CN-116890343-B - Coating robot and coating system

CN116890343BCN 116890343 BCN116890343 BCN 116890343BCN-116890343-B

Abstract

The present disclosure provides a coating robot and a coating system that improve the accessibility to a workpiece. The solution is that the painting robot comprises a base, a rotating base, a lower arm, an upper arm and a wrist. The upper arm includes a first upper arm on a base end side and a second upper arm on a tip end side. The base end side of the second upper arm is supported on the tip end side of the first upper arm on the inner side surface which is a side surface supported by the lower arm, and the second upper arm rotates around a fourth axis parallel to the third axis. The first upper arm includes a pump for an end effector on the inner side surface side.

Inventors

IMANO TAKASHI
Tian Tianyi
MATSUDA YUTA

Assignees

株式会社安川电机

Dates

Publication Date: 20260505
Application Date: 20230309
Priority Date: 20220331

Claims (9)

1. A painting robot is characterized by comprising: A base fixed on the setting surface; a swivel base having a base end side supported on an upper surface side of the base, the swivel base rotating about a first axis along a vertical direction; A lower arm supported at a base end side thereof by the swivel base, the lower arm swivels about a second axis perpendicular to the first axis; an upper arm having a base end side supported on a tip end side of the lower arm, the upper arm being pivoted about a third axis parallel to the second axis, and A wrist having a triaxial structure, a base end side of which is supported by a distal end side of the upper arm, the wrist being capable of mounting an end effector on the distal end side, The upper arm includes a first upper arm on a base end side and a second upper arm on a tip end side, In the case where the side surface supported by the lower arm is an inner side surface of the side surfaces of the first upper arm, the base end side of the second upper arm is supported on the tip end side of the inner side surface of the first upper arm, the second upper arm is pivoted about a fourth axis parallel to the third axis, The first upper arm includes a pump for the end effector on the inner side surface side, The pump has a pump mechanism and a rotary actuator driving the pump mechanism, At least a portion of the pump is disposed inside the first upper arm, The rotary actuator is connected to the pump mechanism such that a rotation axis is along a direction of the third axis and a direction of the fourth axis.
2. The painting robot according to claim 1, characterized in that, The pump includes a pump mechanism provided outside the first upper arm, and a rotary actuator provided inside the first upper arm to drive the pump mechanism, The direction of the pump shaft of the rotary actuator, which corresponds to the drive shaft, is along the direction of the fourth shaft.
3. The painting robot according to claim 2, characterized in that, The first upper arm includes an electric device for the end effector on the inner side surface side so as to be parallel to the pump.
4. The painting robot according to claim 1, further comprising: A plurality of support portions for supporting umbilical members laid out on the outside of the robot toward the end effector, At least one of the plurality of support portions is provided on an outer side surface of the first upper arm, which is a side surface opposite to the inner side surface, and supports the umbilical member along an extending direction of the first upper arm.
5. The painting robot according to claim 4, wherein, The umbilical member includes a pair of branch umbilical members branched from the outer side surface side of the first upper arm, The pair of branch umbilical members are connected to the pump along a side surface of the first upper arm connecting the outer side surface and the inner side surface.
6. The painting robot according to claim 5, wherein, Two of the plurality of support portions are provided with one on each of a distal end side and a proximal end side of a portion from which the pair of branch umbilical members branch from the umbilical members.
7. The painting robot according to claim 4, wherein, One of the plurality of supporting portions includes a protruding supporting portion provided on the second upper arm side of a joint portion connecting the first upper arm and the second upper arm, and supporting the umbilical member at a position protruding along the fourth axis toward the first upper arm side.
8. The painting robot according to claim 7, wherein, At least one of the plurality of support portions is provided on an outer surface of the second upper arm, and supports the umbilical member supported by the protruding support portion and directed toward the end effector along an extending direction of the second upper arm.
9. A coating system is characterized by comprising: Coating booth and The coating robot according to any one of claim 1 to 8, At least one pair of coating robots are disposed in the coating booth so as to sandwich the workpiece in a conveying direction of the workpiece, In the pair of painting robots, the axis structures thereof are symmetrical to each other with respect to a conveyance center plane along the conveyance direction, and the distances between the first axis and the conveyance center plane are equal to each other.

Description

Coating robot and coating system Technical Field Embodiments of the present disclosure relate to a coating robot and a coating system. Background Conventionally, a robot that operates by driving a plurality of joints respectively is known. An end effector (end effector) is mounted on the tip of the robot for various operations such as machining and moving a workpiece, in accordance with the use of welding and gripping. Further, a painting system has been proposed in which a painting robot equipped with an end effector for painting is disposed in a painting booth and an outer panel of an automobile corresponding to a workpiece is painted (for example, see patent literature 1). Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2013-006235 Disclosure of Invention Problems to be solved by the invention However, when the vehicle body inner panel is coated instead of the vehicle body outer panel, interference between the robot and the workpiece is particularly problematic. Further, when the distance between the workpiece and the robot is to be ensured in order to prevent interference, the coating booth is easily enlarged. An object of one embodiment is to provide a coating robot and a coating system that improve the accessibility to a workpiece by expanding the effective operation range. Technical proposal A coating robot according to an aspect of the present invention includes a base, a swivel base, a lower arm, an upper arm, and a wrist. The base is fixed on the setting surface. A base end side of a swivel base is supported on an upper surface side of the base, and the swivel base rotates about a first axis along a vertical direction. The base end side of the lower arm is supported by the swivel base, and the lower arm swivels about a second axis perpendicular to the first axis. The base end side of the upper arm is supported on the tip end side of the lower arm, and the upper arm pivots about a third axis parallel to the second axis. The wrist portion has a triaxial structure in which a base end side is supported on a distal end side of the upper arm and an end effector can be attached to the distal end side. The upper arm includes a first upper arm on a base end side and a second upper arm on a tip end side. The base end side of the second upper arm is supported on the tip end side of the first upper arm on an inner side surface which is a side surface supported by the lower arm, and the second upper arm is pivoted about a fourth axis parallel to the third axis. The first upper arm includes the pump for the end effector on the inner side surface side. A coating system according to an aspect of the present invention includes a coating booth and the coating robot. At least one pair of the coating robots is disposed in the coating booth so as to sandwich the workpiece in the conveying direction of the workpiece. In the pair of painting robots, the axis structures thereof are symmetrical to each other with respect to a conveyance center plane along the conveyance direction, and the distances between the first axis and the conveyance center plane are equal to each other. Advantageous effects According to one aspect of the embodiments, a coating robot and a coating system that improve accessibility to a workpiece can be provided. Drawings Fig. 1 is a side view of a painting robot according to an embodiment. Fig. 2A is a diagram showing an example of the floor setting. Fig. 2B is a view showing an example of the installation of the wall hanging. Fig. 3A is a side view when viewed from the Y-axis forward direction showing the installation position of the support portion. Fig. 3B is a side view as seen from the negative X-axis direction of fig. 3A. Fig. 3C is a perspective view showing the installation position of the support portion. Fig. 3D is a side view showing the set position of the pump and the electro-pneumatic device. Fig. 4 is a schematic top view of the coating system of the embodiment. Fig. 5 is a schematic side view of the coating system of the embodiment. Fig. 6A is a model diagram showing an axial structure of a two-degree-of-freedom hollow wrist. Fig. 6B is a model diagram showing the axial structure of the vertical multi-joint wrist. Fig. 6C is a model diagram showing the axial structure of the inline wrist. Fig. 6D is a model diagram showing the axial structure of the three-degree-of-freedom hollow wrist. Fig. 7 is a block diagram showing the configuration of the painting system. Fig. 8 is a flowchart showing an operation procedure of the painting robot. Detailed Description Embodiments of a painting robot and a painting system according to the present application will be described in detail below with reference to the accompanying drawings. The present application is not limited to the embodiments shown below. In the following, a case where a vehicle such as an automobile is a coated object will be described, but the coated object is not limited to th