JP2007260531A - Coating discharge control system in robot coating - Google Patents

Coating discharge control system in robot coating Download PDF

Info

Publication number
JP2007260531A
JP2007260531A JP2006087382A JP2006087382A JP2007260531A JP 2007260531 A JP2007260531 A JP 2007260531A JP 2006087382 A JP2006087382 A JP 2006087382A JP 2006087382 A JP2006087382 A JP 2006087382A JP 2007260531 A JP2007260531 A JP 2007260531A
Authority
JP
Japan
Prior art keywords
coating
paint
spray gun
painting
gear pump
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2006087382A
Other languages
Japanese (ja)
Inventor
Osamu Iwamoto
修 岩本
Toru Kuwata
透 桑田
Yasunobu Ichihara
康信 市原
Tomonori Ishikawa
智紀 石川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anest Iwata Corp
Mitsubishi Heavy Industries Ltd
Original Assignee
Anest Iwata Corp
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anest Iwata Corp, Mitsubishi Heavy Industries Ltd filed Critical Anest Iwata Corp
Priority to JP2006087382A priority Critical patent/JP2007260531A/en
Publication of JP2007260531A publication Critical patent/JP2007260531A/en
Pending legal-status Critical Current

Links

Images

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that effective utilization of a coating and highly precise coating are not satisfactory due to low adaptability of the coating discharge rate in adjustment of atomization corresponding to coating sites of a workpiece although a robot coating is highly versatile. <P>SOLUTION: In the coating robot provided with a manipulator with a spray gun mounted on operated based on given data and a controller controlling the operation of the manipulator, the mounted spray gun and the like, a coating supplying device operated and controlled by the controller is constituted of a pressure sensor and a gear pump driven by a servomotor of which the number of revolution is controlled by the output signal from the controller, is explosion-proof, and is installed in the vicinity of the manipulator arranged at the coating place to make the length of a coating hose connected to the spray gun shortest. The gear pump is controlled linked with the given data and operated in synchronism with a spray signal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、塗装ロボットによる塗装仕上げに関わる吐出量の設定を被塗装物の塗装部位によって適応させ、塗料の有効使用と塗装仕上げの精度向上を可能にする塗料制御システムに関する。 The present invention relates to a paint control system that enables the setting of a discharge amount related to painting finish by a painting robot to be applied according to a painting part of an object to be painted, and enables effective use of the paint and improvement of the accuracy of the painting finish.

ロボット塗装においては、予め被塗装物に対する塗装軌跡を教示し、これを繰り返し再生作動させることによって自動的に安定した塗装が行なわれる。現在では高精度の動作制御が可能であり、教示により適正なデータをプログラムすることで品質の高い塗装が自動的に得られることから多種多様な被塗装物へ利用が高まっている。 In robot painting, a coating locus for an object to be coated is taught in advance, and a stable painting is automatically performed by repeatedly regenerating it. At present, high-precision operation control is possible, and high-quality coating can be automatically obtained by programming appropriate data according to teachings, so that it is increasingly used for a wide variety of objects to be coated.

通常スプレー塗装では被塗装物に応じてスプレーパターンの調整が行われ、被塗装物の塗装部位に対して有効適切な塗装、すなわち最も単純な例としては広い面積には大きなパターンで塗装し、狭い範囲の塗装部分にはパターンを小さくして塗料の無駄がないように塗装されることが望ましい。 In normal spray painting, the spray pattern is adjusted according to the object to be painted, and it is effective and appropriate for the part to be painted. In the simplest case, a large area is painted with a large pattern and narrow. It is desirable that the painted portion of the range is painted so that the pattern is made small so that the paint is not wasted.

塗装ロボットにおいてもこれらの調整は、スプレーガンへのパターン調整空気の供給圧力を制御することで可能であり、塗装ロボットの教示の際に動作の軌跡と共に、スプレーガンの吹付け作動と共に前記パターン調整空気の供給と圧力調整を含めてスプレー制御を記憶させて、被塗装物の塗装条件に合った適切な塗装を行わせることがすでに行われている。 These adjustments can also be made in the painting robot by controlling the supply pressure of the pattern adjustment air to the spray gun. When teaching the painting robot, the pattern adjustment is performed together with the operation of the spray gun and the spray gun spraying operation. It has already been done to memorize spray control including air supply and pressure adjustment so as to perform appropriate coating in accordance with the coating condition of the object to be coated.

さらにパターンが小さいときは塗料吐出量もこれに応じて少なくすることが塗料の節約、有効利用となるが、スプレーガンに吐出量調整弁を設けることは困難で、一般的にはスプレーガンに供給する塗料の供給圧力を調整することによって、塗料ノズルから噴出する塗料の量が変化することから、スプレーガンは塗料弁を開閉するだけとし、塗料供給装置もしくは圧力調整弁からの供給圧力を設定して吐出量の調整を行っている。 In addition, when the pattern is small, reducing the paint discharge amount accordingly can save paint and effectively use it, but it is difficult to install a discharge amount adjustment valve on the spray gun, and it is generally supplied to the spray gun. Since the amount of paint ejected from the paint nozzle changes by adjusting the paint supply pressure to be applied, the spray gun only opens and closes the paint valve, and sets the supply pressure from the paint supply device or the pressure adjustment valve. The discharge amount is adjusted.

これまで、塗料の供給圧力を調整することで吐出量を調整する技術は、特開平11−76887等に示されているが、塗料圧力の設定による場合はスプレーガンの塗料ノズルから噴出する圧力を、塗料ホースの長さや設置状態、スプレーガンの高さ位置による圧力変化等により変動し、設定した一定の圧力で噴出させることが困難となる。 Up to now, a technique for adjusting the discharge amount by adjusting the supply pressure of paint is disclosed in Japanese Patent Application Laid-Open No. 11-76887. However, in the case of setting the paint pressure, the pressure ejected from the paint nozzle of the spray gun is adjusted. It fluctuates due to changes in pressure, etc. depending on the length and installation state of the paint hose and the height position of the spray gun, and it is difficult to eject the paint hose at a set constant pressure.

また、塗料の圧力調整を含めた供給装置からスプレーガンまでの長さは応答性に影響し、実際にスプレーガンの塗料ノズルから噴出する圧力が、調整制御した供給圧力となるまでに時間を要することから、直ちに前記スプレーパターンに応じた吐出量に変更することは非常に困難となる。 In addition, the length from the supply device to the spray gun, including the pressure adjustment of the paint, affects the responsiveness, and it takes time until the pressure actually ejected from the paint nozzle of the spray gun reaches the supply pressure controlled and controlled. Therefore, it is very difficult to immediately change the discharge amount according to the spray pattern.

このため通常は吐出量を一定にした状態で塗装を行うか、前記文献に見られるように供給制御機器もしくはポンプからスプレーガンまでの距離を短くすることによって対応せざるを得ない状態になる。しかしこれらの方法では複雑な塗料の供給路を塗装ロボットのアームに取付けなければならず、関連機器のメンテナンス負荷の増加や塗装ロボットの操作性を損なう問題が生ずることになる。 For this reason, the coating is usually performed with the discharge amount kept constant, or the distance from the supply control device or the pump to the spray gun must be reduced as seen in the above document. However, in these methods, a complicated paint supply path must be attached to the arm of the painting robot, resulting in an increase in maintenance load of related equipment and a problem that impairs the operability of the painting robot.

一方、塗料供給の定量性では安定して正確な吐出量を得られる装置としてギアポンプが知られる。このポンプの場合回転数に比例する排除容積が得られ、サーボモータの駆動回転数制御により制御が容易であるため、特に少吐出量で精密な塗装を行う場合に効果がある。 On the other hand, a gear pump is known as a device that can obtain a stable and accurate discharge amount in terms of the quantitative property of paint supply. In the case of this pump, an excluded volume proportional to the number of revolutions is obtained, and control is easy by controlling the number of revolutions of the servo motor, which is particularly effective when performing precise coating with a small discharge amount.

これらの塗料供給方法は特開2003−10742号公報にも示され吐出量の監視を図ることによって確実に吐出量を管理する技術も開示されている。反面、ギアポンプは吐出量が回転で決まるために、スプレーガン側で詰まりが生ずると供給ホース内の圧力が増大し破裂に至る問題がある。すなわち塗装面に向けて自在に動かされるスプレーガンは塗料供給装置との間を柔軟性のある塗料ホースで接続されるため、前記の耐圧的な危険性が残されることになる。また金属製のように剛性が高くないため、供給ホース内の圧力変動による蓄圧により塗料ノズルからの吐出時に変動が生ずる傾向があり、これは供給ホースが長いほど多いことになる。
特開平11−76887号公報 特開2003−10742号公報
These paint supply methods are also disclosed in Japanese Patent Application Laid-Open No. 2003-10742, which also discloses a technique for reliably managing the discharge amount by monitoring the discharge amount. On the other hand, since the discharge amount of the gear pump is determined by the rotation, when the clogging occurs on the spray gun side, the pressure in the supply hose increases, resulting in a problem of bursting. That is, since the spray gun that is freely moved toward the paint surface is connected to the paint supply device by a flexible paint hose, the pressure-resistant danger described above remains. In addition, since it is not as rigid as metal, there is a tendency for fluctuations to occur during discharge from the paint nozzle due to pressure accumulation due to pressure fluctuations in the supply hose, which increases as the supply hose becomes longer.
JP-A-11-76887 JP 2003-10742 A

ロボット塗装の汎用性は高いが、被塗装物の塗装部位に応じた噴霧調整のなかで、塗料吐出量の適応性に不十分で塗料の有効使用や精度の高い塗装に改善の余地が残されている。本発明は、多様化する被塗装物に対し、それぞれの塗装部位に応じたスプレーパターンに適した塗料の吐出量を、塗装ステップ毎に設定教示可能として、マニピュレータの動作と連動し、都度適正な塗装(吐出量)での塗装を可能とすることによってロボット塗装の利用拡大を図ることができるシステムを提供することにある。また本システムの実施にあたり、前記した従来の問題点を改善し、簡潔で安全に使用される装置として提供することにある。
The versatility of robot painting is high, but there is still room for improvement in the effective use of paint and high-precision painting due to insufficient spray adaptability in the spray adjustment according to the part to be painted. ing. The present invention is capable of setting and teaching the discharge amount of the paint suitable for the spray pattern corresponding to each painting part for each painting step for the diversified objects to be coated, in conjunction with the operation of the manipulator. An object of the present invention is to provide a system capable of expanding the use of robot painting by enabling painting with a coating (discharge amount). In implementing this system, it is intended to improve the above-mentioned conventional problems and provide a simple and safe device.

スプレーガンを搭載し教示されたデータに基づき作動されるマニピュレータと、該マニピュレータ及び前記搭載されたスプレーガン等の作動を制御する制御装置とを備えた塗装ロボットの、前記制御装置によって作動制御される塗料供給装置を、前記制御装置からの出力信号により回転数を制御されるサーボモータにより駆動されるギアポンプと圧力センサとで構成し、ギアポンプの駆動信号は前記塗装ロボットの教示データのステップ毎に記憶されたデータに連動して、スプレー信号と同期させて前記ギアポンプを作動させる。 An operation of a painting robot including a manipulator mounted with a spray gun and operated based on the taught data and a control device for controlling the operation of the manipulator and the mounted spray gun is controlled by the control device. The paint supply device is composed of a gear pump driven by a servo motor whose rotation speed is controlled by an output signal from the control device and a pressure sensor, and the gear pump drive signal is stored for each step of the teaching data of the painting robot. The gear pump is operated in synchronization with the sprayed data in synchronization with the spray signal.

圧力センサの検出値は制御装置に送られ、異常検出によりギアポンプの停止及びそれに伴う警告表示を出力させる。 The detection value of the pressure sensor is sent to the control device, and when the abnormality is detected, the gear pump is stopped and a warning display accompanying it is output.

塗料供給装置は、防爆仕様とするとともに、塗装位置に配置されたマニピュレータの近傍に設置し、前記スプレーガンと接続する塗料ホースの長さを至近距離とする。
The paint supply device has explosion-proof specifications and is installed in the vicinity of the manipulator disposed at the painting position, and the length of the paint hose connected to the spray gun is set to a short distance.

上記構成により、本発明を実施することにより塗装ロボットを使用した塗装が各塗装ステップにおいて適正な塗料吐出量で行うことができ、高精度の塗料吐出量管理のもとで高い塗着効率と精密な塗装を行うことができる。特に被塗装物の塗装部位により吐出量条件を調整して適正な吐出量での塗装を行うことが望まれる場合に、塗装のステップ毎に教え込まれたデータをもとに、その時そのときに必要とする値の吐出量で塗装することができ、しかもその精度を高い精度で行うことができるため塗料の無駄が無く、塗装コストの削減、環境改善につなげることができる。 With the above configuration, by applying the present invention, painting using a painting robot can be performed at an appropriate paint discharge amount in each painting step, and high application efficiency and precision can be achieved under high-precision paint discharge amount management. Can be painted. In particular, when it is desired to adjust the discharge rate conditions according to the part to be coated and perform coating with an appropriate discharge rate, based on the data taught at each coating step, Coating can be performed with the required amount of discharge, and the accuracy can be performed with high accuracy, so that there is no waste of paint, which can lead to reduction in coating cost and environmental improvement.

スプレーガン側が何らかの不具合によって、例えば塗料ノズルに詰まりが生じても圧力センサを設けたことによって、直ちに異常圧力を検出し、ギアポンプの作動を停止し塗料ホースの破裂などの問題を引き起こさないようにして、安全に使用することができる。 Even if the spray gun side has some trouble, for example, even if the paint nozzle is clogged, by providing a pressure sensor, immediately detect the abnormal pressure and stop the gear pump operation so as not to cause problems such as rupture of the paint hose. Can be used safely.

また塗料供給装置は防爆仕様とすることによって塗装位置での設置を可能とし、塗装ロボットに操作されるスプレーガンとの距離を近づけ、これらを接続する塗料供給ホースの長さを最小限として、調整される塗料吐出量の変化に対する実用上問題のないレベルまで応答性を高めることができる。 In addition, the paint supply device can be installed at the painting position by adopting an explosion-proof specification, and it can be adjusted by making the distance from the spray gun operated by the painting robot closer and minimizing the length of the paint supply hose connecting them. Responsivity can be improved to a level where there is no practical problem with respect to a change in the amount of paint discharged.

本発明によればギアポンプの使用によって、塗装部位に合わせた塗料吐出量によって無駄のない噴霧塗装を行ことができるようになり、塗料消費量の節減を図れるだけでなく、ギアポンプの使用によって生ずる問題を改善して安全に使用できるシステムとすることができるようになる。
According to the present invention, the use of a gear pump makes it possible to perform spray painting without waste by the amount of paint discharged in accordance with the coating site, and not only can the paint consumption be reduced, but also the problems caused by the use of the gear pump. It will be possible to improve the system and make it a system that can be used safely.

以下、本発明の実施の形態について説明する。 図1は、本発明の塗装における塗料制御システムの概要を説明するための図を示している。個々の設備とその構成については、すでに幾つかの実施事例や技術情報により明らかにされているものであり、ここでは詳細を省略している。 Embodiments of the present invention will be described below. FIG. 1 is a diagram for explaining an outline of a paint control system in painting according to the present invention. The individual equipment and its configuration have already been clarified by some implementation examples and technical information, and details are omitted here.

図1に示すように、本発明の制御システムは、記憶再生型のマニピュレータとして幾つかの自由度(作動制御可能な軸数)をもって駆動されるアーム1を持った塗装ロボット本体と、その本体を駆動制御するための制御装置2とを有するロボット塗装装置が使用される。 As shown in FIG. 1, the control system of the present invention comprises a painting robot main body having an arm 1 driven with several degrees of freedom (number of axes that can be controlled) as a memory reproduction type manipulator, A robot coating device having a control device 2 for driving control is used.

塗装は、アーム1に搭載されたスプレーガン3により、図示されていない被塗装物に対して、その塗装面に応じて移動しながら順次行われる。通常スプレーガン3の移動及び吹付け制御は、熟練した塗装技術に基づいて吹付け作動の軌跡及び作動条件として教示され、記憶されたそのときのデータが制御装置2より塗装ロボット本体、スプレーガンもしくはガンコントローラ、塗料供給装置等に出力され、教示された塗装条件と同じ状態で再生が繰り返えされる。
The painting is sequentially performed on an object (not shown) by a spray gun 3 mounted on the arm 1 while moving according to the painting surface. Normally, the movement and spray control of the spray gun 3 are taught as the trajectory and operating conditions of the spray operation based on the skilled painting technique, and the stored data at that time is sent from the control device 2 to the main body of the painting robot, spray gun or It is output to the gun controller, paint supply device, etc., and regeneration is repeated in the same state as the taught coating conditions.

ガンコントローラ4はスプレーガン3の作動条件を特定し、適正な塗装を行うために必要な作動を制御するもので、スプレーのON-OFF、吹付けパターンの制御などが行われる。一般にこのようなロボット塗装では、吹付け空気圧力の供給によってスプレーガン3が作動し、吹付けが行われる自動スプレーガンが使用されるため、ここでは必要な圧力の圧縮空気を供給もしくは停止する機器が設けられて制御される。 The gun controller 4 specifies the operating conditions of the spray gun 3 and controls the operations necessary to perform proper painting. The gun controller 4 controls spray ON-OFF, spray pattern, and the like. In general, in such robot painting, an automatic spray gun is used in which the spray gun 3 is operated by the supply of spraying air pressure and spraying is performed. Is provided and controlled.

また必要によりパターン調整空気の制御手段を別途に設けたスプレーガンに対して、このパターン調整用空気の供給圧力を任意に制御することによって噴霧パターンの大きさを変化させ、被塗装物の塗装部位によって必要なパターン幅に調整することも可能であり、その制御手段としてパターン調整圧力制御弁を備えることもある。 Also, if necessary, for the spray gun with a separate pattern adjustment air control means, the spray pattern size can be changed by arbitrarily controlling the supply pressure of this pattern adjustment air, so that the part to be coated can be applied. It is also possible to adjust the pattern width to a necessary value, and a pattern adjustment pressure control valve may be provided as the control means.

なお、塗料の吐出を制御する塗料弁は、ほとんどの場合前記スプレーの際に供給される吹付け空気圧力によって開閉が連動され、個別に制御されるものではない。 In most cases, the paint valve for controlling the discharge of the paint is interlocked by the spraying air pressure supplied at the time of spraying, and is not individually controlled.

供給装置5は、塗料容器15の塗料をスプレーガン3に供給するポンプとしてギアポンプ6が使用される。ギアポンプ6は、歯の回転により空間容積に吸い込まれた定量の塗料が送り出されるもので、歯の形状構成に限定されるものではなく、回転により一定量が吐出されるものであれば良く市販されている幾つかのギアポンプと呼ばれるものが用いられる。 The supply device 5 uses a gear pump 6 as a pump for supplying the paint in the paint container 15 to the spray gun 3. The gear pump 6 is a unit that sends out a fixed amount of paint sucked into the space volume by the rotation of the teeth, and is not limited to the shape of the teeth. Some so-called gear pumps are used.

定量供給のためこれらのギアポンプ6は、サーボモータ等の駆動モータ7によって駆動され、その回転数制御は前記塗装ロボットの制御装置2より出力された信号によって行われる。これらの回転数制御は、予め特定されたギアポンプ6の仕様に基づき、必要な吐出量に対応する回転数が記憶された制御装置2より駆動モータ7に出力されて制御される。本発明では被塗装物の塗装部位に応じてステップ毎に記憶されたデータに基づいて駆動モータ7が回転し、その塗装部位に応じた吐出量で吹付けが行われることになる。 These gear pumps 6 are driven by a drive motor 7 such as a servo motor for the fixed amount supply, and the number of revolutions is controlled by a signal output from the control device 2 of the painting robot. These rotational speed controls are output and controlled to the drive motor 7 from the control device 2 in which the rotational speed corresponding to the required discharge amount is stored based on the specification of the gear pump 6 specified in advance. In the present invention, the drive motor 7 rotates on the basis of the data stored for each step according to the coating part of the object to be coated, and spraying is performed with a discharge amount corresponding to the coating part.

回転に見合った塗料が吐出されるギアポンプ6では、出力された制御装置2からの出力により駆動モータ7が回転した分の塗料が吐出され、塗料ホース8を通してスプレーガン3に供給され、そのままの吐出量でがスプレーガン3から吐出される。しかし前述のように、スプレーガンの塗料ノズルが何らかの理由により詰まりを生じた場合、吐出側の圧力は増大し供給用の塗料ホース8が破損する危険が生ずることになる。 In the gear pump 6 that discharges the paint corresponding to the rotation, the paint corresponding to the rotation of the drive motor 7 is discharged by the output from the output control device 2 and supplied to the spray gun 3 through the paint hose 8 and discharged as it is. The amount is discharged from the spray gun 3. However, as described above, when the paint nozzle of the spray gun is clogged for some reason, the pressure on the discharge side increases and there is a risk that the supply paint hose 8 is damaged.

このため本発明ではギアポンプ6の吐出側に圧力センサ9を設け、吐出側通路に異常圧力上昇があった場合に、この圧力を検出し、制御装置2によって直ちにギアポンプ6の駆動を停止し、異常を知らせる構成を備えている。 For this reason, in the present invention, the pressure sensor 9 is provided on the discharge side of the gear pump 6, and when the abnormal pressure rises in the discharge side passage, this pressure is detected and the drive of the gear pump 6 is immediately stopped by the control device 2. It has a configuration to inform

また供給装置5は防爆仕様として、爆発性雰囲気の中での使用を可能に構成することによって塗装位置に設置されるマニピュレータの近傍に設置可能となり、スプレーガン3に塗料を供給する塗料ホース8を短くすることができる。塗料ホースは長くなるほど塗料の供給圧力によって内部に蓄圧される容積が多くなり塗料ノズルから噴出する塗料の応答性が低下する。したがって被塗装物によって、精密な塗装を要求される場合には、上記の構成にすることによって直ちに塗装部位の変化に対応して塗料吐出量を適正値に
変更することができる。
Further, the supply device 5 has an explosion-proof specification, and can be installed in the vicinity of a manipulator installed at a coating position by being configured to be used in an explosive atmosphere. A paint hose 8 for supplying paint to the spray gun 3 is provided. Can be shortened. The longer the paint hose, the larger the volume accumulated in the interior due to the paint supply pressure, and the responsiveness of the paint ejected from the paint nozzle decreases. Therefore, when precise coating is required depending on the object to be coated, the paint discharge amount can be immediately changed to an appropriate value in accordance with the change in the painted part by adopting the above configuration.

制御装置2は前述の通り、塗装ロボットの制御装置としての記憶装置と演算処理装置を含み、関連する機器の制御出力を行う。図においては本発明に直接関係する塗装ロボット本体として作動するマニピュレータ制御21と塗料の供給装置制御22が示されている。これらの制御のための入力、出力、演算結果あるいは前記異常圧力上昇時の警告等における表示23が必要に応じて設けられ、操作の容易化が図られている。 As described above, the control device 2 includes a storage device and an arithmetic processing device as control devices for the painting robot, and performs control output of related equipment. In the figure, a manipulator control 21 and a paint supply device control 22 which operate as a painting robot body directly related to the present invention are shown. A display 23 for the input, output, calculation result, warning for the abnormal pressure rise or the like for these controls is provided as necessary to facilitate the operation.

なお、塗料とギアポンプ6の中間に設けられた切替バルブ10は、塗料の変更時等に洗浄液11との経路切替えを行うために設けられ、制御装置2の指令で作動される構成になっている。またスプレーガン3への供給経路に設けられたドレンバルブ12は、同じく洗浄による廃液を回収するための切替えバルブである。
A switching valve 10 provided between the paint and the gear pump 6 is provided for switching the path with the cleaning liquid 11 when the paint is changed, and is configured to operate in response to a command from the control device 2. . A drain valve 12 provided in the supply path to the spray gun 3 is a switching valve for recovering waste liquid from the cleaning.

塗装ロボットによる塗装仕様に塗料吐出量を塗装部位ごとに調整管理できるシステムにより、これまで不向きであった、少吐出量で高価な塗料を使用する高級精密な塗装分野にも利用拡大ができ、塗装ロボットの効果である作業能率の大幅な向上、塗装コストの削減等これまで以上に広範な活用が可能となる。 With a system that can adjust and manage the paint discharge rate for each painting site according to the painting specifications by the painting robot, it can be expanded to high-precision coating fields that use expensive paint with a small discharge amount, which was unsuitable until now. The robot can be used in a wider range than ever, such as a significant improvement in work efficiency, which is the effect of robots, and a reduction in painting costs.

本発明の塗装制御システムの概要を説明するための図である。It is a figure for demonstrating the outline | summary of the coating control system of this invention.

符号の説明Explanation of symbols

1 ロボットアーム
2 制御装置
3 スプレーガン
4 ガンコントローラ
5 供給装置
6 ギアポンプ
7 駆動モータ
8 塗料ホース
9 圧力センサ
10 切替バルブ
11 洗浄液
12 ドレンバルブ
15 塗料容器
16 廃液
21 マニピュレータ制御
22 供給装置制御
23 表示


DESCRIPTION OF SYMBOLS 1 Robot arm 2 Control apparatus 3 Spray gun 4 Gun controller 5 Supply apparatus 6 Gear pump 7 Drive motor 8 Paint hose 9 Pressure sensor 10 Switching valve 11 Cleaning liquid 12 Drain valve 15 Paint container 16 Waste liquid 21 Manipulator control 22 Supply apparatus control 23 Display


Claims (3)

スプレーガンを搭載し教示されたデータに基づき作動されるマニピュレータと、該マニピュレータ及び前記搭載されたスプレーガン等の作動を制御する制御装置とを備えた塗装ロボットの、前記制御装置によって作動制御される塗料供給装置を、前記制御装置からの出力信号により回転数を制御されるサーボモータにより駆動されるギアポンプと圧力センサとで構成し、ギアポンプの駆動信号は前記塗装ロボットの教示データのステップ毎に記憶されたデータに連動して、スプレー信号と同期させて前記ギアポンプを作動させるロボット塗装における吐出塗料制御システム。 An operation of a painting robot including a manipulator mounted with a spray gun and operated based on the taught data and a control device for controlling the operation of the manipulator and the mounted spray gun is controlled by the control device. The paint supply device is composed of a gear pump driven by a servo motor whose rotation speed is controlled by an output signal from the control device and a pressure sensor, and the gear pump drive signal is stored for each step of the teaching data of the painting robot. Discharge paint control system in robot painting that operates the gear pump in synchronization with the sprayed data in synchronization with the sprayed data. 圧力センサの検出値は制御装置に送られ、異常検出によりギアポンプの停止及び/またはそれに伴う警告表示を出力させる請求項1の吐出塗料制御システム。 2. The discharged paint control system according to claim 1, wherein a detected value of the pressure sensor is sent to a control device, and a stoppage of the gear pump and / or a warning display associated therewith is output by detecting an abnormality. 塗料供給装置は、防爆仕様とするとともに、塗装位置に配置されたマニピュレータの近傍に設置し、前記スプレーガンと接続する塗料ホースの長さを至近距離とする請求項1の吐出塗料制御システム。



























The discharge paint control system according to claim 1, wherein the paint supply device has explosion-proof specifications and is installed in the vicinity of a manipulator disposed at a painting position so that the length of the paint hose connected to the spray gun is a short distance.



























JP2006087382A 2006-03-28 2006-03-28 Coating discharge control system in robot coating Pending JP2007260531A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006087382A JP2007260531A (en) 2006-03-28 2006-03-28 Coating discharge control system in robot coating

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006087382A JP2007260531A (en) 2006-03-28 2006-03-28 Coating discharge control system in robot coating

Publications (1)

Publication Number Publication Date
JP2007260531A true JP2007260531A (en) 2007-10-11

Family

ID=38634053

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006087382A Pending JP2007260531A (en) 2006-03-28 2006-03-28 Coating discharge control system in robot coating

Country Status (1)

Country Link
JP (1) JP2007260531A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107486350A (en) * 2017-07-11 2017-12-19 南京上美冠丰塑胶有限公司 A kind of spray robot servo gear pump paint feeding system
CN113058778A (en) * 2021-04-02 2021-07-02 合肥工业大学 Variable-working-interval cable-rod hybrid drive spraying robot
DE102022100401A1 (en) 2022-01-10 2023-07-13 Dürr Systems Ag Application system and associated monitoring procedure

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07136557A (en) * 1993-11-19 1995-05-30 Honda Motor Co Ltd Control method for playback type coating application robot
JPH11589A (en) * 1997-06-13 1999-01-06 Hino Motors Ltd Paint feeding control system
JPH11590A (en) * 1997-06-10 1999-01-06 Hino Motors Ltd System for feeding a little paint
JPH1176887A (en) * 1997-09-03 1999-03-23 Tokico Ltd Robot device for coating
JPH11244742A (en) * 1998-03-03 1999-09-14 Honda Motor Co Ltd Robot-built-in type two-liquid mixing coating apparatus
JPH11244744A (en) * 1998-03-03 1999-09-14 Honda Motor Co Ltd Two-liquid mixing coating apparatus
JP2001327897A (en) * 2000-03-15 2001-11-27 Taikisha Ltd Coating device
JP2003010742A (en) * 2001-06-27 2003-01-14 Kanto Auto Works Ltd Discharge quantity control apparatus and discharge quantity monitoring method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07136557A (en) * 1993-11-19 1995-05-30 Honda Motor Co Ltd Control method for playback type coating application robot
JPH11590A (en) * 1997-06-10 1999-01-06 Hino Motors Ltd System for feeding a little paint
JPH11589A (en) * 1997-06-13 1999-01-06 Hino Motors Ltd Paint feeding control system
JPH1176887A (en) * 1997-09-03 1999-03-23 Tokico Ltd Robot device for coating
JPH11244742A (en) * 1998-03-03 1999-09-14 Honda Motor Co Ltd Robot-built-in type two-liquid mixing coating apparatus
JPH11244744A (en) * 1998-03-03 1999-09-14 Honda Motor Co Ltd Two-liquid mixing coating apparatus
JP2001327897A (en) * 2000-03-15 2001-11-27 Taikisha Ltd Coating device
JP2003010742A (en) * 2001-06-27 2003-01-14 Kanto Auto Works Ltd Discharge quantity control apparatus and discharge quantity monitoring method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107486350A (en) * 2017-07-11 2017-12-19 南京上美冠丰塑胶有限公司 A kind of spray robot servo gear pump paint feeding system
CN113058778A (en) * 2021-04-02 2021-07-02 合肥工业大学 Variable-working-interval cable-rod hybrid drive spraying robot
DE102022100401A1 (en) 2022-01-10 2023-07-13 Dürr Systems Ag Application system and associated monitoring procedure
WO2023131583A1 (en) 2022-01-10 2023-07-13 Dürr Systems Ag Application system and associated monitoring method

Similar Documents

Publication Publication Date Title
US8783210B2 (en) Robot coating system
KR20100092442A (en) Application system
JP2016068223A (en) Cutting fluid jet machine
KR102436231B1 (en) Pump arrangement and corresponding operating method
US5536315A (en) Method and system for spraying material in a spray pattern having a variable form and collecting excess material
KR100690165B1 (en) Automatic painting equipment for ship&#39;s hull outside area
JP2007260531A (en) Coating discharge control system in robot coating
KR20160033972A (en) Paint spraying appratus to form a uniform film thickness
JPH10244211A (en) Method for detecting and correcting positional shift of coating pattern
JP2006081955A (en) Sealing system
JP2620882B2 (en) Sealant application method
JPH05285434A (en) Apparatus for discharging liquid
JP4766371B2 (en) Sealing agent application apparatus and sealing agent application method
JP4486222B2 (en) Viscous material applicator
JP6098380B2 (en) Cartridge type coating equipment
EP1839761B1 (en) Method and apparatus for cleaning painting equipment
JP2022546770A (en) Methods for determining clogging and clogging characteristics of paint equipment, paint equipment, calibration systems and industrial robots
JP7173188B2 (en) COATING CONTROL DEVICE, COATING CONTROL SYSTEM, SETTING DEVICE, CONTROL METHOD, AND PROGRAM FOR COATING CONTROL DEVICE
JP2006159161A (en) Coating robot
JP2007260565A (en) Quantitative application apparatus of high-viscosity material
KR20180062556A (en) Coating device for monitering the positon and displacement of discharge head and method for controling the same
WO2023153392A1 (en) Information processing device, robot system, and paint quantity prediction method
JP3114913B2 (en) Airless automatic coating equipment
JP7255617B2 (en) painting control system
JPS58207963A (en) Means for controlling ejection of highly viscous fluid

Legal Events

Date Code Title Description
A621 Written request for application examination

Effective date: 20090326

Free format text: JAPANESE INTERMEDIATE CODE: A621

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110914

A131 Notification of reasons for refusal

Effective date: 20111004

Free format text: JAPANESE INTERMEDIATE CODE: A131

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20120228