-03-09 |
| JPH0433974Y2 JPH0433974Y2 (en) | 1992-08-13 |
Family
ID=31390244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987132875U Expired JPH0433974Y2 (en) | 1987-08-31 | 1987-08-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0433974Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60112371U (en) * | 1983-12-28 | 1985-07-30 | 関東自動車工業株式会社 | painting robot |
-
1987
- 1987-08-31 JP JP1987132875U patent/JPH0433974Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60112371U (en) * | 1983-12-28 | 1985-07-30 | 関東自動車工業株式会社 | painting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0433974Y2 (en) | 1992-08-13 |
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