JPS61222566A - Painting robot apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] Industrial Application Book @A painting robot for car body painting iM#! I + tvcFJA - Conventional technology This kind of υ * capture robot equipment generally consists of a painting booth and a painting robot, and the painting robot has the above-mentioned a.
The objects to be coated, such as the plate bodies of Kummoku trains, are housed in the 1-fiber booth.
*v is supposed to be done.

Received Va in the paint booth! ! ! l of things! ! ! During the cracking process, the dust floating in the atmosphere inside the factory is coated.
This is to prevent the paint from adhering to surfaces and to prevent the organic solvents contained in the paint from diffusing into the factory.

By the way, as shown in FIG. 6, in the conventional painting robot apparatus 1, a painting robot 3r is installed in the rx and m crack booth 2, and the painting robot 3 removes the leprosy material. 4 is to be done in the painting booth 2, and there is a problem with the process described below.

The ninth booth 2, which accommodates the Il+painting robot 3'l, will be larger.

(2) @Painted robot (31) in installation booth 2, ma: I&Robot (31) Must be a so-called explosion-proof certified product.
However, the cost is higher than that of general painting robots.

The present invention has been made to solve the above-mentioned conventional problems.゛To solve the problem tth middle stage 1, painting booth 1)/) A notch is provided on the wall surface for inserting the arm of the painting robot, which will be described later, into the painting booth 1.

The arm of the z-painting robot 2 and the 9-painting gun installed at the tip of the arm are inserted into the painting booth l through the notch.

The gun arm ffi movement control section of the painting robot 2 that operates the arm and the painting gun provided at its tip is installed outside the wall of the painting booth.

A flexible booth is installed inside the @ side of the front storage booth to intermittently seal the notch and the circumferential surface of the arm.

Connect with the flexible booth and make friends.

A cover that accommodates the gun arm driving operation section of the painting robot is attached to the outside of the wall of the painting booth.

66 Consisting of the flexible booth and cover n
Air supply device k1m to increase the pressure inside the chamber! installed outside the installation booth.

7. A pressure sensor is provided in the chamber to detect the chamber internal pressure.

& Based on the pressure signal n7 detected by the pressure sensor,
A control device (t) for controlling the drive of the gun arm driver (112) and the operating section and air supply device (4) provided outside the painting booth (11);
．． .

Air is supplied to the robot housing chamber at the ms, va position to make the pressure inside the chamber higher than the pressure inside the coating booth to remove flammable gas generated from the paint inside the coating booth. This prevents gas from entering the chamber, and also prevents the possibility that in the unlikely event that the flexible booth or cover is damaged, the chamber internal pressure drops below the set level and flammable gas from inside the coating booth flows into the chamber. When this occurs, the pressure sensor and control device stop the operation of the gun arm drive operation section and the air supply device, and sparks emitted from the cfL gun arm drive section and the air supply device ignite the flammable gas. Explosion that occurs 4
It is to prevent this from happening.

Example Embodiments of the present invention will now be described with reference to the drawings.

Figures 1 to 4 show the first aspect of the present invention! An example is shown. In the figure, reference numeral 1 denotes a painting robot Mte equipment, 2 to 3 rlCIm equipment robot *dxt-, and a painting booth and a painting robot according to the present invention.

The painting booth 2 is formed in a size that can accommodate an object 4 to be painted, such as an automobile body.

A notch 6 is formed in the wall surface 5.

1. The painting robot 3 is made up of an arm 8 with a painting gun completely attached to it, and a gun/arm drive operation section 9 for operating the painting gun 7 and the arm 81. 8 from the notch 6 to the painting booth 2
The gun arm drive operating section 9 is installed on the outside of the wall surface 5 of the painting booth 2.

lO is a flexible booth that seals the front e notch 6, and the flexible booth 10rJ is made of a flexible material such as rubber or plastic in a bellows shape, and a! ! The space between the notch 6 and the peripheral surface of the arm 8 is sealed in the booth 2 to prevent flammable gas and the like from leaking outside.

The painting gun 7 and arm 8 can be freely moved in the painting booth 2P'3.

1) the gun arm drive operation section 9 of the loading robot 3;
The cover 1)H is connected to the coating booth 5! in communication with the flexible booth lO. wall Ii [T
5, and the gun arm drive operation section 9t-1 is sealed.

lsa An air supply device built into the flexible booth 10 and the cover 11 to increase the pressure inside the chamber 13. The air supply device 12 is provided outside the painting booth 2 and supplies compressed air. This increases the air pressure inside the chamber 13.

Reference numeral 14 denotes a pressure sensor that detects the Q pressure, and is installed in the chamber 131FJ (the pressure sensor 14μ cover 1).

15i Based on the pressure signal fL7 detected by the pressure sensor 14, the gun arm drive operation section 9 and liI
This is a pneumatic device that controls the drive of the pneumatic device 120.

Fig. 4 shows g1) of the control device 15)! This is a chart of Example 7a, and in this example, the air supply is performed when the chamber internal pressure P is also small. 1) dt2 operates and sends compressed air into the t-chamber 13 yen. Then, the chamber internal pressure P is the chamber internal upper limit pressure Pu (the painting booth pressure resistance F is also a low value, and the air supply bag Tft is
- the pressure to be stopped), the operation of the air supply device 12 is stopped.

When the air supply device 12 and the gun arm drive operation section 9 are activated, the flexible booth 10'P cover 1)
If the inside pressure of the chamber is damaged, the lower limit pressure inside the chamber P/ pressure), the operation of the gun arm drive operation section 9 of the 6m robot 3 is stopped, and the
The system is designed to eliminate the danger of fire and to issue a warning.

FIG. 5 shows the second j! of the control device 1)5. This is a chart of Example 20, in which a timer mechanism for detecting leakage in the chamber 13 is installed, and #[Chamber internal pressure P becomes chamber internal lower limit pressure PL after production is stopped. In the time up to natural leakage, the F-chamber circular pressure P
Compare and calculate the time t2 until the chamber internal pressure reaches the lower limit pressure PL, and if 1 hour t is also large, then a chamber 1
3 (Specifically, if there is a leak due to damage to the flexible booth lO-? cover, etc., paint robot 3
The operation of the gun arm drive operation @9 is now stopped.

DETAILED DESCRIPTION OF THE INVENTION As described above, in the present invention, the gun arm drive operation section 9 of the painting robot 3 -a! ! Arranged outside the booth 2, the drive operation section 9t flexible booth 10 and cover 1
), and compressed air is fed into the chamber 13 by an air supply device 12, thereby producing the following effects.

Since the gun arm drive operation section, which can also be referred to as the main body of the ill painting robot 30, is located outside the 1 m booth 2, the painting booth 2 can be made smaller. Another human enters! ! It is also possible to use the existing painting booth 2 for painting work to create a robot.

(2) It becomes unnecessary to make the painting robot 3 itself leak-proof.

Therefore, use other methods! Diversion of non-explosion proof loggets,
Selection of a painting robot becomes easier.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of the painting robot device of the present invention. Figure 3 is a partially cutaway perspective view of the flexible booth, Figures 4 and 5 are flowcharts of the control device, and Figure 6 is a cross-sectional view of the conventional painting robot device. be. l... m-equipped robot device, 2... painting booth, 3...
...painting robot, 4...covering material, 5...painting booth wall, 6...notch, 7...1! Loaded gun, 8
...Arm, 9...Gun arm drive operation section, 10
...Flexible booth, 1)...Cover, 12.
...Air supply device, 13...Chamber, 14...Pressure sensor, 15...Control device. Figure 2, Figure 3, Figure 4, 15

Claims (1)

[Claims] (1) A painting booth that accommodates objects to be painted, and an arm equipped with a painting gun at the tip inserted into the painting booth through a notch provided in the wall of the painting booth, while operating these painting guns and arms. A painting robot having a gun arm drive operation unit installed outside the wall of the painting booth, and a flexible robot installed inside the wall of the painting booth and sealing between the notch and the circumferential surface of the arm. a booth, a cover that is provided on the outside of the wall surface of the painting booth in communication with the flexible booth and that houses a gun arm drive operation section of the painting robot; an air supply device for increasing the pressure in the chamber, a pressure sensor for detecting the pressure in the chamber, and a pressure signal detected by the pressure sensor for controlling the gun arm drive operating section and the air supply. A painting robot device comprising a control device that controls the drive of a gas device.