JP3041427B2 - Painting robot - Google Patents

Description

[Detailed Description of the Invention] "Industrial application field" The present invention is intended to optimize the coating film thickness for each coating color when spraying paints of different colors on predetermined portions of the object to be coated. And a painting robot.

"Conventional technology and problems to be solved" Conventionally, when painting an object to be painted, a painting robot is often used for reasons of accuracy, economy and the like. The painting robot generally comprises a robot body having a painting gun and a painting robot that controls the robot body.

In a conventional painting robot, when the robot body is driven to paint an object to be painted, teaching (teaching) of a moving locus of the painting gun with respect to the object to be painted and a moving speed (gun tip speed) of the painting gun is performed. The robot body is driven based on this teaching.

Therefore, when using a painting robot to spray paints of different colors onto predetermined portions of the object to be painted, respectively, the optimal coating thickness for the coating color (for example, the coating thickness of a thin color paint, The gun tip speed or the number of repetitions of the regeneration (the number of coatings) is changed so that the thickness of the coating is thicker than the thickness of the paint having a light color.

For this reason, for example, after performing teaching so as to have an optimum coating film thickness for a light-colored paint, a second teaching must be performed for each coating color, and the teaching work is complicated. There was a point.

The present invention has been made in view of such a problem,
The objective is to provide a coating robot that can optimize the coating film thickness according to each coating color without performing teaching on the gun tip speed or the number of repetitions of regeneration according to each coating color. The point is to provide.

[Means for Solving the Problems] A coating robot according to claim 1 controls a manipulator having a coating gun attached to a tip end thereof, and the manipulator and the coating gun based on position and orientation data taught in advance. In the coating robot comprising: a control means, the control means, a plurality of coating color data indicating the color of the paint sprayed on the object to be coated, and the speed at which the coating gun corresponding to each of the coating color data move Storage means for storing gun tip speed data for determining the object, and when performing coating on the workpiece based on one of the plurality of coating color data stored in the storage means, Operation control means for operating the manipulator at an operation speed defined by gun tip speed data corresponding to the application color data.

A coating robot according to claim 2, wherein the coating robot includes a manipulator having a coating gun attached to a distal end thereof, and control means for controlling the manipulator and the coating gun based on position and orientation data taught in advance. The control means includes: a plurality of pieces of paint color data indicating a color of paint to be sprayed on an object to be painted; and reproduction repetition data for determining the number of times of repeatedly moving the movement locus of the paint gun corresponding to each of the paint color data. Storage means for storing
When performing painting on the object based on one of the plurality of pieces of paint color data stored in the storage means, the paint is specified by reproduction repetition data corresponding to the one piece of paint color data. An operation control means for repeating the manipulator along the trajectory by the number of times, moving the manipulator, and repeating the number of times of coating is provided.

[Operation] In the invention described in claim 1, the manipulator is
The painting gun is attached to the tip. The control means controls the manipulator and the coating gun based on the position and orientation data taught in advance. The storage means stores a plurality of coating color data indicating the color of the paint sprayed on the object to be coated and operation data of the coating gun corresponding to each of the coating color data.
The operation control means, when performing coating on an object to be coated based on one of the plurality of pieces of paint color data stored in the storage means, a gun tip speed corresponding to the one piece of paint color data. The paint gun or manipulator is controlled by the data. Preferably, the operation control means may be configured to repeat and move the manipulator along the trajectory by the number of times specified by the reproduction repetition data, and repeat the painting by the number of times.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in the present embodiment are not intended to limit the scope of the present invention only to them unless otherwise specified. , Are merely illustrative examples.

First, the configuration of the painting robot according to the present embodiment
This will be described with reference to FIGS.

The coating robot R is of a teaching reproduction type including a manipulator 1 having a coating gun 3 attached to a tip end thereof as shown in FIG. 1 and a robot controller 2 for controlling the manipulator 1. If the operation of the paint gun 3 is taught and the teaching data is stored, the same operation can be repeated by reproducing the data.

The manipulator 1 has multiple degrees of freedom (six axes) operated by a servomotor. Therefore, the manipulator 1
In order to determine the position and the attitude of the coating gun 3 of the above, variables are required by the number of degrees of freedom. In the present embodiment, this is represented by a vector P.

The robot controller 2 comprises a storage means 6, a servo control means 5, a gun control means 7, and an operation control means 4, as shown in FIG.

When the position and orientation data of the coating gun 3 and the gun tip speed data at the target teaching point are given from the operation control unit 4, the servo control unit 5 generates a trajectory to the target point,
Move the manipulator 1. Immediately before the coating gun 3 of the manipulator 1 reaches the target point, the next position / posture data and gun tip speed data are requested.

The storage unit 6 stores the taught data. For example,
The data at the i-th teaching point is obtained from the position and orientation data P (i) of the painting gun 3 and the color number C (i) (painting color data) relating to the painting color to be applied before reaching the i-th teaching point. Become.

If there are N teaching points, P (i), C (i), i = 1,2, ...
…, N.

The relationship between the paint color and the color number is set before teaching. The gun tip speed at which the coating film thickness is optimum is determined for each color number, and stored in the storage means 6 as a speed table (correspondence table) as shown in FIG. In this embodiment, when the color number (Nc) is zero, it indicates that the coating gun 3 is turned off.

Upon receiving the color number from the operation control unit 4, the gun control unit 7 controls the coating gun 3 and the color changing device. When Nc ≠ 0, turn the painting gun 3 ON. When the paint color is changed using the color changing device, the paint gun is controlled to supply the paint of the paint color corresponding to the color number to the paint gun 3. In addition, what is necessary is just to use what is suitable for implementing this invention, such as an electromagnetic valve unit, as the said color change apparatus.

The operation control means 4 controls the operation of the entire robot controller 2. When there is a request from the servo control means 5,
The color number is transferred from the storage means 6 to the gun control means 7, and the position and orientation data corresponding to the color number is stored in the storage means 6.
, And selects gun tip speed data corresponding to the color number from the correspondence table, and transfers gun tip speed data and position / posture data to the servo control means 5.

Next, the operation of the robot controller 2 according to this embodiment will be described with reference to FIG. 4 (PAD diagram).

In step 1 (S1), i is incremented by 1 from N to 1 and steps 2 (S2) and thereafter are repeated.

In step 2 (S2), the position and orientation data P (i) of the coating gun 3 and the color number C taught from the storage means 6 are stored.
(I) is read out and Nc = C (i).

In step 3 (S3), the gun tip speed Vc corresponding to the color number Nc is selected from the speed table in the storage means 6.

In step 4 (S4), the position and orientation data P of the coating gun 3
(I) The gun tip speed data Vc is transferred to the servo control means 5.

In step 5 (S5), the color number Nc is transferred to the gun control means 7.

In step 6 (S6), it is determined whether i is not the last teaching point N. If not N, proceed to step 7.

In step 7 (S7), a wait is made until there is a data request from the servo control means 5.

According to the above-described procedure, the coating operation of the optimum coating film thickness can be performed only by storing the data on the position and orientation of the coating gun 3 and the coating color according to the teaching.

In this embodiment, gun tip speed data is used. However, the scope of the present invention is not limited thereto. In the present invention, other data, for example, reproduction repetition number data, coating time data, etc. Those suitable for carrying out the invention can be used. In such a case, the storage means 6 stores a reproduction repetition number table indicating the relationship between the coating color data and the reproduction repetition number data or a coating time table indicating the relation between the coating color data and the coating time. What is necessary is just to repeat it a predetermined number of times while keeping the leading speed constant.

Further, the manipulator 1 is operated by a servomotor, but this is not intended to limit the scope of the present invention thereto. In the present invention, the present invention can be implemented by other things, for example, those operated by an air actuator or the like. Any suitable material can be used.

[Effects of the Invention] As described above, according to the first aspect of the present invention, the moving speed of the coating gun corresponding to each coating color can be set by gun tip speed data stored in the storage means. Therefore, there is an effect that the coating film thickness can be optimized according to each coating color without performing teaching on gun tip speed data corresponding to each coating color.

Furthermore, according to the present invention, the number of times of application corresponding to each coating color can be set by the reproduction repetition data stored in the storage means. Even if teaching is not performed, there is an effect that the thickness of the coating film can be optimized according to each coating color.

[Brief description of the drawings]

1 to 4 show an embodiment of the present invention. FIG. 1 is a perspective view of a painting robot, FIG. 2 is a configuration diagram of a robot controller, FIG. 3 is a diagram showing a speed table, FIG. 4 is a PAD diagram of the reproducing operation. R: painting robot, 1: manipulator, 2: robot controller, 3: painting gun, 4: operation control means, 5, servo control means, 6, storage means, 7: gun control means.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B05B 12/00 B05D 1/02

Claims (2)

(57) [Claims] 1. A coating robot comprising: a manipulator having a coating gun attached to a tip end thereof; and control means for controlling the manipulator and the coating gun based on position / posture data taught in advance. Storage means for storing a plurality of paint color data indicating the color of the paint sprayed on the workpiece and gun tip speed data that determines the speed at which the paint gun corresponding to each paint color data moves. When performing coating on the object to be coated based on one of the plurality of pieces of paint data stored in the storage means, gun tip speed data corresponding to the one piece of paint data is used. An operation control means for operating the manipulator at an operating speed that is variable. 2. A coating robot comprising: a manipulator having a coating gun attached to a tip end thereof; and control means for controlling the manipulator and the coating gun based on position and orientation data taught in advance. Storage means for storing a plurality of pieces of paint color data indicating the color of paint to be sprayed on the object to be painted and reproduction repetition data for determining the number of times of repeatedly moving the movement locus of the paint gun corresponding to each paint color data When performing painting on the object to be painted based on one of the plurality of pieces of paint data stored in the storage means, it is specified by reproduction repetition data corresponding to the one piece of paint color data. Operation control means for repeating and moving the manipulator along the trajectory by the number of times performed, and repeating the number of times of coating. Painting robot.