JP2019000814A - Orbit data simulation method in coating robot - Google Patents

Abstract

To provide an orbit data simulation method in a coating robot capable of easily verifying and correcting taught orbit data by neither wasting coating nor using air conditioning energy.SOLUTION: Positional information of a coating robot and a workpiece and orbit data of a spray gun are fetched into control means; fetched data is used to prepare 3D data, and prepared 3D data is used to display the workpiece and the spray gun on a display part, and coating particle fluid analysis is carried out on the basis of coating particle sizes, atomization pressures, pattern pressures, discharge amounts, air streams in a coating booth, and air streams generated by workpiece rotation, which are coating atomization requirements; according to analysis results, coating sprayed out of the spray gun toward the workpiece to be deposited on the workpiece is reproduced on the display part, thereby simulating taught data on a screen.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a method for simulating trajectory data in a painting robot, and more specifically, displays an object to be painted on a screen, and sprays from a spray gun toward a workpiece based on a trajectory of a spray gun in a teaching painting robot. The present invention relates to a method for simulating trajectory data in a painting robot, which is characterized by reproducing paint that is applied to a workpiece.

  In recent years, in the field of painting, when a large amount of an object to be coated (hereinafter referred to as “work”) is painted, a method of automatically painting using a painting robot has been adopted. And, when painting automatically using such a painting robot, it is necessary to keep the distance and angle between the spray port of the painting gun and the workpiece constant in order to make the coating film thickness uniform. .

  Therefore, in painting using such a painting robot, it is necessary to calculate the trajectory data of the spray gun in the painting robot in advance based on the external dimensions of the workpiece and store the trajectory data in the painting robot. This operation is generally called “teaching”.

  By this teaching, the painting robot can move the spray gun based on the taught trajectory data, thereby automatically painting the workpiece. Therefore, in the painting using such a painting robot, especially when a plurality of workpieces are to be painted, it is possible to reduce labor costs and the like, and to accurately apply the same coating to all the workpieces. There is an advantage that can be performed.

  Here, the conventional teaching will be described with reference to FIG. 5. In FIG. 5, 31 is a painting robot, 32 is a workpiece, 33 is a robot controller for controlling the operation of the painting robot, and 34 is a teaching pendant. It is. Teaching is generally performed using the teaching pendant 34. That is, the teaching pendant 34 is like a remote controller and is connected to the robot controller 33. When teaching is performed, in the vicinity of the painting robot 31, the teaching pendant 34 is used to operate the painting robot 31 via the robot controller 33, and the desired spray gun positions are sequentially registered in the robot controller 33. Therefore, a method of storing the spray gun trajectory in the robot controller 33 is generally used.

JP 2013-184280 A JP 2006-315157 A Japanese Patent Laid-Open No. 2005-238092 JP 2004-114246 A JP 2000-288432 A Japanese Patent Laid-Open No. 10-264060 Japanese Patent Laid-Open No. 10-264059 JP-A-6-31233

  By the way, after performing the teaching as described above, it is necessary to verify whether or not the workpiece can be accurately painted based on the trajectory data taught. Conventionally, this verification has been done by placing a painting robot and workpiece in the painting booth, painting the workpiece by actually spraying the paint from the spray gun, and then painting the surface requiring painting with a uniform film thickness. It is done by checking whether it is done. In other words, since it is necessary to actually paint the workpiece in the conventional verification, paint must be used in the verification, and the air conditioning equipment is operated to collect the paint mist generated in the painting booth. It had to be done and it was costly.

  Also, if the result of verification is that accurate painting is not possible, the teaching data is corrected, and based on the corrected data, paint is actually sprayed again from the spray gun and the result is verified. In addition, the paint and air conditioning energy were wasted.

  At this time, in the conventional teaching, the distance between the spray gun and the work and the aim of the work of the spray gun are currently determined by the operator while relying on experience and intuition while looking at the actual work nearby. Yes, in that method, the distance between the spray gun and the work must be matched to the actual object, and the aim of the spray gun must be confirmed using a scale or a special jig, so be careful not to apply the special jig to the work. It is necessary to work, and the work becomes complicated and takes time. The distance between the workpiece and the spray gun is determined by visual judgment, so it must be ambiguous, and verification of the trajectory data may be necessary. Not a few.

  Therefore, the present invention provides a method for simulating trajectory data in a painting robot that can easily verify and correct the trajectory data taught without wasting paint and without using air conditioning energy. The challenge is to do.

The trajectory data simulation method of the present invention includes:
Take the position information of the painting robot and workpiece and the trajectory data of the spray gun into the control means,
Create 3D data using the imported data,
Using the created 3D data,
While displaying the work and spray gun on the display,
Based on the paint particle diameter, particle speed, atomization pressure, pattern pressure, and discharge rate as the paint spray conditions set in advance, fluid analysis of the paint particles sprayed from the spray gun toward the workpiece is performed. According to the analysis result, the paint sprayed from the spray gun toward the work and applied to the work is reproduced on the display unit.

  In the trajectory data simulation method for the painting robot of the present invention, the position information of the painting robot and the workpiece and the trajectory data of the spray gun are fetched into the control means, and 3D data is created using the fetched data. Using the data, the work and spray gun are displayed on the display unit, and from the spray gun based on paint spray conditions such as paint particle diameter, particle speed, atomization pressure, pattern pressure, and discharge rate set in advance. Fluid analysis of paint particles sprayed toward the work is performed, and paint that is sprayed from the spray gun toward the work and applied to the work is reproduced on the display unit according to the analysis result. Therefore, it is possible to visually check the coating state based on the taught trajectory data without injecting the coating material onto the workpiece using an actual painting robot and the workpiece.

  Therefore, by using the trajectory data simulation method in the painting robot of the present invention, teaching trajectory data can be easily verified and corrected without wasting paint and without using air conditioning energy. Is possible.

It is a block diagram of the whole system for demonstrating the Example of the simulation method of the track data in the painting robot of this invention. It is a figure for demonstrating the method of the screen display in the Example of the simulation method of the track data in the painting robot of this invention. It is a figure for demonstrating the method of the screen display in the Example of the simulation method of the track data in the painting robot of this invention. It is a flowchart for demonstrating the Example of the simulation method of the track data in the painting robot of this invention. It is a block diagram for demonstrating the conventional teaching method.

  In the method for simulating trajectory data in the painting robot of the present invention, the position information of the painting robot and the work stored in the controller such as the robot controller and the trajectory data of the taught spray gun are fetched into the control means during teaching.

  Next, 3D display data is created by using the position information of the painting robot and the workpiece and the trajectory data of the spray gun, which are taken into the control means, and the workpiece and the spray gun are moved using the created 3D data. Display on the display.

  At the same time, based on the paint particle diameter, particle speed, atomization pressure, pattern pressure, and discharge amount as the paint spray conditions set in advance, the paint particles sprayed from the spray gun toward the workpiece Fluid analysis is performed, and the paint sprayed from the spray gun toward the work and applied to the work is reproduced on the display unit according to the analysis result.

  Here, when performing fluid analysis of paint particles, it is advisable to take into account the airflow in the paint booth and the airflow generated when the workpiece is rotated, thereby achieving a more accurate application situation. It becomes possible to do.

  An embodiment of a trajectory data simulation method (hereinafter simply referred to as “trajectory data simulation method”) in the painting robot of the present invention will be described with reference to the drawings. FIG. 1 shows the trajectory data simulation method of this embodiment. It is a block diagram for demonstrating the system for implementing.

  In the figure, reference numeral 1 denotes a PC as control means. The PC 1 includes a PC main body 2 and a display unit 3. That is, the trajectory data simulation method of this embodiment has a PC main body 2 equipped with a calculation means such as a CPU and a PC 1 equipped with a display unit 3, and a painting robot stored in a robot controller or the like by teaching. The position information and trajectory data of the work is taken into the PC 1 and 3D display data is created using the taken data, and further, the spray gun of the painting robot and the work are displayed on the display unit 3 using this 3D data. To do.

  Here, 4 is a robot controller in the figure, and a teaching pendant 5 is connected to the robot controller 4. In the figure, 6 is a painting robot, 7 is a work as an object to be painted, and the robot controller 4 is connected to the painting robot 6, and the painting robot 6 operates according to a signal from the robot controller 4. It is said. When the position of the spray gun of the painting robot 6 is registered at a desired position using the teaching pendant 5, the trajectory data is sent to the robot controller 4 and stored therein. Then, the robot controller 4 controls the painting robot 6 based on the received trajectory data, operates the painting robot 6 as taught, and further uses the trajectory data etc. Position information and distance between spray gun and workpiece are calculated.

  In the PC body 2, 3D display data of the painting robot 6 and the work 7 is generated using various data stored in the robot controller 4, and the display unit 3 displays the painting data on the basis of these 3D display data. The robot 6 and the work 7 are displayed in 3D.

  Further, in this embodiment, the robot controller 4 is connected to the PC main body 2, and activation data registered by the teaching pendant 5 at the time of teaching, a painting robot calculated based on this trajectory data, The work position information is sent from the robot controller 4 to the PC main body 2 in real time. In the PC body 2, 3D display data of the painting robot and the workpiece is generated using various data sent from the robot controller, and the display unit 3 displays the painting data based on these 3D display data. The robot and the work are displayed in 3D, and it is possible to teach the trajectory of the spray gun with the teaching pendant 5 while viewing the painting robot and the work displayed on the display unit 3.

  However, in the trajectory data simulation method of the present invention, the start data registered by the teaching pendant 5 at the time of teaching and the position information of the painting robot and the workpiece calculated based on the trajectory data are sent from the robot controller 4 to the PC in real time. There is no need to send it to the main body 2, and it is only necessary that the painting robot and workpiece position information and the trajectory data of the spray gun stored in the robot controller 4 can be taken into the PC main body 2 after teaching is completed.

  The painting robot 6 has a structure in which a spray gun is provided on an arm that moves along a taught track, in the same manner as a painting robot generally used for mass painting of workpieces.

  Next, the trajectory data simulation method of the present embodiment performed using the system configured as described above will be described with reference to the flowchart of FIG. 4. In the trajectory data simulation method of the present embodiment, first, step 1 Then, the data is taken into the PC 1 as the control means.

  Here, the data fetched into the PC 1 includes information stored in the robot controller in the initial setting at teaching and various information stored in the robot controller by teaching. Information stored in the robot controller in the initial setting at the time of teaching includes basic data such as the outline, mechanism, and dimensions related to the painting robot 6, basic data such as the outline and dimensions related to the work 7, and the painting robot 6 There is position information with the work 7 and distance information between the spray gun and the work. Information stored in the robot controller by teaching includes spray gun trajectory data, distance data between the workpiece and the spray gun, and the like.

  Next, in the PC 1, in step 2, 3D display data of the painting robot 6 and the workpiece 7 is created based on the various types of data that have been taken in.

  At the same time, in the trajectory data simulation method of this embodiment, in step 3, the information stored in the robot controller in the initial setting at the time of teaching, the various information stored in the robot controller by teaching, and the paint Based on the spraying conditions, fluid analysis of the paint particles sprayed from the spray gun toward the workpiece is performed.

  That is, in FIG. 1, 11 is an analysis means, and in this embodiment, a computer 11 is used as the analysis means. The computer 11 is connected to the PC 1, and various data captured in the PC 1 and paint spraying conditions are supplied to the computer 11 in Step 1. In the computer 11, the spray gun is directed toward the workpiece. After the fluid analysis of the sprayed paint particles is performed and the fluid analysis by the computer 11 is completed, the result is supplied to the PC 1.

  And as the spraying conditions of the paint, the particle diameter of the paint, the particle speed, the atomization pressure when the paint is atomized with air, the pattern pressure of the pattern air for molding the atomized paint into a predetermined pattern, There is also a discharge amount of paint.

  In addition, in order to collect paint mist that did not adhere to the workpiece in the painting booth, the air flow in the painting booth is flowing in a certain direction, and the paint sprayed from the spray gun is affected by this air flow. In the example, the air flow in the painting booth is added to the spray conditions.

  Further, in this embodiment, as shown in FIG. 2, a plurality of workpieces 8 are attached radially to the upper portion of a rotatable support column 9 via a jig 10, and the column 9 is applied during painting. At the same time, since the work 8 is rotated, an air flow is also generated in the coating booth by the rotation of the work. Therefore, in this embodiment, the air flow generated by the rotation of the work 8 is also taken into account in the spraying conditions. Yes.

  In this example, the atomization pressure was set to 0.2 MPa, the pattern pressure was set to 0.15 MPa, the discharge amount was set to 70 cc, the booth airflow was set to 0.5 m / sec, and the work rotation was set to 150 rpm. And based on this setting data, the fluid analysis of the paint was performed in Step 3. In the fluid analysis, particles of 1 million particles / second were tracked.

  In addition, fluid analysis is performed using fluid analysis software, and since there are various methods for fluid analysis, details such as specific calculation methods are omitted, but as an example, a spray gun and A method of realizing the movement of the paint particles as a virtual by dividing the space between the workpieces into elements and calculating the space between them is conceivable.

  Next, in the trajectory data simulation method of the present embodiment, in step 4, the spray gun and the work are displayed in 3D on the display unit 3 by the created 3D display data, and in step 5, the fluid analysis is performed. According to the result, the state where the paint sprayed from the spray gun moves toward the work is displayed on the display unit.

  In other words, FIG. 2 shows the paint particles that are sprayed on the work by the display unit 3 of the PC 1, the spray gun, and the spray gun toward the work. In the drawing, 7 is a work, and in the present embodiment, the work 7 is a door mirror, and six pieces are attached radially to a rotatable support column 9 by a jig 10, and the display on the display unit 3 is displayed on the support column 9. A moving image display in which the work 7 is rotated with the rotation is used.

  In the figure, reference numeral 8 denotes a spray gun. In the trajectory data simulation method of the present embodiment, the spray gun 8 is displayed on the display unit 3 and the spray gun 8 displayed on the display unit 3 is taught to the trajectory taught. It is supposed to move according to the data.

  Then, as described above, the work 7 is rotated, and the state in which the paint particles sprayed from the spray gun 8 move toward the work 7 and is applied to the work according to the result of the fluid analysis is displayed. The video will be displayed on the department.

  Therefore, in the trajectory data simulation method of the present embodiment, it is possible to confirm on the display unit 3 how the paint is actually sprayed, moved toward the workpiece, and applied to the workpiece 7. When verifying the taught trajectory data, it is not necessary to actually inject paint onto the workpiece, eliminating the waste of paint during verification and eliminating the need to use air conditioning energy. Can be significantly reduced.

  FIG. 2 shows the middle of the movement of the spray gun 9 according to the trajectory data, and the workpiece 7 is moved in a circular shape clockwise by the rotation of the support column 9 and the jig 10 as indicated by the arrows. The spray gun 8 displays a state of moving from the upper side to the lower side. The paint particles sprayed from the spray gun 8 display a state of moving in a mist from the spray gun 8 toward the workpiece 7. In the figure, in order to facilitate understanding, the sprayed paint particles and the paint particles applied to the workpiece are displayed in fine points, and the number of points is changed depending on the degree of the application.

  Next, FIG. 3 is an enlarged view of one of the workpieces 7 after the painting according to teaching is completed, and shows a state in which paint particles are applied to the entire area of the workpiece. In other words, in the trajectory data simulation method of the present embodiment, the state in which the paint particles sprayed from the spray gun 8 move toward the workpiece 7 and is applied to the workpiece on the display unit according to the result of the fluid analysis. In addition to being displayed as a moving image, it is also possible to display the application state of the work 7 after the completion of painting according to teaching. Therefore, it is possible to visually confirm to which part of the workpiece the paint adheres when the paint is sprayed from the spray gun according to teaching by the display of the application state. Therefore, in the trajectory data simulation method of this embodiment, when verifying the taught trajectory data, it is not necessary to actually inject the paint onto the workpiece, so there is no waste of paint at the time of verification. In addition, it is not necessary to use air-conditioning energy, and costs can be significantly reduced.

  For example, in the coating state shown in FIG. 3, a part of the upper part is dark, indicating that the number of coatings in this part is greater than the number of coatings in the other parts. And it is possible to know that the film thickness of the paint of the part will become thicker than other parts by it.

  Also, in the trajectory data simulation method of this embodiment, the robot controller 4 is connected to the PC main body 2 and the start data registered by the teaching pendant 5 at the time of teaching and the paint calculated based on this trajectory data. Since the robot and workpiece position information is sent from the robot controller 4 to the PC body 2 in real time, and the 3D display of the painting robot and workpiece at that time is performed, while verifying the teaching trajectory data, Teaching data can be corrected.

  Thus, in the trajectory data simulation method of the present embodiment, the workpiece and the spray gun are displayed on the display unit, and the particle diameter, particle velocity, atomization pressure, pattern pressure, and discharge of the paint are set in advance. Analyzes the fluid of paint particles based on the amount of paint spraying conditions, and displays paint particles that are sprayed from the spray gun toward the workpiece and applied to the workpiece according to the analysis result. Since it is supposed to be displayed on the part, it is possible to verify whether or not the taught trajectory data is correct by checking the spray state.

  Further, in the simulation method of the trajectory data of the present embodiment, as the result of the fluid analysis, the application state on the workpiece after the completion of the coating is also displayed on the display unit, so this application state is confirmed. It is possible to verify whether orbit data is correct.

  Therefore, according to the present embodiment, the teaching trajectory data can be verified without injecting the paint onto the work using the actual painting robot and the work, so that the air-conditioning energy can be reduced without wasting the paint. It is possible to easily verify and correct the trajectory data taught without using it.

  As described above, in the trajectory data simulation method of the present invention, the activation data registered by the teaching pendant 5 at the time of teaching and the position information of the painting robot and the workpiece calculated based on the trajectory data are obtained in real time. There is no need to send from the robot controller 4 to the PC main body 7. After teaching is completed, the position information of the painting robot and the workpiece and the trajectory data of the spray gun stored in the robot controller 4 can be taken into the PC main body 2. That's fine.

  Since the trajectory data simulation method of the present invention can verify the trajectory data taught without actually performing painting, it can be applied to all painting robots that require teaching.

1 PC
2 PC body 3 Display unit 4 Robot controller 5 Teaching pendant 6 Painting robot 7 Work 8 Spray gun 9 Strut 10 Jig 11 Fluid analysis computer

Claims (3)

The position information of the painting robot (6) and the work (7) and the trajectory data of the spray gun (8) are taken into the control means (1),
Create 3D data using the imported data,
Using the created 3D data,
While displaying a work (7) and a spray gun (8) on a display part (3),
Based on the paint particle diameter, particle speed, atomization pressure, pattern pressure, and discharge rate as the paint spray conditions that have been set in advance, fluid analysis of the paint particles is performed. A method for simulating trajectory data in a painting robot, characterized in that the paint that is sprayed and applied to the workpiece is reproduced on the display unit.   The trajectory data simulation method for a painting robot according to claim 1, wherein an airflow in a painting booth is taken into account in the fluid analysis of the paint particles.   3. The method for simulating trajectory data in a painting robot according to claim 1 or 2, wherein in the fluid analysis of the paint particles, the air flow in the painting booth generated by the rotation of the workpiece is taken into account.

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