Coating robot

Abstract

A painting robot includes a vertical multi-joint robot arm, a linear motion shaft that linearly moves the robot arm along an arrangement surface of the robot arm, and a control unit that operates a joint of the robot arm in conjunction with the linear motion shaft when painting work is performed on a workpiece.

Description

Technical Field

[0001] The invention relates to a painting robot. Background Art

[0002] In the past, a painting robot for performing a painting operation on a workpiece was disclosed. Japanese Patent Publication No. 4-111787 discloses a painting robot, which includes a horizontal arm for moving a spray gun for painting in a horizontal direction, and a vertical arm for moving the horizontal arm in a vertical direction. The painting robot of Japanese Patent Publication No. 4-111787 performs a painting operation on the upper surface of a vehicle body while moving the spray gun in a horizontal direction using the horizontal arm. In addition, the distance between the upper surface of the vehicle body and the spray gun is adjusted by raising and lowering the horizontal arm with the help of the vertical arm.

[0003] However, in the painting robot disclosed in Japanese Patent Publication No. 4-111787, the spray gun can only move in two directions, the horizontal direction and the vertical direction, so there is a problem that the freedom of movement of the spray gun is low. Therefore, a painting robot that can improve the freedom of movement of a painting tool such as a spray gun is desired. Summary of the invention

[0004] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a painting robot capable of improving the degree of freedom of movement of a painting tool.

[0005] A painting robot based on one aspect of the present invention comprises: a vertical multi-joint robot arm, which has a painting tool installed at the front end and has joints; a direct-acting axis connected to the base end of the robot arm and causes the robot arm to move in a straight line along the configuration surface of the robot arm; and a control unit, which causes the joints of the robot arm and the direct-acting axis to move in conjunction when performing a painting operation on a workpiece.

[0006] As described above, for a painting robot based on one aspect of the present invention, when performing a painting operation on a workpiece, the control unit causes the joints of the vertical multi-joint robot arm to move in conjunction with the direct-acting axis. Thus, in addition to the horizontal and vertical directions, the vertical multi-joint robot arm can also move the painting tool in various directions that intersect the horizontal and vertical directions, and the direct-acting axis can change the position along the configuration surface of the robot arm. As a result, the freedom of movement of the painting tool can be increased.

[0007] According to the present invention, the painting robot can improve the degree of freedom of movement of the painting tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a diagram showing the painting robot system according to the first embodiment as viewed from above.

[0009] Figure 2 This is a diagram showing the painting robot according to the first embodiment as seen from the side.

[0010] Figure 3 This is a block diagram of the painting robot system according to the first embodiment.

[0011] Figure 4 This is a diagram showing the painting robot system according to the first embodiment as seen from the side.

[0012] Figure 5 It is a diagram showing the movable range of the painting robot according to the first embodiment.

[0013] Figure 6 This is a diagram showing a painting robot according to a second embodiment as seen from the side.

[0014] Figure 7 This is a diagram showing a painting robot according to a third embodiment as seen from the side.

[0015] Figure 8 This is a diagram showing a painting robot according to a first modification example as seen from the side.

[0016] Fig. 9 This is a diagram showing a painting robot according to a second modification example as viewed from the side.

[0017] Fig.10 This is a diagram showing a painting robot according to a third modification example as viewed from the side.

[0018] Fig.11 This is a diagram showing a painting robot according to a fourth modification example as viewed from the side.

[0019] Fig.12 This is a diagram of a painting robot according to a fifth modification example as seen from the side. DETAILED DESCRIPTION

[0020] Hereinafter, one embodiment of the present invention which embodies the present invention will be described based on the drawings.

[0021] [First embodiment]

[0022] (Painting robot system)

[0023] The structure of the painting robot system 100 is described. Figure 1As shown, the painting robot system 100 performs a painting operation on the workpiece 200. In addition, in the present application specification, the up and down direction is set as the Z direction. The upper side is set as the Z1 side, and the lower side is set as the Z2 side. The direction perpendicular to the Z direction is set as the X direction. One side of the X direction is set as the X1 side, and the other side is set as the X2 side. The direction perpendicular to the Z direction and the X direction is set as the Y direction. One side of the Y direction is set as the Y1 side, and the other side is set as the Y2 side. In addition, the X direction is an example of a prescribed direction.

[0024] like Figure 1 As shown, the painting robot system 100 includes a plurality of painting robots 10. The plurality of painting robots 10 are arranged in parallel to perform painting operations on a workpiece 200. Figure 1 In the embodiment, two painting robots 10 are arranged in parallel along the X direction. In addition, the two painting robots 10 are installed on a wall 2 perpendicular to the ground 1 and along the Z direction. The workpiece 200 is, for example, a door of a car 210. The painting robot 10 paints one or both of the surfaces on the X1 side and the surfaces on the X2 side of the workpiece 200. The workpiece 200 is transported along the X direction by means of a conveyor belt or the like. When the workpiece 200 is painted by the painting robot 10, the workpiece 200 stops. In addition, the painting robot 10 can also paint the moving workpiece 200. In addition, a plurality of workpieces 200 are arranged along the X direction. In addition, in Figure 1 In the example shown, two doors of a car 210 are arranged along the X direction as the workpiece 200 .

[0025] (Painting robot)

[0026] The structure of the painting robot 10 of the first embodiment will be described. In addition, the structures of the two painting robots 10 are the same, so the structure of one painting robot 10 will be described. Figure 2 As shown, the painting robot 10 includes a robot arm 10a, a direct-acting axis 30, a joint drive unit 16, a direct-acting axis drive unit 33, and a robot controller 15. The robot arm 10a is a vertical multi-joint type having a painting tool 20 installed at the front end and having joints. Specifically, the robot arm 10a is a six-axis vertical multi-joint robot arm 10a including six joints, namely, a JT1 joint, a JT2 joint, a JT3 joint, a JT4 joint, a JT5 joint, and a JT6 joint. That is, the painting robot 10 includes a seven-axis vertical multi-joint painting robot 10, and the seven-axis vertical multi-joint painting robot 10 has: a robot arm 10a having six joints; and a direct-acting axis 30 as a JT7 joint.

[0027] The structure of the robot arm 10a will be described. The robot arm 10a includes a base 11, a base arm 12, a front arm 13, and a wrist 14. A coating tool 20 is connected to the front end of the painting robot 10.

[0028] The connection relationship between the base part 11, the base end arm part 12, the front end arm part 13 and the wrist part 14 is described. The base part 11 includes a first part 11a and a second part 11b. The first part 11a is mounted on the linear axis 30. The first part 11a and the second part 11b are connected by a JT1 joint. Figure 2 In the example shown, the JT1 joint rotates around an axis along the Y direction. The second part 11b of the base portion 11 is connected to the base end of the base arm portion 12 through the JT2 joint. The JT2 joint rotates around an axis along a direction orthogonal to the axis of the JT1 joint. The front end of the base arm portion 12 is connected to the base end of the front arm portion 13 through the JT3 joint. The JT3 joint rotates around an axis parallel to the axis of the JT2 joint. The front end of the front arm portion 13 is connected to the base end of the wrist portion 14 through the JT4 joint. The JT4 joint rotates around an axis along a direction orthogonal to the axis of the JT3 joint. The front end of the wrist portion 14 is connected to the coating device 20 through the JT6 joint. The JT6 joint rotates around an axis along a direction orthogonal to the axis of the JT3 joint. In addition, the JT4 joint is connected to the JT6 joint through the JT5 joint. The JT5 joint rotates around an axis along a direction orthogonal to the axis of the JT3 joint. In addition, the axis of the JT4 joint and the axis of the JT5 joint intersect each other. In addition, the axis of the JT5 joint and the axis of the JT6 joint intersect each other. In addition, the axis of the JT1 joint is an example of a predetermined axis.

[0029] As a JT7 joint, the structure of the direct-acting shaft 30 is described. In the first embodiment, the direct-acting shaft 30 is connected to the base end of the robot arm 10a, so that the robot arm 10a moves linearly in the Z direction along the wall 2 which is the configuration surface of the robot arm 10a. That is, the direct-acting shaft 30 moves the robot arm 10a in the Z direction, which is orthogonal to the X direction in which the plurality of painting robots 10 are configured. The direct-acting shaft 30 includes a base portion 31, a moving portion 32, and a direct-acting shaft driving portion 33. The base portion 31 is mounted on the wall 2. The base portion 31 is fixed to the wall 2 and does not move. The moving portion 32 moves along the Z direction relative to the base portion 31. When viewed from the X direction, the moving portion 32 is, for example, a plate-like member having an L shape. The surface on the Y1 side of the moving portion 32 is movably mounted on the base portion 31. The first part 11a of the base portion 11 is mounted on the surface on the Y2 side of the moving portion 32. The robot arm 10a is fixed to the moving part 32 and does not move relative to the moving part 32. The moving amount of the moving part 32 is set, for example, such that the coating tool 20 reaches the top surface 3 from the ground 1. The linear axis 30 is, for example, a linear actuator. The linear axis drive unit 33 includes, for example Figure 3 The servo motor 33a shown in the figure has a rotating shaft connected to a ball screw. The ball screw is screwed to a nut arranged on the moving part 32, and the moving part 32 moves linearly by rotating the ball screw. In addition, the wall part 2 is an example of a configuration surface. In addition, the servo motor 33a is an example of a motor.

[0030] The structures of the joint driving unit 16 and the direct-acting shaft driving unit 33 are described. Figure 2 As shown in the first embodiment, the joint driving unit 16 drives the joints of the robot arm 10a. The joint driving unit 16 is arranged at each of the JT1 joint to the JT6 joint. The direct-acting axis driving unit 33 drives the direct-acting axis 30. The joint driving unit 16 and the direct-acting axis driving unit 33 respectively include Figure 3 The servo motor 16a and the servo motor 33a are shown in FIG. Specifically, the joint driving unit 16 and the linear axis driving unit 33 include an encoder and a speed reducer in addition to the servo motor 16a and the servo motor 33a, respectively.

[0031] In the first embodiment, the joint driving unit 16 is arranged inside the arm housing 10b of the robot arm 10a as an explosion-proof part. In addition, the direct-acting shaft driving unit 33 that drives the direct-acting shaft 30 is also arranged inside the arm housing 10b of the robot arm 10a as an explosion-proof part. In addition, the arm housing 10b is a cylindrical component constituting the outer surface of the base part 11, the base end arm part 12, the front end arm part 13, and the wrist part 14 of the robot arm 10a, and components such as wiring can be arranged inside. In addition, the arm housing 10b as an explosion-proof part applies internal pressure by supplying air to the inside of the arm housing 10b so that the surrounding gas does not invade the inside.

[0032] The robot controller 15 is described. Figure 2 As shown, the wall 2 separates the explosion-proof area A1 that needs to be explosion-proof from the non-explosion-proof area A2 that does not need to be explosion-proof. If the robot controller 15 is explosion-proof, the robot controller 15 can be placed in the explosion-proof area A1. On the other hand, if the robot controller 15 is not explosion-proof, the robot controller 15 is placed in the non-explosion-proof area A2. Figure 3 As shown, the robot controller 15 includes a main control unit 15a, a servo control unit 15b, and a drive circuit unit 15c. The main control unit 15a and the servo control unit 15b include, for example, a CPU (Central Processing Unit). The main control unit 15a controls the joint drive unit 16 of the JT1 joint to the JT6 joint, and the direct-acting axis drive unit 33 of the JT7 joint. That is, in the first embodiment, the robot controller 15 is a robot controller 15 shared with the JT1 joint to the JT6 joint and the JT7 joint. That is, the robot controller 15 generates an instruction value for each of the JT1 joint to the JT7 joint based on inverse kinematics, and the inverse kinematics calculates the displacement of each of the JT1 joint to the JT7 joint according to the position and posture of the target of the painting robot 10. As a result, the JT7 joint is controlled by the painting robot controller 15 as a part of the robot 10 in the same manner as the JT1 joint to the JT6 joint. In addition, when the standard specification of the robot controller 15 is a specification for controlling a six-axis vertical multi-joint robot, the JT7 joint is controlled by the robot controller 15 as an external axis different from the vertical multi-joint robot. Thus, in the first embodiment, when the robot controller 15 performs a coating operation on the workpiece 200, the joint of the robot arm 10a is moved in conjunction with the direct-acting axis 30. In addition, the robot controller 15 is an example of a control unit.

[0033] In addition, in the first embodiment, the robot controller 15 causes the JT1 joint to the JT6 joint of the robot arm 10a to move in conjunction with the direct-acting axis 30, thereby causing the coating tool 20 to move at a constant speed relative to the workpiece 200. For example, the robot controller 15 causes the coating tool 20 to move at a constant speed along the Z direction relative to the workpiece 200. That is, the robot controller 15 generates an instruction value for each of the JT1 joint to the JT7 joint based on the position and posture of the coating robot 10 at each teaching point taught by the staff using the teaching pendant. In addition, the robot controller 15 generates an instruction value so that the coating tool 20 moves between each teaching point at a constant speed.

[0034] In addition, the servo control unit 15b controls the power supplied to the joint drive unit 16 and the direct-acting shaft drive unit 33 based on the instruction from the main control unit 15a. The drive circuit unit 15c supplies drive power to the joint drive unit 16 and the direct-acting shaft drive unit 33. The drive circuit unit 15c is configured for each of the JT1 joint to the JT7 joint. In addition, a common drive circuit unit 15c can also be configured for the JT1 joint to the JT7 joint.

[0035] (Layout of the painting robot system)

[0036] The layout of the painting robot system 100 is described. In the first embodiment, as Figure 4 As shown, when performing painting operations on the workpiece 200, a plurality of painting robots 10 are respectively located between the workpiece 200. Then, the plurality of painting robots 10 respectively perform painting operations on the workpiece 200. For example, when the painting robot 10 paints the Z1 side of the workpiece 200, the robot arm 10a moves toward the Z1 side with the aid of the direct-acting axis 30. In addition, when the painting robot 10 paints the Z2 side of the workpiece 200, the robot arm 10a moves toward the Z2 side with the aid of the direct-acting axis 30. In addition, when the painting robot 10 is too close to the workpiece 200, for example, the robot arm 10a moves toward the Z1 side with the aid of the direct-acting axis 30 to avoid interference between the robot arm 10a and the workpiece 200.

[0037] The spacing between the painting robots 10 will be described. Figure 5 As shown, the interval W between the parallel-arranged painting robots 10 is less than the distance L from the axis of the JT1 joint to the end of the movable range of the painting robot 10. In addition, the interval W between the parallel-arranged painting robots 10 refers to the interval W along the X direction between the axes of the JT1 joints of the painting robots 10. In addition, the end of the movable range refers to, for example, the farthest end that can be reached in the direction away from the axis of the JT1 joint at the point where the axis of the JT4 joint intersects with the axis of the JT5 joint. In addition, in Figure 5 In FIG. 1 , as an example, an example in which the interval W is the same as the distance L is shown.

[0038] [Effects of the First Embodiment]

[0039] When performing a coating operation on a workpiece 200, the robot controller 15 causes the JT1 joint to the JT6 joint of the vertical multi-joint robot arm 10a to move in conjunction with the direct-acting axis 30. Thus, in addition to the horizontal direction and the vertical direction, the vertical multi-joint robot arm 10a can also move the coating tool 20 in various directions intersecting the horizontal direction and the vertical direction, and the direct-acting axis 30 can change the position along the direction of the configuration surface of the robot arm 10a. As a result, the degree of freedom of movement of the coating tool 20 can be increased. Therefore, the position of the coating tool 20 can be precisely adjusted. In addition, the position of the robot arm 10a itself is moved by the direct-acting axis 30, so that the interference between the robot arm 10a and the workpiece 200 and the surrounding equipment can be suppressed. For example, when the workpiece 200 transported by the conveyor belt approaches the robot arm 10a, the robot arm 10a moves by the direct-acting axis 30 according to the shape of the workpiece 200 so that the robot arm 10a and the workpiece 200 do not interfere. In addition, the robot arm 10a is moved by the direct-acting axis 30, so the range of motion and the coating range of the painting robot 10 are increased. In addition, the robot arm 10a can be moved by the direct-acting axis 30, so the painting tool 20 and the robot arm 10a can be moved to the vicinity of the paint filling position of the painting tool 20, the cleaning position of the painting tool 20, and the paint disposal position.

[0040] The robot controller 15 operates the JT1 to JT6 joints of the robot arm 10a in conjunction with the linear axis 30, thereby moving the coating tool 20 at a constant speed relative to the workpiece 200. This can suppress the variation in coating thickness caused by changes in the moving speed of the coating tool 20, and thus the coating thickness on the workpiece 200 can be kept constant.

[0041] The robot controller 15 is common to the JT1 to JT6 joints and the linear axis 30. This can prevent the structure of the painting robot 10 from becoming complicated, compared with a case where control units are separately provided for the JT1 to JT6 joints and the linear axis 30 of the robot arm 10a.

[0042] The painting robot 10 includes a joint driving unit 16 for driving the JT1 joint to the JT6 joint of the robot arm 10a, and a direct-acting shaft driving unit 33 for driving the direct-acting shaft 30. The robot arm 10a includes an arm housing 10b as an explosion-proof portion. The joint driving unit 16 and the direct-acting shaft driving unit 33 are arranged inside the arm housing 10b. Thus, the joint driving unit 16 and the direct-acting shaft driving unit 33 are arranged inside the arm housing 10b as a common explosion-proof portion, so that the structural complexity of the painting robot 10 can be suppressed, unlike the case where the joint driving unit 16 and the direct-acting shaft driving unit 33 are arranged in an independent explosion-proof portion.

[0043] The painting robot 10 includes a linear axis driving unit 33 that drives the linear axis 30. The linear axis driving unit 33 includes a servo motor 33a. The servo motor 33a can continuously change the movement amount of the linear axis 30, so that the position of the painting tool 20 can be adjusted more precisely.

[0044] The linear axis 30 is disposed on the wall portion 2 that is perpendicular to the floor 1. This can expand the coating area in the vertical direction with respect to the workpiece 200.

[0045] The painting robot 10 includes a seven-axis vertical multi-joint painting robot 10, which includes a robot arm 10a having six joints, namely, joints JT1 to JT6, and a linear axis 30. Thus, the seven-axis vertical multi-joint painting robot 10 can precisely adjust the position of the painting tool 20.

[0046] A plurality of painting robots 10 are arranged along the X direction, and the direct-acting axis 30 moves the robot arm 10a in the Z direction orthogonal to the X direction. Thus, unlike the case where the direct-acting axis 30 moves the robot arm 10a along the X direction, the interval W between the robot arms 10a does not decrease, and thus interference between the robot arms 10a can be suppressed.

[0047] A plurality of workpieces 200 are arranged along the X direction, and a plurality of painting robots 10 are arranged along the X direction. The base end of the robot arm 10a rotates around the axis of the JT1 joint. Moreover, the interval W between the painting robots 10 arranged in parallel is less than the distance L from the axis of the JT1 joint to the end of the movable range of the painting robot 10. As a result, the interval W between the painting robots 10 is relatively small, so the painting robots 10 can be arranged closely to each other.

[0048] [Second embodiment]

[0049] The structure of the painting robot 110 according to the second embodiment will be described. In the painting robot 110 according to the second embodiment, the linear axis driving unit 33 is arranged in the non-explosion-proof area A2.

[0050] In a second embodiment, if Figure 6 As shown, the direct-acting shaft 30 is arranged on the wall portion 2. The wall portion 2 separates the explosion-proof area A1 that needs to be explosion-proof from the non-explosion-proof area A2 that does not need to be explosion-proof. The robot arm portion 10a, and the base portion 31 and the moving portion 32 of the direct-acting shaft 30 are arranged in the explosion-proof area A1. On the other hand, the direct-acting shaft driving portion 33 of the direct-acting shaft 30 is arranged in the non-explosion-proof area A2. Specifically, a hole portion 2a is formed in the wall portion 2, and the driving force of the direct-acting shaft driving portion 33 is transmitted to the moving portion 32 via the hole portion 2a. In addition, the joint driving portion 16 that drives the JT1 joint to the JT6 joint of the robot arm portion 10a is arranged inside the arm housing 10b. The other structures of the second embodiment are the same as those of the above-mentioned first embodiment.

[0051] [Effects of the Second Embodiment]

[0052] The painting robot 110 includes a joint driving unit 16 that drives the JT1 joint to the JT6 joint of the robot arm 10a, and a direct-acting shaft driving unit 33 that drives the direct-acting shaft 30. The robot arm 10a includes an arm housing 10b as an explosion-proof portion, and the joint driving unit 16 is arranged inside the arm housing 10b. The direct-acting shaft 30 is installed on a wall 2 that separates an explosion-proof area A1 that requires explosion-proofing from a non-explosion-proof area A2 that does not require explosion-proofing, and the direct-acting shaft driving unit 33 is arranged in the non-explosion-proof area A2. As a result, there is no need to configure an explosion-proof portion separately for the direct-acting shaft driving unit 33, thereby suppressing the complexity of the structure of the painting robot 110. In addition, other effects of the second embodiment are the same as those of the above-mentioned first embodiment.

[0053] [Third Embodiment]

[0054] The structure of the painting robot 120 according to the third embodiment will be described. In the painting robot 120 according to the third embodiment, a spring portion 121 is disposed between the top surface 3 and the linear drive shaft 30 .

[0055] In a third embodiment, if Figure 7 As shown, the direct-acting shaft 30 is arranged on the wall portion 2. The spring portion 121 is arranged between the top surface 3 and the direct-acting shaft 30 and offsets the gravity applied to the direct-acting shaft 30. Specifically, the spring portion 121 is connected to the top surface 3 and the upper end of the moving portion 32 of the direct-acting shaft 30. The spring portion 121 is arranged along the Z direction. The spring portion 121 is a coil spring, a gas spring, or the like. In addition, the gas spring is formed by a tube, a rod inserted into the tube, and gas and oil arranged between the tube and the rod. Moreover, the rod moves by the pressure of the gas. By configuring the spring portion 121, the moving portion 32 of the direct-acting shaft 30 becomes suspended even in the absence of the driving force of the direct-acting shaft driving portion 33. In addition, the other structures of the third embodiment are the same as those of the above-mentioned first embodiment.

[0056] [Effects of the Third Embodiment]

[0057] The direct-acting shaft 30 is arranged on the wall portion 2, and the painting robot 120 has a spring portion 121, which is arranged between the top surface 3 and the direct-acting shaft 30 and offsets the gravity applied to the direct-acting shaft 30. As a result, the direct-acting shaft 30 is suspended in the air, so the force required to raise and lower the direct-acting shaft 30 is reduced. As a result, the power of the direct-acting shaft driving portion 33 that drives the direct-acting shaft 30 to raise and lower can be reduced. In addition, other effects of the third embodiment are the same as those of the first embodiment described above.

[0058] [Modifications]

[0059] In addition, all points of the embodiments disclosed this time should be considered as illustrative and not limiting the present invention. The scope of the present disclosure is not limited by the description of the above-mentioned embodiments, but is indicated by the claims, and also includes the meaning equivalent to the claims and all changes (modifications) within the scope thereof.

[0060] In the first, second and third embodiments, the robot controller 15 is shown to move the coating tool 20 at a constant speed relative to the workpiece 200 by causing the JT1 joint to the JT6 joint of the robot arm 10a to move in conjunction with the linear axis 30, but the present invention is not limited thereto. For example, the robot controller 15 may also move the coating tool 20 relative to the workpiece 200 while maintaining a constant distance.

[0061] In the first, second and third embodiments, the robot controller 15 is shown as being shared with the JT1 to JT6 joints of the robot arm 10a and the direct-acting axis 30, but the present invention is not limited thereto. For example, the control unit may be independently configured with respect to the JT1 to JT6 joints of the robot arm 10a and the direct-acting axis 30.

[0062] In the first and third embodiments, the example in which the direct-acting shaft drive unit 33 is arranged inside the arm housing 10b is shown, and in the second embodiment, the example in which the direct-acting shaft drive unit 33 is arranged in the non-explosion-proof area A2 is shown, but the present invention is not limited thereto. For example, the direct-acting shaft drive unit 33 may also be arranged inside an explosion-proof container in the explosion-proof area A1.

[0063] In the first, second and third embodiments described above, the linear drive unit 33 includes the servo motor 33a, but the present invention is not limited to this. Figure 8Like the painting robot 130 of the first variant shown, the direct-acting shaft drive unit 131 may also include a cylinder 131a. The cylinder 131a includes a cylinder barrel and a piston, and the piston moves linearly with the help of air pressure. For example, the moving part 32 of the direct-acting shaft 30 is connected to the piston, and the moving part 32 moves together with the movement of the piston. The cylinder 131a has a relatively simple structure, so by using the cylinder 131a as the power source of the direct-acting shaft drive unit 131, the complexity of the structure of the painting robot 10 can be suppressed.

[0064] In the first, second and third embodiments described above, the linear drive shaft 30 is arranged on the wall portion 2, but the present invention is not limited thereto. Fig. 9 As shown in the second modified example, the direct-acting axis 30 may also be arranged on the ground 1. Thus, the robot arm 10a moves linearly along the ground 1. Fig.10 As shown in the third modified example, the direct-acting axis 30 may also be arranged on the top surface 3. Thus, the robot arm 10a moves linearly along the top surface 3. In this way, when the direct-acting axis 30 is arranged on the ground 1 or the top surface 3, the coating area in the horizontal direction relative to the workpiece 200 can be expanded. Fig. 9 and Fig.10 In the figure, the direct-acting axis 30 is shown to move the robot arm 10a in the Y direction, but the direct-acting axis 30 can also move the robot arm 10a in the X direction intersecting the Y direction. Fig.11 As in the fourth modified example shown in FIG. 1 , the linear motion shaft 30 may be disposed on the inclined surface 4 intersecting the wall portion 2. Fig.11 In the illustrated example, the linear motion axis 30 moves the robot arm 10 a in a direction intersecting the Z direction.

[0065] In the first, second and third embodiments described above, an example is shown in which the painting robot 10 includes six joints from the JT1 joint to the JT6 joint as rotation axes, but the present invention is not limited to this. For example, the painting robot 10 may also include a number of joints other than six as rotation axes. For example, the painting robot 10 may also include a JT8 joint as a telescopic axis in the base arm 12 or the front arm 13. Thus, by extending the base arm 12 or the front arm 13, the painting tool 20 can be moved to a farther position.

[0066] In the first, second and third embodiments, examples are shown in which a plurality of painting robots 10 respectively perform painting operations between the workpieces 200 when performing painting operations on the workpiece 200, but the present invention is not limited thereto. For example, the painting robot 10 may also perform painting operations on the workpiece 200 disposed in front of the painting robot 10.

[0067] In the first, second and third embodiments, the plurality of painting robots 10 paint each of the plurality of workpieces 200 arranged along the X direction, but the present invention is not limited thereto. For example, the plurality of painting robots 10 may paint a common workpiece 200 .

[0068] In the first, second and third embodiments described above, an example is shown in which the interval W between the painting robots 10 is less than the distance L along the direction orthogonal to the axis of the JT1 joint from the axis of the JT1 joint to the end of the reach of the painting robot 10, but the present invention is not limited to this. For example, the interval W between the painting robots 10 can also be set to be greater than the distance L.

[0069] In the first, second, and third embodiments described above, examples are shown in which a plurality of painting robots 10 are arranged on the wall portion 2 , but the present invention is not limited thereto. For example, only one painting robot 10 may be arranged on the wall portion 2 .

[0070] In the first, second and third embodiments, the workpiece 200 is shown as an example of a door of the automobile 210 , but the present invention is not limited thereto. For example, the workpiece 200 may be a workpiece 200 other than the door of the automobile 210 .

[0071] In the first, second and third embodiments, an example is shown in which the direct-acting axis 30 has one axis, namely the JT7 joint, but the present invention is not limited thereto. In the present invention, the direct-acting axis 30 may also have multiple axes. For example, the direct-acting axis 30 may also have two axes, namely an axis for moving the robot arm 10a in the Z direction and an axis for moving the robot arm 10a in the X direction.

[0072] In the third embodiment described above, an example in which the spring portion 121 is disposed between the top surface 3 and the linear drive shaft 30 is shown, but the present invention is not limited thereto. Fig.12 As shown in the fifth modification, a plate member 34 having an L-shape when viewed from the X direction may be disposed on the base portion 31 of the linear axis 30, and a spring portion 121 may be disposed between the plate member 34 and the moving portion 32. The plate member 34 has a portion along the Z direction and a portion along the Y direction.

Claims

1. A painting robot, wherein: The painting robot has: A vertical multi-jointed robot arm with a coating tool installed at the front end and joints; A direct-acting shaft connected to the base end of the robot arm and causing the robot arm to move linearly along the configuration surface of the robot arm; as well as The control unit operates the joint of the robot arm in conjunction with the linear motion axis when performing a coating operation on a workpiece.

2. The painting robot according to claim 1, wherein: The control unit operates the joint of the robot arm and the linear motion axis in conjunction with each other, thereby moving the coating tool at a constant speed relative to the workpiece.

3. The painting robot according to claim 1, wherein: The control unit includes a robot controller that is common to the joint and the linear axis.

4. The painting robot according to claim 1, wherein: The painting robot has: a joint driving unit for driving the joint of the robot arm; and A direct-acting shaft driving unit drives the direct-acting shaft. The robot arm includes an arm housing as an explosion-proof portion. The joint driving unit and the linear axis driving unit are arranged inside the arm housing.

5. The painting robot according to claim 1, wherein: The painting robot has: a joint driving unit for driving the joint of the robot arm; and A direct-acting shaft driving unit drives the direct-acting shaft. The robot arm includes an arm housing as an explosion-proof portion. The joint driving unit is arranged inside the arm housing. The direct-acting shaft is installed on a wall portion, and the wall portion separates an explosion-proof area that needs to be explosion-proof from a non-explosion-proof area that does not need to be explosion-proof. The linear drive unit is disposed in the non-explosion-proof area.

6. The painting robot according to claim 1, wherein: The painting robot includes a linear drive unit for driving the linear drive axis. The direct-acting shaft driving unit includes a motor or a cylinder.

7. The painting robot according to claim 1, wherein: The linear motion axis is disposed on the ground, a wall portion perpendicular to the ground, or a top surface facing the ground.

8. The painting robot according to claim 7, wherein: The linear motion shaft is arranged on the wall portion, The painting robot includes a spring portion that is disposed between the top surface and the linear motion shaft and that offsets gravity applied to the linear motion shaft.

9. The painting robot according to claim 1, wherein: The painting robot includes a seven-axis vertical multi-joint painting robot, and the seven-axis vertical multi-joint painting robot includes: the robot arm having six joints; and the linear axis.

10. The painting robot according to claim 1, wherein: Arrange a plurality of the painting robots along a specified direction, The linear motion axis moves the robot arm in a direction orthogonal to the predetermined direction.

11. The painting robot according to claim 1, wherein: Arranging a plurality of the workpieces along a predetermined direction, Arranging a plurality of the painting robots along the specified direction, The base end of the robot arm rotates around a predetermined axis. The interval between the painting robots arranged in parallel is equal to or smaller than the distance from the predetermined axis to the end of the movable range of the painting robot.

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