JP2006346561A - Coating equipment setting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a coating robot for controlling coating equipment to properly adjust corresponding to the change of an environmental condition. <P>SOLUTION: The coating robot setting device is provided with a table for housing a set of coating conditions in a low temperature environment, a table for housing a set of coating conditions in a normal environment and a table for housing a set of coating condition in a high temperature environment. The tables are switched corresponding to the temperature of environment. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control technique for a painting apparatus.

  There is known a coating apparatus that moves along a designated trajectory and sprays paint from a gun to coat a workpiece. The air supplied to the gun is adjusted by the electropneumatic proportional valve to adjust the coating conditions such as the amount of paint to be discharged by adjusting the opening.

  The properties of the paint vary depending on the environmental conditions. For example, the viscosity of the paint changes with temperature. In order to properly spray the paint, it is desirable to control the air supplied to the gun according to environmental conditions.

Patent Document 1 describes a coating apparatus having a coating condition automatic correction means.
JP-A-2-280865

The objective of this invention is providing the coating equipment setting apparatus which sets a coating condition appropriately according to an environment.
Another object of the present invention is to provide a painting equipment setting device for setting painting conditions by making use of expert know-how.
Still another object of the present invention is to provide a coating equipment setting device that facilitates appropriate setting according to the properties of the paint.
Still another object of the present invention is to provide a painting equipment setting device capable of appropriately setting painting conditions with a simple configuration.

  In the following, means for solving the problem will be described using the numbers used in [Best Mode for Carrying Out the Invention] in parentheses. These numbers are added to clarify the correspondence between the description of [Claims] and [Best Mode for Carrying Out the Invention]. However, these numbers should not be used to interpret the technical scope of the invention described in [Claims].

  The painting equipment setting device according to the present invention includes a database (18) for storing a plurality of tables (38, 40, 42). Each of the plurality of tables (38, 40, 42) includes a plurality of records including cells in which the set values (50, 52, 54) are recorded and specified by the coating condition ID (44). The painting equipment setting device further stores a control information storage unit (16) for storing control information for associating the operation information (32, 34) for controlling the operation of the robot (8) with the painting condition ID (36, 44). And a table selection unit (30) that collects information specifying a selection table that is one of a plurality of tables (38, 40, 42), and a search key for a painting condition ID (36) included in the control information Using the set values (50, 52, 54) extracted from the selection table, the paint condition control information for controlling the air supplied to the paint gun and paint flow control valve provided in the paint equipment is generated and controlled. And a painting condition control information generation unit (31) that transmits the information to the control device (6). The control device (6) controls the painting device (8) using the received control information and painting condition control information.

  In the painting equipment setting device according to the present invention, the set values are the discharge pressure of air supplied to the gun, that is, the discharge pressure of the paint flow control valve (50), the atomization pressure of air supplied by the gun (52), or the pattern pressure ( 54).

  The coating equipment setting device according to the present invention includes a temperature information collection unit (28) that collects temperature information indicating the temperature of the environment. A selection part (30) selects a selection table using temperature information.

  The painting system by this invention is provided with the painting equipment setting apparatus (2) by this invention, a control apparatus (6), and a painting equipment (8).

ADVANTAGE OF THE INVENTION According to this invention, the coating equipment setting apparatus which sets a coating condition appropriately according to an environment is provided.
Furthermore, according to this invention, the coating equipment setting apparatus which performs the setting of coating conditions using an expert's know-how is provided.
Furthermore, according to this invention, the coating equipment setting apparatus which makes it easy to perform an appropriate setting according to the property of a coating material is provided.
Furthermore, according to this invention, the coating equipment setting apparatus which can set a coating condition appropriately with a simple structure is provided.

  The best mode for carrying out the present invention will be described below with reference to the drawings. The present invention can be generally used for a painting apparatus that reads information stored in a storage medium and performs painting according to the information. In the present embodiment, the present invention is applied to a teaching reproduction type painting robot having an articulated arm.

  FIG. 1 shows the configuration of a painting robot setting device according to the present invention. The painting robot setting device includes a painting robot setting device 2. The painting robot setting device 2 is a computer, and includes a CPU 10, a storage device 12, an input device 20, an output device 22, and a communication device 24. The storage device 12 stores a program 14, a control table 16, and a database 18. A temperature sensor 4 is connected to the painting robot setting device 2. The temperature sensor 4 detects temperature, generates temperature information, and transmits the temperature information to the communication device 24. A robot control device 6 is connected to the painting robot setting device 2. The robot control device 6 communicates bidirectionally with the painting robot setting device 2 via the communication device 24. The robot control device 6 is connected to the robot 8 and controls the robot 8. The robot control device 6 has a function of teaching an operation to the robot 8 by direct teaching, teaching using a teaching pendant, or the like.

  FIG. 2 shows the configuration of the program 14. The program 14 includes a control information collection unit 26, a temperature information collection unit 28, a selection unit 30, and a control information generation unit 31.

  FIG. 3 shows the control table 16. The control table 16 stores teaching points 32, speeds 34, and painting conditions 36 in association with each other.

  4 to 6 show tables included in the database 18. FIG. 4 shows the configuration of the first table 38. The first table 38 stores a condition set ID 44-1 which is an identifier for identifying the first table 38 in distinction from other tables included in the database 18. The first table 38 further stores a condition set name 46-1 for enabling the operator to easily recognize the conditions when the first table 38 is used.

  The first table 38 includes a plurality of records. Each of the plurality of records is specified by a condition number 48-1 assigned a different number from the other records in the first table 38. Each record stores a discharge pressure 50-1, an atomizing pressure 52-1, and a pattern pressure 54-1. The discharge pressure 50-1 is set to control the amount of paint sprayed. The atomization pressure 52-1 is set to control the size of the sprayed paint particles. The pattern pressure 54-1 is set to control the spraying range of the paint. Each record may further store the distance between the workpiece and the gun provided in the robot 8 and the angle of the gun with respect to the workpiece.

  FIG. 5 shows the configuration of the second table 40. The second table 40 has the same configuration as the first table 38, and includes a condition set ID 44-2, a condition set name 46-2, and a plurality of records. Each of the plurality of records stores a condition number 48-2, a discharge pressure 50-2, an atomization pressure 52-2, and a pattern pressure 54-2.

  FIG. 6 shows the configuration of the third table 42. The third table 42 has the same configuration as the first table 38, and includes a condition set ID 44-3, a condition set name 46-3, and a plurality of records. Each of the plurality of records stores condition number 48-3, discharge pressure 50-3, atomization pressure 52-3, and pattern pressure 54-3.

  The operation of the painting robot setting apparatus having the above configuration will be described with reference to the flowchart of FIG. In the following description, the operation that the CPU 10 reads a program and executes according to the procedure described in the program is described as the operation of the program itself.

  Step S1: The operator creates the database 18 in the following procedure. First, the first table 38 is set. The operator sprays paint on the sample by changing the gun movement speed, discharge pressure, atomization pressure, and pattern pressure of the robot 8 at normal temperature of the working environment of the robot 8, for example, 20 ° C. wear. This is done by changing the type of paint set on the gun. The operator observes the state of the paint adhering to the sample, determines a plurality of sets of discharge pressure, atomization pressure, and pattern pressure that are candidates for setting conditions to be used for painting by the robot, and sets each of the plurality of sets. The information is registered in the first table 38 in association with the condition number 48-1 to be specified. In the condition set name 46-1, words indicating the conditions of the work environment such as “basic”, “normal time”, and “temperature of 20 ° C.” are registered.

  Next, the second table 40 is set. When the temperature of the work environment is low, for example, 10 ° C., the operator sets the gun movement speed, the discharge pressure, the atomization pressure, and the pattern pressure of the robot 8 in condition number 48-1 “1” in the first table 38. The same type of paint as when the record was set is set on the gun, and the robot 8 is set to the same moving speed, type of paint, discharge pressure 50-1, atomization pressure 52-1 and pattern pressure 54-1. Then, paint is sprayed on the sample. The operator adjusts the discharge pressure, the atomization pressure, and the pattern pressure while observing the state of the paint adhering to the sample. Then, a set of discharge pressure, atomization pressure, and pattern pressure that are candidates for setting conditions to be used for painting by the robot is determined, and the discharge pressure 50- is set to the record in which the condition number 48-2 is “1” in the second table 40. 2. Register as atomization pressure 52-2 and pattern pressure 54-2. Similarly, the condition number in the second table 40 is changed to “2” by adjusting the temperature from the condition when the record in which the condition number 48-1 is “2” or less is set in the first table 38. The following records are registered sequentially. The operator registers, in the condition set name 46-2, words representing work environment conditions such as “low temperature”, “morning / night”, and “temperature 10 ° C.”.

  Next, the third table 42 is set. When the temperature of the work environment is high, for example, 30 ° C., the operator sets the gun movement speed, discharge pressure, atomization pressure, and pattern pressure of the robot 8 in condition number 48-1 “1” in the first table 38. The same type of paint as when the record was set is set on the gun, and the robot 8 is set to the same moving speed, type of paint, discharge pressure 50-1, atomizing pressure 52-1 and pattern pressure 54-1. Then, paint is sprayed on the sample. The operator adjusts the discharge pressure, the atomization pressure, and the pattern pressure while observing the state of the paint adhering to the sample. Then, a set of discharge pressure, atomization pressure, and pattern pressure, which are candidates for setting conditions used in painting by the robot, is determined, and the discharge pressure 50 is recorded in the record in which the condition number 48-3 is “1” in the third table 42. -3, atomization pressure 52-3 and pattern pressure 54-3. Similarly, the condition number in the third table 42 is changed to “2” by adjusting the temperature from the condition when the record having the condition number 48-1 of “2” or less is set in the first table 38. The following records are registered sequentially. The operator registers in the condition set name 46-3 a word representing the conditions of the work environment such as “high temperature”, “daytime”, and “temperature 30 ° C.”.

  When environmental conditions such as temperature change, the properties of the paint change. The change depends on the paint and is not uniform. The setting of the coating condition when the environmental condition changes is appropriately performed by a person who is proficient in the painting operation actually changing the environmental condition and applying it. By setting the contents of the database 18 as described above, it is possible to set the coating conditions in accordance with the properties of the paint and making use of the know-how of the skilled worker.

  Step S2: The operator teaches the operation to the robot 8 by direct teaching, teaching using a teaching pendant, or the like. The control information collection unit 26 collects information indicating the taught operation and registers it in the control table 16. Teaching is performed as follows. The operator moves the arm of the robot 8 to an appropriate position and sets the teaching point 32. The operator further registers a speed 34 indicating the speed at which the arm moves between the teaching points. For example, in FIG. 3, the speed of moving from the teaching point “1” to the teaching point “2” is set to “1000”. The operator further sets the paint conditions 36 that are considered appropriate, taking into account the speed 34, the sample, and the type of paint. The painting condition 36 corresponds to condition numbers 48-1 to 48-3 in the database 18. For example, when the operator decides to apply the painting condition when the condition numbers 48-1 to 48-3 in the database 18 are “1”, the operator registers “1” in the painting condition 36.

  Step S <b> 3: When the operator causes the robot to perform a reproduction operation, the temperature information collection unit 28 collects temperature information from the temperature sensor 4. The selection unit 30 compares the temperature information with the reference value stored in the storage device 12, and selects and validates any one of the first table 38 to the third table 42. For example, when the temperature is 15 ° C. to 25 ° C., the first table 38 is validated. When the temperature is 15 ° C. or lower, the second table 40 is validated. When the temperature is 25 ° C. or higher, the third table 42 is enabled.

  The operator can manually set which table from the database 18 is valid by observing the state of the paint adhering to the workpiece. In that case, the operator refers to the condition set names 46-1 to 46-3 output from the output device 22, determines which table should be valid, and designates the table from the input device 20.

  Step S4: The program 12 generates an operation program for controlling the operation of the robot 8 using the control table 16 and the table set to be effective in Step S3. The generated operation program is transmitted to the robot controller 6. The robot control device 6 controls the robot 8 using the received operation program.

  The temperature information collection unit 28 collects temperature information from the temperature sensor 4 according to a predetermined schedule. Then, the temperature information is compared with the reference value used in step S3, and when the table to be validated changes in the database 18, the newly validated table is transmitted to the robot controller 6. . The robot controller 6 controls the robot 8 using the operation program and the newly received table.

  According to such a painting robot setting device, even when the temperature of the working environment changes and the characteristics of the paint change, the gun control is appropriately adjusted so that the painting is performed with stable quality. Therefore, it is possible to relax the standard of stability required for the work environment while maintaining the quality of the coating, and the air conditioning costs and the like are reduced.

  In this embodiment, three types of tables having temperatures of about 10 ° C., about 20 ° C., and about 30 ° C. are used by switching according to the temperature. It is also possible to increase the number of tables and switch the tables in increments of 5 ° C., for example. Furthermore, it is also possible to prepare a table that varies depending on the humidity as well as the temperature, and change the table based on the humidity information of the humidity sensor.

FIG. 1 shows the configuration of a painting robot setting device. FIG. 2 shows the configuration of the program. FIG. 3 shows a control table. FIG. 4 shows a first table provided in the database. FIG. 5 shows a second table provided in the database. FIG. 6 shows a third table provided in the database. FIG. 7 shows the operation of the painting robot setting device.

Explanation of symbols

2 ... painting robot setting device 14 ... program 16 ... control table 38 ... first table 40 ... second table 42 ... third table 44 ... condition set ID
46 ... Condition set name

Claims (4)

A database that stores a plurality of tables, and each of the plurality of tables includes a plurality of records that include cells in which set values are recorded and that are specified by the coating condition ID.
A control information storage unit for storing control information for associating the operation information for controlling the operation of the painting equipment with the coating condition ID;
A table selection unit that collects information specifying a selection table that is one of the plurality of tables;
Using the set value extracted from the selection table using the paint condition ID included in the control information as a search key, for controlling the air supplied to the paint gun and paint flow control valve provided in the paint equipment A painting condition control information generating unit that generates painting condition control information and transmits the painting condition control information to the control device together with the control information;
The said control apparatus is a coating apparatus setting apparatus which controls the said coating apparatus using the received said control information and the said coating condition control information. A painting equipment setting device according to claim 1,
The set value includes a discharge pressure, an atomization pressure, or a pattern pressure of air supplied to the gun. A painting equipment setting device according to claim 1 or 2,
And a temperature information collecting unit for collecting temperature information indicating the temperature of the working environment of the coating equipment,
The said table selection part specifies the said selection table using the said temperature information The coating equipment setting apparatus. A painting equipment setting device according to claim 1;
The control device;
A painting system comprising the painting equipment.

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