JP2006218417A - Coating robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot for applying a coating material, an adhesive or a sealing agent on the surface or the back surface of a part. <P>SOLUTION: The robot is constituted so that a coating device 5 which is driven by a motor and controls the instantaneous discharge quantity of the coating agent is attached to the tip of the robot, the instantaneous discharge quantity of the coating material is controlled along the speed pattern of the tip of the robot from the coating start point to the coating end point and on the other hand, the offset quantity in the height position of the coating device 5 is stored and the height position of the coating device 5 is corrected so that the distance between the tip of the coating apparatus 5 and the upper surface of the coating agent becomes a prescribed one. Even when the speed of the robot or the maximum instantaneous discharge quantity is changed, the coating state of the coating agent can be kept clean constantly. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an application robot that applies a paint, an adhesive, or a sealant to the front surface or the back surface of a part used in an automobile, an electric device, or the like.

  Conventionally, when coating agents such as paints, adhesives, and sealants are applied to the front or back surface of a component, it has been required to make the thickness of the coating surface uniform. In this case, since the moving speed of the coating device provided at the tip of the coating robot cannot be made constant, it is difficult to make the thickness of the coating surface uniform. In order to solve this problem, a coating robot described in JP-A-5-231546 has been developed. This coating robot has a coating device that can be driven by a motor at the tip of the robot to control the discharge amount of the coating agent, calculates the instantaneous discharge amount of the coating device along the speed pattern of the moving speed of the robot tip, A coating amount of the coating agent proportional to the moving speed of the robot tip is applied from the coating device to make the coating surface of the coating agent uniform.

JP-A-5-231546

  In this application robot, the robot tip movement speed is accelerated until it reaches the maximum speed in order to perform accurate positioning during the application work process, and after reaching the maximum speed, this speed is maintained until it stops from the maximum speed. Decelerated. Along with the change in the moving speed, the instantaneous discharge amount of the coating apparatus also changes, and the thickness of the coating surface is kept uniform. However, in this coating robot, if the movement speed of the robot tip is changed or the maximum instantaneous discharge amount of the coating device is changed, the coating height of the coating agent applied to the coating surface changes, and the coating device tip And the distance between the upper surface of the coating agent is changed, and there is a drawback that the coating agent cannot always be applied neatly.

  In order to solve the above-mentioned problems, the present invention attaches a coating device that is driven by a motor to control the instantaneous discharge amount of the coating agent at the tip of the robot, and stores a speed pattern of the moving speed from the coating start point to the coating end point. In a coating robot that is configured to control the instantaneous dispensing amount of the coating agent along the speed pattern of the moving speed of the robot tip and make the coating amount on the coating surface uniform, coating is performed at each coating start point. While a storage unit for storing the height position of the apparatus and the offset amount thereof is provided, when the application start point is called, the height position of the application apparatus at the application start point is determined by the offset amount of the height position of the application apparatus. A controller for correcting and positioning the coating device is provided.

  Further, when setting the offset amount, a setting unit is provided for setting the offset amount of the height position of the coating device in accordance with the change of the speed at the constant speed of the robot tip or the maximum instantaneous discharge amount of the coating device. You may comprise so that the space | interval of an application | coating apparatus and the coating agent upper surface apply | coated may be kept at a predetermined space | interval, repeating setting of these.

  According to the present invention, the maximum speed of the robot tip may be increased or decreased, or the maximum instantaneous flow rate of the coating apparatus may be increased or decreased, the height of the upper surface of the coating agent changes, and the upper end of the coating device and the upper surface of the coating agent are changed. Even if the distance between the coating apparatus and the coating apparatus changes, the distance between the coating apparatus and the top surface of the coating agent can be set to a predetermined distance by the offset amount of the height position of the coating apparatus, so that the coating agent can always be applied cleanly.

  Further, when setting the offset amount value, an appropriate value is set from the setting unit and repeated coating operations are performed on the sample work, and the distance between the coating apparatus and the top surface of the coating agent to be coated is checked while checking the coating state. Can be set at a predetermined interval.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes an application robot, which has an X-axis table 2, a Y-axis table 3, and a Z-axis table 4. These tables 2, 3 and 4 are driven by servo motors (not shown), respectively, so that the X-axis table 2 and the Y-axis table 3 operate to position the Z-axis table 4 at an arbitrary plane position. It is configured. The Z-axis table 4 is configured to position the slide portion (not shown) in the vertical position with the robot tip as a result of its operation, and the slide portion is coated by a coating servo motor 5a. A coating device 5 having a pump (not shown) is attached. The coating device 5 is configured to discharge the coating agent from the coating nozzle 5b in accordance with the rotation speed of the coating servo motor 5a, and the rotation pulse of the encoder 5c attached to the coating servo motor 5a is generated. It is sent to the application pulse processing unit 6j described later, and the instantaneous discharge amount is controlled to an instantaneous discharge amount pattern described later.

  Reference numeral 6 denotes a control device for the coating robot 1. The control device 6 includes a control unit 6 a that sends a command signal to a servo motor driving unit 6 g described later, a control program that controls the positioning of the tables 2, 3, and 4, speed parameters, and the like. As shown in FIG. 2, the storage unit 6b for storing the speed pattern of each servo motor having constant speed and deceleration maintained at the maximum speed and the position information to be described later, as shown in FIG. An operation unit 6c for sending various command signals to the control unit 6a, a teaching pendant 6d for sending position information to the storage unit 6b, a display unit 6e for displaying various information, and the control unit 6a are connected via an input / output unit 6f. The servo motor driving unit 6g and the pulse processing unit 6h are configured. The servo motor driving unit 6g and the pulse processing unit 6h are provided for each table, and the servo motors of the tables 2, 3, and 4 are configured to be driven by the same control program.

  The operation unit 6c is configured to send a mode command signal such as an operation mode and a setting mode to the control unit 6a. In the operation mode, the operation start signal is sent to the control unit 6a, and in the setting mode, various information is stored in the storage unit 6b. Is configured to be able to send. Further, the teaching pendant 6d is configured so that a setting mode command signal can be selected. Position information, control parameters, a discharge amount control parameter, which will be described later, and the height position of the coating device 5 are stored in the teaching pendant 6d in the setting mode. The offset amount can be sent to the storage unit 6b. The offset amount of the height position of the coating device 5 is set when the speed parameter for determining the maximum speed of the robot tip or the discharge amount control parameter is changed, and the offset amount is set and applied on a sample work (not shown). And an appropriate value is set from the application state at that time, and the distance between the tip of the application device 5 and the upper surface of the applied coating agent is always constant.

  The storage unit 6b stores a discharge amount control parameter for determining the maximum instantaneous discharge amount of the coating device 5 and various control parameters for driving the coating servo motor 5a. In addition, the storage unit 6b has a coating start point, a coating end point, a passing point, a height position of the coating device 5 at the coating start point for each channel corresponding to a coating position on a desired workpiece (not shown), and its position. The offset amount is stored as position information. This position information includes the presence / absence of a work cycle completion command signal, so that the final location of the application work performed in the order of the channel number can be confirmed.

  The control unit 6a is connected to a coating servo motor driving unit 6i and a coating pulse processing unit 6j through an input / output unit 6f, and the coating device 5 is also driven by the same control program as the tables 2, 3, and 4. It is configured to be. Moreover, the application servo motor driven by the application servo motor drive unit 6i is driven by the command signal of the table having the longer moving distance to the application end point, so that the instantaneous discharge amount pattern shown in FIG. 2 is obtained. It is configured.

When the control unit 6a receives a work start signal from the operation unit 6c, the controller 6a reads 1) a channel number as shown in FIG. 3 and calls an application start point in position information corresponding to the channel number.
2) A command signal is sent to each servo motor drive unit to drive the servo motors of the X-axis table and Y-axis table at a maximum speed determined by a preset speed parameter and in a predetermined speed pattern, and a pulse processing unit In response to the pulse from, the coating device is positioned at the coating start point while controlling the speed.
3) Call the height position of the coating apparatus and the offset amount from the storage unit, and correct the height position of the coating apparatus.
4) A drive command signal is sent to the servo motor drive unit to drive the Z-axis table servo motor at a predetermined speed pattern having a maximum speed determined by a preset speed parameter, and a pulse from the pulse processing unit is received. Then, the tip of the coating nozzle of the coating device is positioned at the corrected height position while controlling the speed.
5) Call the passing point and application end point from the storage unit.
6) A discharge amount control parameter for determining the maximum instantaneous discharge amount of the coating apparatus is called from the storage unit.
7) Send a command acceptance signal to the application servo motor drive.
8) Sending a command signal to each servo motor drive so that the X-axis table and Y-axis table servo motors are driven with a speed pattern having a maximum speed determined by a preset speed parameter, and applying the coating device at the tip of the robot. Position the nozzle at the application end point via the passing point.
9) Multiply the command signal by the discharge amount control parameter to calculate a new command signal, send it to the application servo motor drive unit, receive a pulse from the application pulse processing unit, and calculate the instantaneous discharge amount to a predetermined instantaneous discharge Control to be a quantity pattern.
10) A home position return command signal is sent to the servo motor drive section of the Z-axis table and the command acceptance signal is reset. (Increment the address where the channel number is stored).
11) Determine the presence / absence of a work cycle completion signal, and if not, return to 1).
12) Send an origin return command signal to each servo motor drive of the X-axis table and Y-axis table.
13) Wait for the origin return confirmation signal.
14) End.
It is comprised so that.

  In the coating robot, the setting mode is selected by the operation unit 6c before the start of the coating operation, and the discharge amount control for determining various control parameters and the maximum instantaneous discharge amount for driving the painting robot 1 from the operation unit 6c or the teaching pendant 6d. The parameter is stored in the storage unit 6b. Subsequently, an application operation start point, an application operation end point, and a passage point for determining a route are stored in the storage unit 6b as position information for each channel number corresponding to the application location of the workpiece. At this time, if the speed parameter or control parameter that determines the speed at a constant speed may be changed, the height of the upper surface of the coating agent changes, so the offset amount of the height position of the coating device is changed, and the sample workpiece is changed. The application of the coating agent is repeated above, and an offset amount that determines that the distance between the tip of the coating nozzle 5b and the coating surface from the coating state is a predetermined distance is set. Further, when the application location is the final location, a work cycle completion signal is stored in the position information.

  Thereafter, when a work start signal is sent from the operation unit 6c in the operation mode, the channel number stored as the position information is called. Further, the application start point stored corresponding to this channel number is called, and the servo motors of the X-axis table 2 and the Y-axis table 3 are driven in a predetermined speed pattern and attached to the Z-axis table 4. The coating device 5 is positioned at the coating start point. At the same time, the height position of the coating device 5 at the coating start point and the offset amount thereof are called up, and the height position of the coating device 5 is corrected. Subsequently, the servo motor of the Z-axis table 4 is driven at a predetermined maximum speed and with a predetermined speed pattern, and the tip of the coating nozzle 5b of the coating device 5 is positioned at the corrected height position. At this time, the interval between the coating nozzle 5b and the coating agent applied to the coating surface is maintained at a predetermined interval.

  When the coating device 5 at the tip of the robot is positioned at the coating start point, the coating end point and the passing point are called and the servo motors of the X-axis table 2 and the Y-axis table 3 are driven with a predetermined speed pattern. A command signal is sent to each servo motor drive 6g. At the same time, receiving a pulse from each pulse processing unit 6h, the coating device 5 moves on the path determined by the passing point while being controlled in speed, and reaches the coating end point.

  On the other hand, a command signal is sent to each servo motor drive unit 6g of the X-axis table 2 and the Y-axis table 3, and a command acceptance signal is sent to the application servo motor drive unit 6i. Therefore, the command signal sent to each servo motor drive unit 6g of the X-axis table 2 and the Y-axis table 3 is also sent to the application servo motor drive unit 6i in the same manner, but this command signal is multiplied by the discharge amount control parameter. Thus, a new command signal is calculated. This new command signal is sent to the application servo motor drive section 6i, and the application servo motor 5a is driven. At this time, since the application servo motor 5a rotates in accordance with the moving speed of the application device 5 attached to the tip of the robot, the instantaneous discharge amount of the application device 5 also changes and the application agent is discharged from the application device 5. The Therefore, the instantaneous discharge amount of the coating device 5 changes according to the speed pattern from the coating start point to the coating end point, and the thickness of the coating surface of the coating agent is kept uniform. Moreover, the distance between the tip of the coating nozzle 5b and the top surface of the coating agent is maintained at a predetermined interval regardless of the moving speed of the coating robot 1 and the maximum instantaneous discharge amount of the coating device 5, so that the coating state of the coating agent is always maintained. Can be cleaned.

When the application work from the application start point to the application end point is completed (command acceptance signal is reset), an origin return command signal is sent to the servo motor drive unit 6g of the Z-axis table 4. Thereafter, it is determined whether or not a work cycle completion signal is stored in the position information of the application start point. When this is not stored, a new channel number, an application start point corresponding to this channel number is called, The work is repeated. When a work cycle completion signal is stored in the position information, an origin return command signal is sent to each servo motor drive unit 6g of the X-axis table 2 and the Y-axis table 3 and waits for these origin return confirmation signals. All work can be completed.

It is explanatory drawing of the application | coating robot of this invention. It is a speed pattern-instantaneous discharge amount pattern figure of the servomotor and coating device which concern on this invention. It is a flowchart explaining operation | movement of the control part which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Application | coating robot 2 X-axis table 3 Y-axis table 4 Z-axis table 5 Application | coating apparatus 5a Servo motor for application | coating 5b Application | coating nozzle 5c Encoder 6 Control apparatus 6a Control part 6b Memory | storage part 6c Operation part 6d Teaching pendant 6e Display part 6f Input / output part 6g Servo motor drive unit 6h Pulse processing unit 6i Servo motor drive unit for coating 6j Pulse processing unit for coating

Claims (2)

A coating device that is driven by a motor to control the instantaneous discharge amount of the coating agent is attached to the tip of the robot, while a storage unit that stores a speed pattern of the moving speed from the coating start point to the coating end point is provided. In the coating robot configured to control the instantaneous discharge amount of the coating agent along the speed pattern of and uniform the coating amount on the coating surface,
While providing a storage unit for storing the height position of the coating device and the offset amount for each coating start point,
A coating unit comprising a controller for positioning the coating device by correcting the height position of the coating device at the coating start point based on the offset amount of the height position of the coating device when the coating start point is called robot. A setting unit is provided to set the offset amount of the height position of the coating device in accordance with the change in the speed at the constant speed of the robot tip or the maximum instantaneous discharge amount of the coating device. The coating robot according to claim 1, wherein the coating robot is configured to maintain a predetermined distance from the upper surface of the coating agent to be applied.

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