WALL INTEGRATED ROBOT PAINTER

摘要

A robot installation for painting objects inside a cabin (CA) having walls (WA, WB) isolating the object (AU) to be painted from the surroundings, is suitably integrated in the cabin walls in order to save interior cabin space and achieve a robot operation better adapted to the painting process. The installation comprises at least one main robot shaft (RS) associated with a painting tool and protruding through at least one slot (LS) penetrating the cabin walls for servo-controlled movements along such slots and possibly also in the direction of and/or about the axis of said shaft. Servo-drive means are disposed for controlling said robot shaft movements in accordance with a preprogrammed motional pattern for said painting tool, including tracking of a travelling object to be painted. Said slot is disposed on a rotatable element (CD, SC) suppported in or on the cabin walls, and the servo-drive means comprise means for controlling the rotational movements of the rotatable element in accordance with said preprogrammed motional pattern. The rotatable element may be a circular disc (CD) disposed for rotational movements in a plane identical or parallel withthe plane of a cabin wall (WA), the slot (LS) extending preferably along a diameter of said disc. Alternatively said rotatable element may be a hollow cylinder (SC) disposed for rotational movements about a vertical axis in or parallel with one of the cabin walls, said robot shaft protruding through at least one slot (LS) substantially parallel with said rotational axis. In practice the robot shaft is normally connected with the painting tool through manipulator link means (ML) having at least one and preferably three or more axes of motion.