JP2015186800A - Cleaning robot system, cleaning control method, coating robot system, and coating control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical installation cleaning robot system and a cleaning control method for improving the surface treatment quality and efficiency of a mechanical installation, and a coating robot system and a coating control method for the mechanical installation.SOLUTION: The invention relates to a robot technique and particularly to a cleaning robot system and a coating robot system to be used in a mechanical installation. The cleaning robot system performs control to change the position of the mechanical installation to be cleaned, in a cleaning process, so that the surface, which is shielded at a single position, between two parts arranged movably in the mechanical installation may be cleaned.

Description

  The present disclosure relates to a robot, and more particularly, to a cleaning robot system, a cleaning control method, a painting robot system, and a painting control method for a mechanical device.

  Painting is a part that is often performed in the surface processing process of machine equipment products, and generally includes steps such as surface treatment, painting, and solidification treatment. In conventional painting processes, surface treatment is generally performed with a water-washing method (chemicals, liquids, etc.), coating is performed with a spraying method, and the final drying and solidification treatment is performed in a drying chamber. It can be implemented by automation or semi-automation.

  The cleaning quality and efficiency of the surface treatment is an important factor affecting the coating quality and efficiency.

  An object of the present disclosure is to provide a cleaning robot system and a cleaning control method for a mechanical device, and a painting robot system and a coating control method for the mechanical device, which improve the surface treatment quality and efficiency of the mechanical device.

  A cleaning robot system according to an aspect of the present disclosure includes a cleaning robot, a detergent spray gun attached to a tip of a wrist of the cleaning robot, and a detergent outlet connected to the detergent spray gun via a detergent transport pipe. In the process of controlling the cooperative operation of the cleaner, the cleaner and the cleaning robot, and cleaning the machine, a surface that is blocked in a single position between any two parts movably disposed on the machine A cleaning system controller that performs control to change the attitude of the mechanical device so that cleaning can be performed.

  According to the above-described embodiment, in the process of cleaning the mechanical device, the posture of the mechanical device can be cleaned so that a surface that is blocked by a single posture between any two parts movably disposed on the mechanical device can be cleaned. By controlling the change, cleanliness and cleaning efficiency can be improved.

  When controlling the attitude change of the mechanical device, for each of the two movable parts, at least one of the two parts may be controlled to move to a relative limit position. In this case, the cleaning finish and the cleaning efficiency can be further ensured.

  The detergent may be dry ice and the mechanical device may be an industrial robot. In this case, the implementation effect can be further improved by controlling the industrial robot so as to change the posture autonomously. That is, the cleaning system controller may control the mechanical device so as to change the posture of the mechanical device.

  A cleaning control method according to an aspect of the present disclosure is a cleaning control method for a mechanical device that includes cleaning the mechanical device with a detergent, and in the cleaning process, between any two parts that are movably disposed on the mechanical device. The posture of the mechanical device is changed so that the surface that is blocked by the single posture can be cleaned.

  A painting robot system according to another aspect of the present disclosure includes a painting robot, a paint spray gun attached to the tip of the wrist of the painting robot, and a paint outlet connected to the paint spray gun via a paint transport pipe. The surface that is blocked in a single position between any two parts that are movably arranged on the mechanical device in the process of painting the mechanical device, controlling the cooperative work between the painting machine and the painting machine and the painting robot A coating system controller that performs control to change the posture of the mechanical device.

  According to the above-described embodiment, in the process of coating the coating machine device, the surface of the machine device is coated so as to coat a surface that is blocked in a single posture between any two parts movably disposed on the machine device. By controlling the posture change, the painting quality and the painting efficiency can be improved.

  When controlling the attitude change of the mechanical device, at least one of the two parts may be controlled to move to the relative limit position for every two movable parts. In this case, the coating quality and the coating efficiency can be further ensured.

  The mechanical device may be an industrial robot. In this case, the implementation effect can be further improved by controlling the industrial robot so that the posture can be changed independently. That is, the coating system controller may control the mechanical device so as to change the attitude of the mechanical device.

  A painting control method according to another aspect of the present disclosure is a painting control method for a mechanical device including painting a mechanical device with a paint, and any two components that are movably disposed in the mechanical device in a painting process. In the meantime, the posture of the mechanical device is changed so that a surface that is blocked by a single posture can be painted.

  The present disclosure can effectively improve the surface treatment quality and efficiency of mechanical devices, and is particularly effective when used for the treatment of industrial robots.

1 is a plan view of a coating system according to Embodiment 1. FIG. FIG. 3 is a process flow diagram for painting a mechanical device by a painting method according to the first embodiment. 6 is a plan view of a coating system according to Embodiment 2. FIG. 6 is a structural diagram of an industrial robot system with 6 degrees of freedom according to Embodiment 3. FIG. FIG. 6 is a structural diagram of a dry ice cleaning robot system according to a third embodiment. It is a block diagram of the cleaning system control apparatus. It is another structure figure of a cleaning system control device. FIG. 6 is a structural diagram of a painting robot system according to a third embodiment. It is the structure enlarged view of the part enclosed with the dotted line in FIG. 6a. It is a structural diagram of a coating system control device. It is another structure figure of a painting system control device. FIG. 6 is a principle diagram of a paint control system according to a third embodiment. FIG. 6 is a structural diagram of a painting robot and an industrial robot according to a third embodiment. It is a hanger block diagram of the robot controller cable which concerns on Example 3. FIG. It is a hanger block diagram of the robot controller cable which concerns on Example 3. FIG. FIG. 9 is a cleaning control flowchart according to the third embodiment. FIG. 9 is a coating control flowchart according to a third embodiment.

  The embodiment of the present disclosure provides a coating method and system with higher efficiency on the premise of ensuring the coating quality of a mechanical device. Hereinafter, embodiments of the present disclosure will be described in detail by way of a plurality of examples with reference to the drawings.

<Example 1>
FIG. 1 is a plan view of a coating system 1 according to the first embodiment. The coating system 1 includes a dry ice cleaning chamber 10 and a dry ice cleaning system 11, a temperature rising chamber 20 and a heat retaining device 21, an undercoating system 31 located in the undercoating chamber 31 and the undercoating chamber 31, an overcoating chamber 32, and an overcoating chamber 32. The top coat system 321 located in the area, the drying chamber 40, the transport device 50 and the travel device 51 are provided.

  The dry ice cleaning system 11 is located in the dry ice cleaning chamber 10 and cleans the target mechanical device 60 using dry ice.

  When the mechanical device 60 to be coated is placed in the heating chamber 20, the heat retaining device 21 adjusts the temperature of the heating chamber 20 so that the surface temperature returns to the temperature range necessary for coating. The heat retaining device 21 generally includes an indoor device 211 and an outdoor device 212. The heat retaining device 21 is a heating device configured by using a heat source such as electricity, gas, steam, and the like, and includes a room heating pipe and an outdoor unit. The operating principle of the heating chamber 20 is exactly the same as that of the drying oven, and the heating chamber 20 maintains a constant room temperature by the heat retaining device 21. The mechanical device 60 naturally returns to the required temperature range in the temperature increasing chamber 20. The operation state of the heat retaining device 21 is adjusted by control, and the temperature of the temperature raising chamber 20 can be changed according to the required temperature.

  The undercoat system 311 is located in the undercoat chamber 31. By using the undercoat system 311, the undercoat paint can be applied to the machine device 60 to be applied in the undercoat chamber 31. An exhaust mechanism may be added to the undercoating chamber 31 to eliminate paint powder and odor generated during painting.

  The topcoat system 321 is located in the topcoat chamber 32. By using the top coating system 321, top coating can be applied to the machine device 60 to be coated in the top coating chamber 32. An exhaust mechanism may also be added to the top coat chamber 32 to eliminate paint powder and odor generated during painting.

  The drying chamber 40 performs a drying / solidification process on the coated mechanical device 60. The mechanical device 60 may be naturally dried in the drying chamber 40. In order to improve the drying processing efficiency, the drying chamber 40 may be provided with a heat retaining device similar to the heating chamber 20.

  The traveling device 51 is disposed on the transport device 50. The transfer device 50 is disposed so as to sequentially pass through the dry ice cleaning chamber 10, the temperature raising chamber 20, the undercoat chamber 31, the topcoat chamber 32, and the drying chamber 40. The machine device 60 to be painted is mounted on the traveling device 51. The traveling device 51 can travel on the transport device 50 in the X direction shown in the figure, and sequentially passes through the dry ice cleaning chamber 10, the heating chamber 20, the undercoating chamber 31, the overcoating chamber 32, and the drying chamber 40. Processing is performed on the mechanical device 60.

  In the coating system 1 shown in FIG. 1, the dry ice cleaning chamber 10, the temperature raising chamber 20, the undercoating chamber 31, the topcoating chamber 32, and the drying chamber 40 each have three walls and a ceiling. The temperature raising chamber 20 and the drying chamber 40 generally require a front wall (not shown) in order to maintain the room temperature. However, in the case of each of the other rooms, whether or not the front wall is installed. You may think of it according to your needs. Alternatively, a glass wall may be installed so that the work situation in each room can be observed. The chambers are connected by a transfer device 50. These can be isolated by installing a door or a screen between two adjacent rooms. The door and the shielding plate may be any size as long as they can pass through the traveling device 51 on which the mechanical device 60 is mounted without hindrance, and the opening / closing operation is performed manually or automatically controlled.

  Referring to FIG. 1 again, the transport device 50 may be configured in a ring shape. The traveling device 51 carries out the subsequent processing steps such as packaging in the partitioned work area outside the room after unloading the mechanical device 60 from the drying chamber 40, and continues to travel to return the mechanical device 60 to the cleaning chamber 10. The machine device 60 to be coated is mounted. In this way, repeated operations are performed.

  If only one layer of paint can be applied, the undercoating chamber 31 and the overcoating chamber 32 may be combined. If more coating processes are required, the coating chamber can be used according to actual process needs. You may increase the number of If a drying process is required between any two adjacent coating steps, a further drying chamber may be added between the adjacent coating chambers. Correspondence to such needs can be appropriately realized by those skilled in the art based on the contents disclosed in the first embodiment, and all belong to the protection scope of the present invention. For example, in the embodiment according to the present disclosure, the transport device 50 in FIG. 1 is not an essential item, and may be a transport device such as a vehicle that does not require the transport device 50.

  FIG. 2 is a process flow of painting the mechanical device 60 by the painting method according to the first embodiment. The machine device 60 to be coated is mounted on the traveling device 51, and sequentially passes through the dry ice cleaning chamber 10, the heating chamber 20, the undercoating chamber 31, the topcoating chamber 32, and the drying chamber 40 along the conveying device 50. In the step shown in FIG.

  In step S201, in the dry ice cleaning chamber 10, the machine device 60 to be painted is cleaned with dry ice. In step S202, in the temperature increasing chamber 20, a temperature increasing process is performed on the mechanical device 60 to be coated so that the surface temperature of the mechanical device 60 is returned to a temperature range necessary for coating. In step S203, in the undercoating chamber 31, the machine device 60 to be applied is undercoated with an undercoat paint. In step S <b> 204, the machine device 60 to be coated is overcoated with a top coating in the top coating chamber 32. In step S205, drying and solidification processing is performed on the machine device 60 after coating in the drying chamber 40.

  In step S201, a surface cleaning process before painting is performed on the mechanical device 60. Dry ice is a relatively good surface detergent. Since different materials have different shrinkage speeds depending on the temperature difference, dry ice in the form of low-temperature pellets is sprayed onto the surface of the machine device 60 to be coated with high-pressure air, and the low-temperature dry ice pellets rapidly increase the surface temperature of the machine device 60. When it is lowered, the deposit becomes thermally contracted and becomes brittle, and at the same time, for example, a volume expansion of 750 times occurs to drop the deposit. Dry ice sublimes. Thereby, dirt, such as fats and oils, paint, ink, adhesives, carbon, asphalt, surface rust, welding slag, etc. attached to the surface of the mechanical device 60, can be efficiently removed. Compared with other surface treatments such as water washing, the cleanliness and cleaning efficiency of the surface treatment using dry ice are both high. In order to ensure the adhesion of the paint, the surface of the machine device 60 to be painted needs to be at a certain temperature. The temperature of pelletized dry ice used for dry ice cleaning is generally several tens of degrees below zero, for example, around −78 ° C., so that the surface temperature of the machine device 60 after cleaning is excessively high. It becomes low, and it becomes impossible to paint the next step directly. Example 1 solved this problem in step S202. Dry ice is not limited to pellets, and may be powder. The howder may be used when the material of the mechanical device 60 to be painted is relatively vulnerable.

  In step S202, a temperature increase process is performed on the mechanical device 60 cleaned with dry ice, and for example, the surface temperature of the mechanical device 60 is increased to between 50 and 65 ° C. Desirable temperatures are around 53 ° C, 55 ° C, around 58 ° C, and the like. Such a temperature range is determined by different paint process needs and different mechanical devices 60, 50-65 ° C. being only an example. During the temperature increase, the dry ice remaining on the surface of the mechanical device 60 is also sublimated as the temperature rises, and the surface of the mechanical device 60 is naturally dried accordingly, so that the temperature and the dryness meet the needs in the next coating process. To meet.

  Steps S203 and S204 are steps in which the machine device 60 that has been cleaned and heated is coated. Specifically, the machine device 60 to be coated is undercoated with the undercoat paint, and the machine to be coated with the topcoat paint is used. The device 60 is overcoated. If it is necessary to overcoat a certain undercoat after drying, a drying step may be added between step 203 and step 204. If a certain machine 60 needs to be painted only once, only one painting step is required.

  Step S205 is the last drying / solidification step. After the drying process, the paint is completely attached to the surface of the mechanical device 60, and the entire painting process is completed.

  Here, step S201 may be completed by manually operating the dry ice cleaning machine in the dry ice cleaning room, and the dry ice cleaning operation is automatically performed by the cleaning robot attached to the dry ice cleaning room. May be. Step S202 can be completed in a temperature raising chamber equipped with a heat retaining device. Steps S203 and S204 may be completed by manually operating the injector in the painting chamber, or the spraying operation may be automatically performed by a painting robot attached to the painting chamber.

  The cleaning process before painting is very important for ensuring the painting quality. If the above coating method is used, dirt on the surface of the mechanical device 60 is properly removed before painting with dry ice, and the surface of the mechanical device 60 is dried by the temperature raising process, so that no separate drying process is required. The painting efficiency is also improved on the premise of ensuring the painting quality. Dry ice cleaning is an environmentally friendly cleaning method that can meet environmental protection needs without taking additional environmental protection measures.

<Example 2>
As shown in FIG. 3, a coating system 1 ′ configured based on the coating system 1 according to the first embodiment uses at least five traveling devices (511 to 515) and uses five mechanical devices (601 to 601). 605) can be processed simultaneously. In addition, the production line operation can be realized by setting the cleaning time, the upper injection time, and the lower injection time, and adjusting the temperature of the heating chamber and the drying chamber. The transport device 50 is connected in a ring shape on the outside. When the transport device 50 is provided, in a region outside the drying chamber 40, a certain region may be partitioned along the transport device 50 to perform operations such as packaging. By doing so, the efficiency of the painting work is further improved. The transport device 50 may be, for example, a chain conveyor.

  The mounting base on each traveling device (511 to 515) may be raised by a lift mechanism, which can meet the need to raise the mechanical device in a specific cleaning and painting process. Since the lift mechanism is a technique well known to those skilled in the art, a detailed description thereof will be omitted.

  The coating process flow of each machine in the coating system 1 'shown in FIG. 3 will be described with reference to FIG. At the same time, different mechanical devices (601 to 605) are located in different operation rooms, and the processing steps performed are also different. For example, when the mechanical device 601 is cleaned in the dry ice cleaning chamber 10, the mechanical device 602 is heated in the heating chamber 20, the mechanical device 603 is primed in the undercoating chamber 31, and the mechanical device 604 is overcoated in the topcoating chamber 32. Then, the mechanical device 605 is dried and solidified in the drying chamber 40. Moreover, you may perform subsequent processes, such as a packaging process, outside the drying chamber 40 with respect to the machine apparatus already coated.

<Example 3>
In the coating system 1 shown in FIG. 1 and the coating system 1 ′ shown in FIG. 3, the dry ice cleaning system 11, the undercoat system 311, and the topcoat system 321 may use a device that is operated manually, and are controlled automatically. An automated operation may be realized using a robot system. The painting efficiency can be further improved by the robot system using automatic control realizing the automation work.

  For convenience of understanding, the structure of a conventional industrial robot system, the structure of a dry ice cleaning robot system realized by a robot, the structure of a painting robot system realized by a robot, and its operating principle will be described first.

  FIG. 4 is a structural diagram of a 6-DOF industrial robot system having a series connection structure of a plurality of arm joints. As shown in FIG. 4, the 6-DOF industrial robot system includes an industrial robot 401 and a robot controller 403. The industrial robot 401 is a 6-degree-of-freedom robot having a series connection structure of three arms and six joints. With reference to the rotation directions indicated by the arrows in FIG. 4, the rotation joints in the robot 401 are S-axis, L-axis, and U-axis, respectively. It can rotate around the axis, B axis, R axis and T axis. Specifically, a rotating substrate that freely rotates around the vertical axis, that is, the S axis is attached to the upper surface of the station at the bottom. On the rotating substrate, the lower arm is supported around the horizontal axis, that is, the L axis, and swings in the front-rear direction. At the upper end of the lower arm, the upper arm is supported around the horizontal axis, that is, the U axis, and swings in the vertical direction. A wrist portion including a wrist body, a rocking body, and a rotating body is attached to the tip of the upper arm. The wrist body is arranged so as to freely rotate around the central axis in the longitudinal direction of the upper arm, that is, the R axis. The oscillating body is supported and oscillated around an axis perpendicular to the R axis at the tip of the wrist body, that is, the B axis. The rotating body rotates around the rotation axis at the tip of the rocking body, that is, around the T axis. Each joint position includes a motor that drives rotation, and components such as a control angle sensor and a speed sensor. In a specific industrial system, parts such as a camera and a distance sensor may be added outside the robot. The robot controller 403 connects each drive motor, these sensors, and parts such as a camera with signals via a cable 402, and based on the set operation mode and the detection signal fed back, the robot controller 403 Controls running, posture, wrist operation, etc. Depending on the needs of each automation task, the structure of the industrial robot system varies, and FIG. 4 is merely an example.

  FIG. 5 a is a structural diagram of a dry ice cleaning robot system, which includes a cleaning robot 501 and a dry ice spray gun 502 (detergent spray gun) attached to the tip of the wrist of the cleaning robot 501. The dry ice spray gun 502 is connected to a dry ice outlet (detergent outlet) of the dry ice cleaner 504 via a dry ice transport pipe 503 (detergent transport pipe). The cleaning system control device 505 connects the dry ice cleaning machine 504 and the cleaning robot 501 with a signal, and causes the dry ice cleaning machine 504 and the cleaning robot 501 to cooperate. For example, when operating the dry ice cleaning machine 504, the posture change of the cleaning robot 501 is controlled based on the set cleaning mode to clean the mechanical device 60 to be ejected. The cleaning robot 501 may be, for example, a 6-degree-of-freedom robot shown in FIG. When the mechanical device 60 to be sprayed is positioned in the work area of the cleaning robot 501, the wrist tip of the cleaning robot 501 drives the dry ice / spray gun 502, based on the steps and parameters specified during the cleaning mode. Then, the rotation angle of the arm and the wrist is controlled, the dry ice granules are sprayed onto each surface other than the bottom surface of the mechanical device 60, and the cleaning process is performed on all surfaces to be cleaned of the mechanical device 60. You may set the important cleaning with respect to an important site | part by the cleaning mode. For example, the cleaning time can be extended and the pressure of the dry ice spray gun can be increased for a specific structure position. Such a process may require the cooperation of a lift mechanism on the traveling device 51. A necessary lifting operation may be performed on the mechanical device 60 to be painted by the lift mechanism. Or you may control raising / lowering of the station in which the cleaning robot 501 is located, and may match it with the cleaning height under cleaning. In the dry ice cleaning robot system shown in FIG. 5a, the cleaning system control device 505 controls the dry ice cleaning robot system and automatically performs a cleaning operation on the mechanical device 60. The detergent is not limited to dry ice, and other detergents can be used.

  When cleaning a general mechanical device, the control to the cleaning machine by the cleaning system control device 505 and the cooperative control to the cleaning process can be realized by one controller. Moreover, as shown in FIG. 5b, two controllers, a cleaning system controller 5051 and a cleaner controller 5052, may be provided. The cleaner controller 5052 controls the cleaner. The cleaning system controller 5051 cooperatively controls operations between the cleaner controller 5052 and other controllers in the entire cleaning process. If the machine to be cleaned is an industrial robot, the cleaning system controller 505 may further include a robot controller 5053 as shown in FIG. 5c. The cleaning system controller 5051 cooperatively controls operations among the cleaner controller 5052, the robot controller 5053, and other controllers. The cleaning system controller 5051, the cleaner controller 5052, and the robot controller 5053 may be configured by combining any two of them, or may be configured by combining all of them. Of course, they may be arranged separately. These are connected to each other by bus or interface circuit communication. For example, the cleaner controller 5052 may be installed in a dry ice cleaner.

  FIG. 6 a is a structural diagram of the painting robot system, which includes a painting robot 601 and a paint spray gun 602 attached to the tip of the wrist of the painting robot 601. The paint spray gun 602 is connected to the paint outlet of the coating machine 604 via the paint transport pipe 603. The paint transport pipe 603 passes through the hollow structure of the arm and wrist of the robot 601. The painting system control device 605 connects the painting machine 604 and the painting robot 601 with signals, and causes the painting machine 604 and the painting robot 601 to cooperate. For example, when the painting machine 604 is operated, the posture change of the painting robot 601 is controlled based on the set injection mode, and the injection is performed on the machine device 60 to be injected. For example, the painting robot 601 may be a six-degree-of-freedom robot shown in FIG. When the mechanical device 60 to be sprayed is positioned in the work area of the painting robot 601, the tip of the wrist of the painting robot 601 is driven by the paint spray gun 602 and based on the steps and parameters defined during the spraying mode. The rotation angle of the arm and wrist is controlled, and the paint is sprayed onto each surface other than the bottom surface of the mechanical device 60. You may set the overlap injection with respect to an important site | part by the injection mode. As an example, it is possible to extend the spraying time and increase the pressure of the spray gun for paint for a specific structure position. Such a process may require the cooperation of a lift mechanism on the traveling device 51. A necessary lifting operation may be performed on the mechanical device 60 to be coated by the lift mechanism. Alternatively, the elevation of the station where the painting robot 601 is located may be controlled to match the painting height during painting. FIG. 6 b is a hollow structure diagram of the arm and wrist of the painting robot 601. Here, the hollow structure is installed for the paint transport pipe 603. The paint transport pipe 603 is connected to the paint spray gun 602 via the arm of the paint robot 601 and the hollow structure of the wrist. This effectively prevents interference between the paint transport pipe 603 and the robot arm during work, and saves work space. A painting machine controller may be installed independently in the painting machine 604 of the painting robot system shown in FIG. The painting system control device 605 may control the operation of the painting machine by a painting machine controller. The painting system controller 605 may be implemented with one controller, or with two or three controllers, as shown in FIGS. 6c and 6d. Two or three examples are also shown in the cleaning system controller 505.

  If the dry ice cleaning robot system shown in FIG. 5a and the painting robot system shown in FIG. 6a are used in the system according to the first embodiment, an automated work system can be obtained. In the automated work system, the cleaning chamber 10 includes a dry ice cleaning robot system capable of automatic cleaning, the undercoating chamber 31 includes an undercoating robot system for automatically undercoating, and the overcoating chamber 32 is automatically overcoated. Equipped with a topcoat robot system.

  Furthermore, since different machines have different structures, it is necessary to set different cleaning operation modes and injection operation modes for different machines when performing automated cleaning and painting operations with a robot. In order for the dry ice cleaning robot system, the undercoating robot system, and the overcoating robot system to automatically identify the work target, a corresponding operation mode must be applied. For that purpose, a removable wireless signal transmitter may be attached to the traveling device 51, and the ID identifier of the mechanical device may be included in the transmitted wireless signal. A wireless signal receiver may be installed in each of the dry ice cleaning robot system, the undercoat robot system, and the topcoat robot system. The wireless signal receiver may receive a wireless signal including an ID identifier, transmit the wireless signal to a connected controller, and apply an operation mode that matches the machine device to be painted. Since specific techniques are well known to those skilled in the art, detailed description is omitted.

  Executing steps S201, S203, and S204 with a robot can effectively improve the painting efficiency. A spray gun connected to the wrist of the robot can cover different surfaces of the machine and all angles. For example, it can effectively cover a box-type mechanical device, an automobile body, and the like. However, in the case of a mechanical device having a rotational connection relationship between some components, for example, the mechanical device itself to be ejected is an industrial robot having a series connection structure of a plurality of arm joints, and these arm joints are two arm joints. When each of the surfaces is movably arranged, a certain surface is exposed only when taking a posture of a specific rotation angle, but is blocked when taking a posture of another rotation angle. When the industrial robot performs a cleaning operation in a single posture, the obstructed surface cannot be cleaned and affects the cleaning effect. Also, if the industrial robot remains in a single posture, it is impossible to paint the obstructed surface even during jetting, and such a surface must be corrected later. This has a great influence on the coating quality and the coating efficiency.

  In Example 3, an example of an industrial robot that is a robot to be painted is given. Example 3 controls the attitude change of an industrial robot during dry ice cleaning and painting so as to expose a surface that is blocked in a single position between two adjacent parts that are movably arranged, and cleaning and spray quality By ensuring this, the subsequent correction work is prevented and the injection efficiency is further improved.

  The third embodiment realizes automated painting, and as shown in FIG. 7, the following controller is connected by a system bus to constitute the entire control system.

  The conveyance controller 701 is a controller for the traveling device 51 and a lift mechanism that can be installed on the traveling device 51. Specifically, the transport controller 701 controls the drive system in the travel device 51 and the hydraulic lifting system in the lift mechanism so that the travel device 51 travels along the transport device 50 to a designated work position.

  The cleaning system controller 702 is a controller for a dry ice robot cleaning system, and the dry ice cleaner controller 7021 is a controller for a dry ice cleaner in the dry ice robot cleaning system. Based on the command of the cleaning system controller 702, the dry ice cleaner controller 7021 specifically determines the ratio of dry ice and compressed air in the dry ice cleaner, the pressure of the pump, the pressure of the spray gun, and the like. To control. The dry ice container may be provided with a storage amount sensor to monitor the dry ice storage amount in real time. Based on the detection signal of the storage amount sensor, the dry ice cleaning machine controller 7021 sounds an alarm if the dry ice storage amount falls to a certain value, and if necessary, causes the cleaning system controller 702 to perform a cleaning operation. You may notify further to stop.

  The robot controllers (7031, 7032, and 7033) are controllers that are used when the robot to be painted is at a work position of a different processing step. As shown in FIG. 1, the robot controller (7031, 7032, 7033) may be a single controller if the injection system does not need to inject simultaneously into multiple robots. When working on the automated production line shown in FIG. 3, a plurality of robots must be processed simultaneously. For example, in the case of three as shown in FIG. 3, three robot controllers must be installed at different work positions.

  The temperature raising chamber controller 704 is a controller for a heat retaining device in the temperature raising chamber.

  The undercoating system controller 705 and the overcoating system controller 706 (hereinafter collectively referred to as “coating system controller”) are controllers for the undercoating robot system and the overcoating robot system, respectively. The coating machine controllers (7051 and 7061) are controllers for the coating machine in the top and bottom coating robot system, respectively. The paint machine controllers (7051, 7061) specifically control the pressure of the compressed air pump and the pressure of the paint spray gun in the paint machine based on the commands of the paint system controller. A storage amount sensor may be installed in the paint tank, and the paint storage amount may be monitored in real time. The paint machine controller (7051, 7061) sounds an alarm when the paint storage amount falls to a certain value based on the detection signal of the storage amount sensor, and stops the spraying operation to the coating system controller if necessary. Further notification may be made.

  The cleaning system controller 702 simultaneously controls the dry ice cleaning machine controller 7021 and the painting target robot controller 7031 as a controller for the dry ice cleaning robot, and controls the dry ice cleaning robot system and the painting target robot. In cooperation with each other, during the cleaning, the posture of the robot to be painted is changed so that the surface that is blocked in a single posture between any two movable parts of the robot can be cleaned.

  The undercoating system controller 705 controls the coating machine controller 7051 and the coating target robot controller 7032 simultaneously as the undercoating robot controller, and cooperates with the undercoating robot system and the coating target robot to perform painting. Inside, the posture of the robot to be painted is changed so that a surface that is blocked in a single posture between any two movable parts of the robot can be painted.

  Similarly, the top coating system controller 706 simultaneously controls the coating machine controller 7061 and the painting target robot controller 7033 as a top coating robot controller, thereby causing the top coating robot and the painting target robot to cooperate with each other. During the overcoating, the posture of the robot to be painted is changed so that a surface that is blocked in a single posture between any two movable parts of the robot can be painted.

  In top coating and undercoating, if coordination of the exhaust system is necessary, the exhaust system controller (7052, 7062) may be allowed to enter the injection operation.

  The transport controller 701, the cleaning system controller 702, the heating chamber controller 704, the undercoating system controller 705, and the overcoating system controller 706 are interconnected via a system bus and mutually control signals. Collaborative work is performed between each step, and when the previous step is completed, a fully automated production line work is performed to trigger the next step. Since the cooperative control principle used here is well known by those skilled in the art, detailed description thereof is omitted.

  Hereinafter, it will be described in detail how the posture change of the robot to be painted is controlled during cleaning and painting. FIG. 8 is a diagram illustrating the posture conversion in the painting process of the industrial robot. After one arm of the industrial robot rotates a certain angle, the hatched area Q is exposed and can be painted in a portion where it is movably connected to the pedestal.

  As shown in FIG. 8, a fixing device 801 that fixes mechanical equipment and a lifting platform 802 that can perform lifting control may be installed on the traveling device. The fixing device 801 functions to fix the mechanical equipment, and the lifting platform 802 functions to adjust the height of the mechanical equipment during the cleaning or painting process. FIG. 8 is merely an image diagram, and those skilled in the art can implement various structures. Detailed description is omitted here.

  When the mechanical device to be coated is an industrial robot, the industrial robot needs to be connected to the robot controller in each chamber in the cleaning room, the undercoating room, and the topcoating room. In each room, the robot controller cable can be hung on a holder. As shown in FIGS. 9a and 9b, a signal sensor 901, a dog 902, and a hanger 903 may be installed on the holder. The dog 902 and the hanger 903 are self-elastically connected. As shown in FIG. 9a, when the robot controller cable is not hung on the hanger 903, the signal sensor 901 detects the upper part of the hanger and transmits a detection signal to the robot controller. When the cable of the robot controller is hung on the hanger 903, the signal sensor cannot detect the upper part of the hanger, and the signal transmission is stopped. When the robot controller cannot receive the detection signal, it determines that the cable is not connected. That is, it is determined that the industrial robot to be painted has not yet moved to the work position. When receiving the detection signal, the robot controller determines that the cable is connected. That is, it is determined that the industrial robot to be painted has already arrived at the work position. The detection signal is used as a control signal for determining whether to start work. If the industrial robot has not yet arrived at the work position, each controller stops working for a while.

  As shown in FIG. 10, the cleaning control flow executed by the cleaning system controller 702 mainly includes the following steps. In step 1001, it is confirmed that the robot to be painted has reached the work position. In step 1002, the robot ID identifier to be painted is identified. In step 1003, the corresponding operation mode is applied based on the identified ID identifier. In step 10040, the dry ice cleaning robot is controlled to start work. In step 10042, the dry ice cleaner is controlled to start the work. In step 10043, the posture change of the robot to be painted is controlled. In step 1005, the cleaning ends. In step 1006, a cleaning step end command is issued. The cleaning step end command is a trigger for the next step.

  In the control flow described above, steps 10041, 10042 and 10043 may be performed at the same time, or may be performed in the order in which they are interchanged with each other. These can be set according to needs. After step 10043 is executed, during the cleaning, the robot controller 7031 performs control so that the robot to be painted changes its posture in the scheduled operation mode. When a pause is required during the posture change, the cleaning system controller 702 may be notified to pause the work. Alternatively, when an operation abnormality occurs in itself, the cleaning system controller 702 may be notified to suspend the work. During the posture change, the cleaning system controller 702 and the robot controller 7031 may each work in a scheduled operation mode, or may work together. For example, when the robot controller 7031 changes the robot to be painted to a specific posture, it notifies the cleaning system controller 702 to perform intensive cleaning with respect to a certain position, and performs intensive cleaning. The position to be sent may be transmitted to the cleaning system controller 702. In this case, the cleaning system controller 702 increases the spray pressure, density, and the like of the dry ice by the cleaning machine controller 7021. Since a specific control flow can be set by a person skilled in the art based on the structural characteristics of the robot, the embodiment of the present invention is not limited thereto. If the robot's posture change is controlled during the cleaning of the robot and the surface that is blocked by a single posture can be cleaned, it belongs to the protection scope of the present invention. The posture change includes at least one of a change in the rotation angle of an arbitrary arm joint, a change in the overall position of the robot, a change in direction, and the like. Here, as shown in FIG. 8, controlling the posture change between any two arm joints is substantially controlling the rotation angle between the two arm joints. In this embodiment, preferably, the posture may be changed to the limit positions of the two movable parts. For example, when the lower arm rotates along the L axis, it may be changed between two front and rear rotation angles to expose the entire surface blocked by the arrangement. Furthermore, you may perform intensive cleaning, controlling the attitude | position change for every two movable parts, respectively. In order to perform the above operation, an operation mode may be set in advance based on the structural characteristics of the robot to be ejected.

  As shown in FIG. 11, the paint control principles of the undercoat system controller 705 and the overcoat system controller 706 are completely the same, and the attitude change principle and the attitude change principle during cleaning are also completely the same. An example of the undercoat control flow is given, and the steps that are the main differences from the dry ice cleaning control flow are as follows.

  In step 11041, the painting robot is controlled to start the work. In step 11042, the coating machine is controlled to start the operation. In step 11043, the robot to be painted is controlled to change the posture. In step 1105, the painting is finished. In step 1106, a painting step end command is issued.

  The cleaning robot and the robot to be ejected perform work based on the set operation mode, respectively, and when the ejection robot and the robot to be ejected perform work based on the set operation mode, And during any injection, the following scenario can be seen.

  At the same time that the dry ice cleaning robot or the ejection robot performs work on the ejection target robot while changing to the set posture, the posture of the ejection target robot is also changed in the set mode. In particular, for every two movable parts, the posture is changed during work so that the two parts move relatively, and in particular, the posture is changed at a relative limit position. If one of the two movable parts is a fixed part, the other one is controlled to move to each limit position. If both parts are moving, the two parts may be controlled to move relatively simultaneously, or one may not move and the other one may be moved to each limit position. Also good. Thus, when the posture is changed repeatedly several times, all the surfaces to be cleaned or sprayed are all covered. The robot attitude control principle is well known by those skilled in the art. According to the third embodiment, the posture control principle is used to control the posture of the robot during the dry ice cleaning and jetting of the robot, thereby greatly improving the cleaning effect and jetting quality and ensuring the jetting quality of the robot. On the other hand, the subsequent correction process can be reduced. In particular, when the control system shown in FIG. 7 is applied to the injection system shown in FIG. 3, the automated production line work is completely realized and the efficiency of the injection work is improved.

  Any of the above embodiments can be sprayed with a water-based paint. In the case of a water-based paint, contamination and environmental protection treatment costs can be effectively reduced. Moreover, a solvent paint and a powder paint can also be used as needed, and it is not necessarily restricted to a water-based paint.

  The robot structure shown in the third embodiment is merely an example, and the specific structure of the robot is not limited to this.

  The control system structure shown in the third embodiment is merely an example, and it is within the protection scope of the present invention that those skilled in the art use the contents disclosed in this embodiment for various control systems.

  Performing posture change control on the work target during cleaning and jetting according to the third embodiment is not limited to the case where the work target is an industrial robot. The injection quality and efficiency can be improved by the method according to the third embodiment for a movable product having an arbitrary multi-arm joint. For example, if it is not a product such as a robot that is controlled to move by itself and changes its posture, a multi-arm robot can be used. A part of the product may be gripped by each arm of the multi-arm robot, and the posture change operation may be performed on the product during cleaning and ejection.

  The cleaning robot system shown in the third embodiment can use other detergents as necessary, and the detergent is not limited to dry ice.

  Of course, those skilled in the art can modify the technical solutions described in the above-described embodiments, or replace some of the technical elements therein. Such modifications and substitutions are not considered to depart from the technical scope of each embodiment.

  DESCRIPTION OF SYMBOLS 1 ... Coating system, 10 ... Dry ice cleaning chamber, 11 ... Dry ice cleaning system, 20 ... Temperature rising chamber, 211 ... Indoor device, 212 ... Outdoor device, 21 ... Thermal insulation device, 31 ... Undercoat chamber, 32 ... Topcoat chamber, 40 DESCRIPTION OF SYMBOLS ... Drying room, 50 ... Conveyor device, 51,511-515 ... Running device, 60,601-605 ... Mechanical device, 311 ... Undercoat system, 321 ... Overcoat system, 401 ... Industrial robot, 402 ... Cable, 403 ... Robot control 501 ... Cleaning robot, 502 ... Dry ice spray gun (detergent spray gun), 503 ... Dry ice transport pipe (detergent transport pipe), 504 ... Dry ice cleaning machine, 505 ... Cleaning system control device, 601 ... Painting robot 602 ... Paint spray gun 603 ... Paint transport pipe 604 ... Coating machine 605 ... Coating System controller, 701 ... Conveyance controller, 702 ... Cleaning system controller, 704 ... Temperature rising chamber controller, 705 ... Undercoat system controller, 706 ... Topcoat system controller, 5051 ... Cleaning system controller, 5052, 7021 ... Cleaning Controller, 5053, 7031, 7032, 7033 ... robot controller, 7021 ... dry ice cleaning machine controller, 7021 ... cleaning machine controller, 7051, 7061 ... coating machine controller, 7061 ... coating machine controller.

Claims (14)

A cleaning robot;
A detergent spray gun attached to the tip of the wrist of the cleaning robot;
A cleaner having a detergent outlet connected to the detergent spray gun via a detergent transport pipe;
In the process of controlling the cooperative operation between the cleaning machine and the cleaning robot, and cleaning the mechanical device, the surface that is blocked in a single posture between any two parts movably disposed on the mechanical device is cleaned. A cleaning system controller for performing control to change the attitude of the mechanical device,
A cleaning robot system for a mechanical device.   2. The apparatus according to claim 1, wherein when controlling the attitude change of the mechanical device, at least one of the two parts is controlled to move to a relative limit position for every two movable parts. A cleaning robot system for the machine described.   The cleaning robot system for a mechanical device according to claim 1, wherein the detergent is dry ice, and the mechanical device is an industrial robot.   The said cleaning system controller is a cleaning robot system as described in any one of Claims 1-3 which controls the said mechanical apparatus so that the attitude | position of the said mechanical apparatus may be changed. A cleaning control method for a mechanical device including cleaning the mechanical device with a detergent,
In a cleaning process, the posture of the mechanical device is changed so that a surface that is blocked by a single posture between any two parts movably arranged on the mechanical device can be cleaned. Cleaning control method.   6. The cleaning control method for a mechanical device according to claim 5, wherein the detergent is dry ice, and the mechanical device is an industrial robot.   The cleaning control method for a mechanical device according to claim 5 or 6, wherein the mechanical device is controlled so as to change a posture of the mechanical device. Painting robot,
A paint spray gun attached to the tip of the wrist of the painting robot;
A paint machine in which a paint outlet is connected to the paint spray gun via a paint transport pipe;
In the process of controlling the cooperative operation between the coating machine and the painting robot, and coating the mechanical device, it is possible to paint a surface that is blocked in a single position between any two parts movably arranged on the mechanical device. A coating system controller for performing control to change the attitude of the mechanical device,
A painting robot system for a mechanical device.   9. When controlling the attitude change of the mechanical device, at least one of the two parts is controlled to move to a relative limit position for every two movable parts. The painting robot system for the mechanical device described in 1.   10. The painting robot system for a mechanical device according to claim 8, wherein the mechanical device is an industrial robot.   The said painting system controller is a coating robot system as described in any one of Claims 8-10 which controls the said mechanical apparatus so that the attitude | position of the said mechanical apparatus may be changed. A method for controlling the painting of a mechanical device including painting the mechanical device with a paint,
In the painting process, the posture of the mechanical device is changed so that a surface blocked by a single posture between any two parts movably arranged on the mechanical device can be painted. Paint control method.   13. The painting control method for a mechanical device according to claim 12, wherein the mechanical device is an industrial robot.   The painting control method for a mechanical device according to claim 12 or 13, wherein the mechanical device is controlled so as to change a posture of the mechanical device.

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