JP2007000691A - Method and device for controlling electrostatic coating spraying by coating robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electrostatic coating spraying control method and a control device therefor where, regarding automatic coating in a coating robot, the facilitation and normalization of teaching to form into the bases of coating quality and productivity are made possible, working efficiency can be increased, and further, per coating part in the same object to be coated, easy coping with subtle trial control changes, recoating control changes or the like is made possible. <P>SOLUTION: In a robot control device 10, a plurality of spraying conditions to coating conditions are held so as to be freely selectable per coating step taught for a coating robot, and, based on any of the plurality of spraying conditions, the spraying conditions in a coater 21 are controlled together with the operation control per coating step of the coating robot. Further, the setting of the spraying conditions per coating step can be selected from previously memorized spraying conditional values and standard models. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an electrostatic paint spray control method and an electrostatic paint spray control apparatus that perform paint spray control of an electrostatic paint coater mounted on a paint robot.

  In painting with a painting machine installed in the painting robot and repeated painting by the operation taught in advance, ON / OFF of the spray is controlled at the same time as the trajectory of the operation, and the necessary painting is performed. It is known that the operation is performed while controlling the adjustment of the pattern width in order to efficiently perform the painting by matching the width of the spray area.

  On the other hand, electrostatic coating is often employed especially in automatic coating because of the effectiveness of resources, environment, and coating cost by improving the coating efficiency, and in this case, coating is performed by mounting an electrostatic gun. This electrostatic coating has the effect of spreading paint on the coating surface that does not face the spray gun, for example, the back surface. It helps the coating even with a relatively simple movement of the spray gun, and improves the overall coating efficiency. The advantage that it can be raised is already known. On the other hand, the electrostatic effect is likely to adhere to the convex portion where the electric field concentrates depending on the shape of the object to be coated, and it is a problem that the coating thickness is partially uneven.

  In general, the electrostatic coating apparatus incorporates charge control or the like from the consideration of the use of a high voltage and the safety associated therewith, and is provided as a control apparatus for a coating machine. In particular, in the case of a rotary electrostatic coating machine, since a higher voltage is used and control of the rotation speed, shaping air, etc. is required as spray control, the coating machine is controlled by a control signal sent from a control device for electrostatic coating. The operation of is controlled. Therefore, the painting robot is configured to control the spray discharge, spraying air, and pattern adjustment air in the same way as a normal spray gun. It is fixed by the output from the painting controller.

  In this way, when the load voltage, the number of bell rotations, and the shaping air pressure are fixed, the coating thickness unevenness of the coating on the uneven surface of the object having a complicated shape, etc., in recent years may occur. Occasionally, proper painting may be difficult. In particular, in the recessed portion or the like, the penetration of the paint may worsen, resulting in poor coating. In addition, due to the demand for higher design of the coating surface, if it is necessary to make subtle color change adjustments or painting adjustment changes for each application site on the same object, it is difficult to respond to the adjustment changes. It may become.

As a method for setting a coating condition for each coating portion of an object to be coated, in Patent Document 1, a combination discharge pressure for discharging a paint, an atomizing pressure for making a paint into a mist, and a pattern for determining an injection range The paint pattern of pressure is stored in the RAM in advance, one of the paint patterns is selected and adjusted for each track data, and the CPU outputs the voltage value output to the electropneumatic regulator for generating the discharge pressure etc. A painting robot is proposed in which the voltage value calculated together with the trajectory data is registered as painting condition data, and the painting process is reproduced based on the stored trajectory data and painting condition data.
Japanese Patent Laid-Open No. 08-117653

  By the way, in what was shown by patent document 1, the fine adjustment for reproducing | regenerating a coating condition is eliminated by reproducing | regenerating a coating process based on track data and coating condition data, and for every coating location of a to-be-coated object. Although the coating conditions can be set, the coating conditions required for the coating process are the pattern pressures for determining the discharge pressure, the atomization pressure, and the injection range.

  As described above, when the coating conditions are the discharge pressure, the atomization pressure, and the pattern pressure for determining the injection range, as described above, various finishes for the object to be painted or the painted surface are complicated. It is difficult to appropriately respond to situations where sex is required. In particular, in electrostatic coating, coating thickness nonuniformity may occur due to the electrostatic effect on uneven portions, and it is necessary to adopt a coating method specific to electrostatic coating. For example, in the coating of the concave portion, since the penetration of the paint due to the electrostatic effect is impaired and the film thickness decreases, a method such as pre-coating (preliminary painting) and then painting the whole by electrostatic painting is adopted. Yes. On the other hand, on the convex portion, since the coating of the paint increases due to the concentration of the electric field, skilled operations such as limiting the electrostatic effect and maintaining the coating distance are required.

  Therefore, at the teaching stage of the painting robot, it is necessary to repeat the teaching operation such as checking the coating around the coating, incorporating the precoat in the painting process, or repainting the part, and the work efficiency is deteriorated / productivity. There was a problem that would decrease.

  Further, in the rotary electrostatic coating, in addition to the load voltage, the rotation speed of the atomizing head that determines the state of the spray particles that influence the finishing state is an important factor in the spraying conditions. In addition, the coating particles sprayed from the rotating atomizing head are generally configured so that the spray pattern spreads by the shaping air, and the straight force, that is, the spray particle speed is adjusted. A big influence. Conventionally, however, these adjustments are made by a control device on the coating machine side and are not changed during the painting program. For this reason, along with the complicated shape of the object to be coated, it was not possible to perform proper coating on the painted portion.

  In addition, as described above, in response to the demand for higher design of the coating surface, even if subtle color adjustment adjustment or painting adjustment change is required for each application part of the same coated object, the coating conditions are When the discharge pressure, the atomization pressure, and the pattern pressure for determining the injection range are used, there is a problem that it is difficult to cope with such adjustment changes.

  The present invention has been made in view of such a situation, and in automatic painting by a painting robot, it is possible to facilitate teaching and standardization of painting quality and productivity, and to improve work efficiency. To provide an electrostatic paint spraying control method and control device by a painting robot that can easily cope with subtle color adjustment adjustments and painting adjustment changes for each painting part of the same object to be coated With the goal.

  The electrostatic paint spraying control method of the present invention is an electrostatic paint spraying control method for performing paint spraying control of an electrostatic coating machine mounted on a painting robot, and a plurality of spraying conditions for the coating conditions of the electrostatic coating machine. Are selectively held for each painting step taught to the painting robot, and based on the selected spraying conditions, the spraying of the electrostatic coating machine is performed together with the operation control for each painting step of the painting robot. It is characterized by controlling.

  Further, any one of the plurality of spraying conditions is selected for each coating step, the selected condition value is set as a setting condition, and spraying of the electrostatic coating machine is controlled according to the setting condition. It is assumed that a control value for output is output.

  The plurality of spraying conditions include any of ON-OFF, load voltage, bell rotation speed, and shaping air pressure in a rotary atomizing electrostatic coating machine.

  Further, according to the coating shape of the object to be coated, a standard model composed of a combination of the respective condition values in the plurality of spraying conditions is held, and the standard model is selected for each coating step, and the spraying conditions of the electrostatic coating machine Shall be controlled.

  An electrostatic coating spray control device according to the present invention is a control device that performs coating spray control of an electrostatic coating machine mounted on a coating robot, wherein a plurality of standard conditions for the coating conditions of the electrostatic coating machine are set as the coating condition. Condition holding means for selectively holding each painting step taught to the robot, and spraying conditions of the electrostatic coating machine together with operation control for each painting step of the painting robot based on any of the plurality of standard conditions And means for controlling.

  According to the present invention, a plurality of spraying conditions with respect to the coating conditions are held to be selectable for each painting step taught to the painting robot, and the operation control for each painting step of the painting robot is performed based on any of the plurality of spraying conditions. At the same time, the spraying conditions of the electrostatic coating machine are controlled, so that the spraying conditions are partially changed each time according to the requirements of the shape of the object to be coated and the paint finish specifications. Can do. In particular, the present invention can be applied when the object to be coated has a complicated shape requiring partial entry.

  Moreover, since the setting of the conditions for these can be selected from pre-stored spraying condition values and standard models, the painting robot can be taught easily and in a short time. Therefore, the work efficiency of the paint preparation work can be improved, and it is possible to easily cope with a subtle color change adjustment or a paint adjustment change for each painting portion of the same object to be coated.

  In the present embodiment, the condition holding means holds a plurality of spraying conditions for the coating conditions so that the conditions can be selected for each painting step taught to the coating robot, and a plurality of spraying conditions held by the control means on the condition holding means. Based on one of the conditions, the spraying condition of the electrostatic coating machine is controlled along with the operation control for each painting step of the painting robot. These control means are included in the control device incorporated in the control panel of the painting robot, so that it becomes easy to control each painting step in conjunction with the operation control of the painting robot.

  In this case, the spraying condition of the electrostatic coating machine is controlled based on one of a plurality of spraying conditions corresponding to the coating step of the coating robot for the uneven part even if the object to be coated has a complicated shape or the like. Thus, the film thickness of the coating becomes uniform due to the electrostatic effect.

  In particular, in the concave portion and the like, the paint coverage may deteriorate, but as described above, the coating thickness can be made uniform. Re-painting is not required, improving work efficiency.

  In addition, due to the demand for higher design of the coating surface, there are multiple spraying conditions for coating conditions even if subtle color adjustment adjustment or painting adjustment change is required for each application part of the same coated object. Since each of the painting steps taught to the painting robot is held so as to be selectable, it becomes easy to cope with these adjustment changes.

Examples of the present invention will be described below.
FIG. 1 is a diagram for explaining an embodiment of the electrostatic coating spray control apparatus of the present invention, FIG. 2 is a diagram for explaining details of the coating machine control means and condition holding means of FIG. 1, and FIG. These are the flowcharts for demonstrating the electrostatic coating spray control method by the electrostatic coating spray control apparatus of FIG.

  As shown in FIGS. 1 and 2, the robot control apparatus 10 that is an electrostatic coating spray control apparatus includes an input means 11, a storage means 12, a control means 13, and an output means 16, and the control means 13 is used to drive the robot. Robot control means 14 for controlling spraying of the paint machine and paint machine control means 15 are provided.

  The painting robot body 20 operates a driving device based on an output signal from the robot control means 14 and operates an operation arm on which a painting machine (electrostatic gun) 21 is mounted. The spraying machine 21 is also controlled for spraying conditions by a control device that controls spraying conditions based on an output control signal from the coating machine control means 15 to the coating machine 21 or by means provided directly in the coating machine 21.

  Each control means controls spraying of the painting machine 21 in cooperation with the painting robot based on the information taught by the condition input. In addition, the output means 16 includes a function of outputting a control signal for controlling the transfer equipment and the auxiliary equipment in order to maintain the relative position between the coating machine 21 and the object to be coated.

  In the condition holding means 17, several spraying control conditions for the coating conditions are held so as to be selectable. Here, the coating machine 21 in the present embodiment shows a case where an electrostatic coating machine by rotary atomization is used, and the control conditions are ON-OFF, load voltage, atomization head in the coating machine 21. It includes either rotation speed or shaping air pressure. These control conditions differ depending on the type of the coating machine 21 and are selected or controlled as necessary, and may be limited to a part.

  In addition, the condition holding means 17 is selected and set in a timely manner based on various coating specifications. Based on past coating experience and test execution coating, etc., there are several combinations of the coating machine 21 and various coating conditions. These conditions are stored as standard conditions suitable for the main paint specifications.

  By the way, the load voltage when using the coating machine 21 in this embodiment is, for example, 80 kV, the atomizing head rotation speed is 30,000 rotations per minute, and the shaping air pressure is 200 kPa as a standard, depending on the difference in conditions Other condition values can be selected.

  The standard model holding means 18 holds a standard model (pattern) corresponding to the coating shape of the object to be coated. The storage unit 12 stores setting conditions for each painting step in association with each painting step. Here, the setting condition for each coating step is selected from a plurality of spraying conditions held in the condition holding means 17.

  The setting condition can be set and input separately from the plurality of spraying conditions held in the condition holding means 17. The setting input in this case may be performed by the input unit 11 in accordance with, for example, a touch operation on the screen of a monitor having a touch panel, or may be performed in accordance with an operation of a dedicated input key. Good.

  The painting machine control means 15 controls the spraying of the painting machine 21 in cooperation with the operation control for each painting step of the painting robot based on any of the plurality of spraying conditions held in the condition holding means 17. Yes, it includes selection means 15a and spray control means 15b.

  The selecting means 15a applies conditions such as ON-OFF, load voltage, atomizing head rotation speed, and shaping air pressure in the coating machine 21, which are a plurality of standard conditions held in the condition holding means 17, to the painting robot. This is selected for each step, and the selected condition is set as a setting condition, and stored in the storage unit 12 in correspondence with each painting step. The selection from the plurality of spraying conditions by the selection means 15a may be selected manually or automatically for each painting step of the painting robot, for example, a touch operation on the screen of a monitor having a touch panel, or It may be performed in accordance with an operation of a dedicated input key.

  When automatically selected, the painting step of the painting robot can be obtained from the standard model corresponding to the painting shape of the object to be painted held in the standard model holding means 18. In the standard model, for example, in the shape of the object to be coated, when the painted surface is concave and the ingress of paint is reduced, the charging is stopped and the electrostatic effect is eliminated, and the spray particles move straight by shaping air. A combination of conditions for entering the recess by force is set in advance and held.

  Similarly, as the speed of the atomizing head generally increases, the spray particles become finer as the speed increases, and a smooth coating surface with fine particles can be obtained. However, as the particles become finer, the inertial force of the paint particles becomes weaker. It is easily affected by static electricity and entry into the recess is reduced. These spraying conditions vary in combination with each individual setting condition, and it is necessary to accumulate experience and implementation tests.

  Based on such past experience, the standard model of this embodiment presets optimum conditions, attaches a label, and holds it in the storage means 12 in a selectable manner. Therefore, for an object to be coated having similar conditions, the appropriate conditions can be easily taught by selecting from among them.

  In addition to entering the conditions directly, these conditions can be entered by selecting the standard model or entering the relevant conditions such as the shape of the object to be painted, the finish state of the painted surface, and the paint classification. Standard conditions can be configured to be automatically selected. The pattern for each painting step can be changed by, for example, a touch operation on a monitor screen having a touch panel or an operation of a dedicated input key.

  The spray control means 15b obtains a condition value for controlling the spray condition of the coating machine 21 by automatic calculation for each painting step of the painting robot based on the setting condition stored in the storage means 12, and sets the condition value to that condition value. The spraying condition of the coating machine 21 is controlled by outputting the corresponding spraying condition control signal. The determination of the painting step of the painting robot by the spray control means 15b can be made based on the standard model for each painting step corresponding to the painting shape of the object to be painted held in the standard model holding means 18, for example.

  The spray condition control signal is sent to the same control board (not shown) for controlling the solenoid valve switching contacts (spray, rotation speed), electropneumatic valve analog voltage (rotation speed, shaping), analog voltage (electrostatic voltage), etc. Is output via

  In the figure, reference numeral 22 denotes an electropneumatic valve that adjusts the air pressure based on an output signal from the coating machine control means 15, and reference numeral 23 denotes a flow rate control device that controls the flow rate of the paint.

Next, the electrostatic coating spray control method will be described.
First, as shown in the flowchart of FIG. 3, when starting the setting of spraying conditions, the operating conditions of the painting robot are input to the robot controller 10 (step S1). The input operating conditions are conditions for driving the arm of the painting robot equipped with the painting machine 21 via the driving device of the painting robot and operating the painting machine 21 on the object to be coated. The gun angle, stroke, and spray distance are determined.

  These input data are inputted as teaching data of the painting robot, and are usually inputted and stored for each point of the painting locus for the object to be painted. The painting step between each point is maintained under the same conditions unless there is a need to change, and when a change needs to be made, the corresponding conditions are changed and stored sequentially.

  In this embodiment, in addition to these robot operating conditions, the spraying operation conditions (spraying conditions) of the coating machine include high voltage charge control in electrostatic coating, and the spraying conditions as a rotary atomizing electrostatic coating machine. The rotational speed or the pressure control of the shaping air having a great influence is input as a control value for each painting step incorporated in the robot controller 10 (step S2), and the proper painting work is performed in cooperation with the operation of the painting robot. Will be done.

  The control of the coating machine 21 selects and stores necessary conditions from the condition values incorporated and held in the storage means 12. Input of conditions may be individual conditions, for example, selection of high voltage charge ON-OFF, shaping air pressure setting, etc., or selection of standard coating conditions held as a standard model separately Good.

  The operator can confirm the shape of the object to be coated, and if the coating position is a recess, the worker can cut off the high voltage charge and paint the part without charging. In the case of rotating electrostatic coating, it is possible to control the shaping air pressure at the same time to increase the linear force of the spray particles and to apply the paint to the recessed portion.

  In this way, the coating conditions can be set in a wider range than before, and by being incorporated in the robot controller 10, partial spraying conditions can be easily changed for each coating step, and complex shapes It can respond to diversification of quality, such as spraying conditions for objects to be painted and special finish paint, special beautiful paint finish, etc.

  In addition, if you select from standard models that memorize some combinations of standard painting conditions according to the shape of the object or the painting specifications in advance, there will be no variation by the operator and you will have skilled skills. Without this, it is possible to easily select an appropriate spray coating condition and easily create a teaching program in a short time.

  Then, according to the inputted condition data, the spraying condition of the coating machine 21 is controlled in cooperation with the operation of the painting robot stored for each painting step, and appropriate painting is possible. That is, the spraying condition of the coating machine 21 is necessary for the coating machine 21 through the pressure of the electropneumatic valve 22 for controlling the air pressure or the flow rate control device 23 based on the output signal from the coating machine control means 15. Control conditions such as supplying simple air or supplying a charged high voltage to the electrostatic gun.

  Sequentially, the operation and spraying conditions for each painting step are inputted and stored (step S3), and the necessary painting for the object to be coated is completed, and one painting program is completed (step S4). The program memorized by teaching is repeatedly painted under the same coating conditions by reproduction. In this embodiment, since it is possible to set painting conditions important for electrostatic painting at each painting step, if it is necessary to change some setting conditions within one painting program, the operation of the corresponding painting robot If the coating conditions are partially changed in steps, partial correction can be easily performed.

  When painting is started (step S5), when the storage unit 12 stores setting conditions corresponding to the painting step of the painting robot, the spraying control unit 15b changes the storage unit 12 to the painting step of the painting robot. The corresponding setting condition is read (step S6), and a control value for controlling the spraying condition of the coating machine 21 corresponding to the setting condition is obtained by automatic calculation. Furthermore, the spraying condition control signal according to the control value is output from the output means 16, whereby the spraying condition of the coating machine 21 is controlled (step S7). Thereafter, similarly, setting conditions corresponding to each painting step are read out, and the spraying conditions of the coating machine 21 are controlled until the painting is completed (step S8).

  In addition, the reading of the setting conditions according to the painting step of the painting robot by the spray control means 15b is similar to the above, and the standard model (pattern) for each painting step according to the painting shape of the object to be painted in the standard model holding means 18 is read. Can be determined based on the original. Further, for example, when the setting is changed according to a touch operation on the screen of a monitor having a touch panel or an operation of a dedicated input key, the determination may be made on the basis of the changed coating step.

  Thus, in this embodiment, the robot control device 10 holds a plurality of spraying conditions for the painting conditions so as to be selectable for each painting step taught to the painting robot, and based on any of the plurality of spraying conditions, Since the spraying conditions of the painting machine 21 are controlled along with the operation control for each painting step of the painting robot, the spraying conditions are partially changed each time according to the requirements of the shape of the object to be painted and the paint finish specifications. Can be applied properly. In particular, the present invention can be applied when the object to be coated has a complicated shape requiring partial entry.

  Also, since the setting of conditions for these can be selected from pre-stored spraying condition values and standard models, the teaching work of the painting robot can be done easily and in a short time, and the efficiency of the painting preparation work can be improved. In addition, it is possible to easily cope with subtle color adjustment adjustments and painting adjustment changes for each coating site on the same object to be coated.

  Expansion of the field of electrostatic painting by painting robots can be expected. In addition, it can be used in a wide range of places such as workplaces where there are no skilled workers, small businesses, and the like.

It is a figure for demonstrating one Example of the electrostatic coating spray control apparatus of this invention. It is a figure for demonstrating the detail of the coating machine control means and condition holding means of FIG. It is a flowchart for demonstrating the electrostatic coating spray control method by the electrostatic coating spray control apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Robot (RB) control apparatus 11 Input means 12 Storage means 13 Control means 14 Robot (RB) control means 15 Coating machine control means 15a Selection means 15b Spray control means 16 Output means 17 Condition holding means 18 Standard model holding means 20 Coating robot Main body 21 Coating machine 22 Electropneumatic valve 23 Flow control device

Claims (5)

An electrostatic paint spraying control method for controlling paint spraying of an electrostatic coating machine mounted on a painting robot,
A plurality of spraying conditions with respect to the coating conditions of the electrostatic coating machine are held so as to be selectable for each coating step taught to the coating robot, and the coating of the coating robot is performed based on the selected spraying conditions. The electrostatic coating spray control method characterized by controlling spraying of the electrostatic coating machine together with operation control for each step. Select any one of the plurality of spraying conditions for each painting step,
2. The electrostatic paint spray control method according to claim 1, wherein the selected condition value is set as a set condition, and a control value for controlling spraying of the electrostatic coating machine according to the set condition is output. .   The plurality of spraying conditions include any of ON-OFF, load voltage, bell rotation speed, and shaping air pressure in a rotary atomizing electrostatic coating machine. Electrostatic coating spray control method. According to the coating shape of the object to be coated, a standard model consisting of a combination of each condition value in the plurality of spraying conditions is maintained, and the standard model is selected for each coating step to control the spraying conditions of the electrostatic coating machine. The electrostatic coating spray control method according to any one of claims 1 to 3, wherein: An electrostatic paint spray control device that performs paint spray control of an electrostatic coating machine mounted on a painting robot,
Condition holding means for holding a plurality of standard conditions for the coating conditions of the electrostatic coating machine so as to be selectable for each painting step taught to the coating robot;
An electrostatic coating spray control device, comprising: an operation control for each coating step of the coating robot based on any one of the plurality of standard conditions, and means for controlling spraying conditions of the electrostatic coating machine.

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