JP2019005686A - Diagnosis system and diagnosis method of on-off valve for bell type coating machine - Google Patents

Abstract

To provide a technology effective for discriminating an abnormality of an on-off valve for a bell-type coating machine at an early stage.SOLUTION: A diagnosis system 1 comprises a detection part 19 that detects information on the number of revolution of a motor 13 rotationally driving the bell cup 11a of a bell type coating machine 11 and a control part 30 that controls a plurality of on-off controls 16a of a CCV 16 and controls the motor 13 by feed back on the basis of information detected by the detection part 19 and a target value of the same, where the control part 30, when outputting a first command signal S1 for open-operating the on-off valve 16a selected from among the plurality of on-off valves 16a to supply coating to the bell type coating machine 11, judges whether the selected on-off valve 16a is normal or not on the basis of a response time having required to output a second command signal S2 for raising the number of revolution of the motor 13 by feed back control from the output time of the second command signal.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for diagnosing an opening / closing valve for a bell type coating machine.

  2. Description of the Related Art Conventionally, in a painting process for automobile parts, a bell-type coating machine (hereinafter simply referred to as “coating machine”) having a bell cup that rotates at high speed has been used. This coating machine is configured to granulate paint by rotation of a bell cup and apply it to a surface to be coated of a part using air and static electricity.

  For example, Patent Document 1 discloses a coating apparatus including such a coating machine. This coating apparatus includes a color change valve (hereinafter referred to as “CCV”) in a supply path for supplying paints of different colors to a coating machine. This CCV has a plurality of on-off valves each capable of on / off operation for color change of paint. For this reason, when a switching valve selected from among a plurality of opening / closing valves is opened, the color paint corresponding to the opening / closing valve is supplied to the coating machine.

JP 2011-125787 A

  By the way, in any of the plurality of on-off valves, since the seal portion is in contact with the solvent and is frequently turned on and off, components such as springs and packing are likely to deteriorate and malfunction. In addition, the malfunction of the on-off valve can be a factor in the quality of parts. Therefore, it is conceivable to monitor the operation of the open / close valve and replace the open / close valve at the timing when the abnormal operation of the open / close valve is detected.

However, such an open / close valve is installed in a large number, and it is difficult to detect an abnormal operation of the open / close valve before the defective quality of parts occurs. Therefore, with such a countermeasure, there is a problem in that it is not possible to determine the replacement timing of the on-off valve at an appropriate timing.
However, in the measure that replaces all the open / close valves at regular intervals, the open / close valves that can be used without any problem are actually replaced.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a technique effective for early determination of an abnormality of an on-off valve for a bell type coating machine.

One embodiment of the present invention provides:
A diagnostic system for an on-off valve for a bell-type coating machine for diagnosing a plurality of on-off valves provided to be able to open and close each of a plurality of supply paths for supplying paint to the bell-type coating machine,
A detection unit for detecting information on the rotational speed of a motor that rotationally drives the bell cup of the bell type coating machine;
A control unit that performs open / close control of the plurality of open / close valves and feedback-controls the motor based on information detected by the detection unit and a target value thereof;
With
The controller outputs a first command signal for opening an opening / closing valve selected from the plurality of opening / closing valves, and when the paint is supplied to the bell-type coating machine, The response time required from the time of output to the output of the second command signal for increasing the rotation speed of the motor by the feedback control is measured. Based on the measured response time, the selected opening / closing valve is normal. A diagnostic system for an on-off valve for a bell type coating machine, configured to determine whether or not
It is in.

Another aspect of the present invention is as follows:
A diagnostic method for an on-off valve for a bell-type paint machine for diagnosing a plurality of on-off valves provided to be able to open and close each of a plurality of supply paths for supplying paint to the bell-type paint machine,
When the first command signal for opening the opening / closing valve selected from the plurality of opening / closing valves is output and the paint is supplied to the bell type coating machine, feedback control is performed from the time when the first command signal is output. A measurement step for measuring a response time required to output a second command signal for increasing the rotational speed of the motor by
A determination step of determining whether the selected on-off valve is normal based on the response time measured in the measurement step;
A diagnostic method for an on-off valve for a bell type coating machine,
It is in.

  In the above diagnostic system, the detection unit has a function of detecting information related to the rotational speed of the motor that rotationally drives the bell cup of the bell type coating machine. The control unit has a function of performing open / close control of the plurality of open / close valves and performing feedback control of the motor based on the information detected by the detection unit and the target value.

  In the above diagnostic system and diagnostic method, when the first command signal for opening the opening / closing valve selected from the plurality of opening / closing valves is output and the opening / closing valve is opened, the supply corresponding to the opening / closing valve The paint is supplied to the bell type painter through the route. At this time, the load received by the bell cup is increased by supplying the paint, and the rotational speed of the motor that rotationally drives the bell cup temporarily decreases. Therefore, since the process for returning the rotational speed of the motor is performed by the feedback control, the rotational speed of the motor increases.

  Here, if the opening / closing valve deteriorates and malfunctions, the timing at which the paint is actually supplied to the bell-type coating machine after the first command signal is output becomes slower or faster than normal. That is, the response time required from the output of the first command signal to the output of the second command signal becomes longer or shorter than that in the normal state.

Therefore, by measuring the response time, it is possible to determine whether or not the open / close valve is normal. In addition, by focusing on the delay in the output timing of the second command signal with respect to the output timing of the first command signal, it is possible to determine an early indication of an abnormality in the on-off valve at an earlier stage than the occurrence of a defective part quality. Is possible.
And according to this discrimination | determination result, an operator should just replace | exchange the opening-and-closing valve determined to be abnormal abnormally. As a result, it becomes possible to prevent the occurrence of defective parts.

  As described above, according to each aspect described above, it is possible to provide a technique that is effective for early determination of an abnormality in the opening / closing valve for a bell-type coating machine.

1 is a schematic diagram of a coating apparatus according to a first embodiment. The figure which shows typically the diagnostic system of the on-off valve for bell type coating machines of Embodiment 1. FIG. 3 is a flowchart of coating control in the first embodiment. 4 is a flowchart of an on-off valve diagnosis process in the first embodiment. The graph which shows the relationship between the command value to an electropneumatic regulator, and time about each at the time of normal and deterioration of an on-off valve. 10 is a flowchart of an on-off valve diagnosis process in the second embodiment.

  A preferred embodiment of the above aspect will be described.

  In the “information about the motor speed” described in this specification, the rotation speed of the bell cup driven by the motor, the rotation speed of the motor and the bell cup, as well as the rotation speed of the motor itself, are uniquely defined. Information such as parameters that can be derived is included. Therefore, the target rotational speed may be a target value for the rotational speed of the motor, or may be a target value for the rotational speed of the bell cup.

  In the above diagnostic system and diagnostic method, when the time difference between the measured response time and a predetermined reference time is equal to or less than a determination threshold value, it is determined that the on-off valve is normal, and the time difference is determined for the determination. It is preferable to determine that the opening / closing valve is abnormal when the threshold value is exceeded. Thereby, it is possible to improve the reliability of the determination by determining whether or not the opening / closing valve is normal using the time difference between the measured response time and the reference time.

  The diagnostic system preferably includes a notification unit that notifies the determination result determined by the control unit. Accordingly, it is possible to promptly notify the operator of the replacement timing of the opening / closing valve by the notification unit.

  In the above diagnostic system, both the bell type painting machine and the plurality of on-off valves are attached to the robot arm of the painting robot, and the control unit is controlled by a robot control unit that controls the movement trajectory of the robot arm. Preferably, it is configured. As a result, the controller for the diagnostic system can be shared by the robot controller.

  Hereinafter, a diagnostic system (hereinafter simply referred to as “diagnostic system”) for an on-off valve for a bell type paint machine of the present embodiment will be described with reference to the drawings.

(Embodiment 1)
As shown in FIG. 1, the coating apparatus 10 according to the first embodiment is for coating a vehicle body W. The painting apparatus 10 includes a bell type painting machine 11 (hereinafter simply referred to as “coating machine 11”), a painting robot 20, and a robot control unit 22.

  The painting machine 11 includes a bell cup 11 a that is rotationally driven by a motor 13 accommodated in a housing 12. The coating machine 11 is configured to granulate paint by rotation of a cup-shaped bell cup 11a and apply it to the surface to be coated of the vehicle body W using air and static electricity.

  The painting robot 20 has a robot arm 21 having a plurality of rotation axes. The robot arm 21 is configured such that its movement trajectory is controlled by a robot control unit 22. Further, the coating machine 11 is attached to the distal end portion 21a of the robot arm 21 together with a color change valve 16 described later. For this reason, the position and posture of the painting machine 11 are changed by the robot arm 21 of the painting robot 20 moving in accordance with the movement locus taught in advance.

  As shown in FIG. 2, a flow passage 12 a through which the paint flows toward the bell cup 11 a is provided in the housing 12 of the coating machine 11. Downstream portions of a plurality (three in FIG. 2) of supply paths 15 having the same number as the number of paint colors are connected to the upstream portion of the flow passage 12a. The paint discharged from each of a plurality of (three in FIG. 2) pumps 14 flows to the flow passage 12a of the coating machine 11 through the corresponding supply path 15.

  A plurality of supply paths 15 are provided with color change valves (hereinafter referred to as “CCV”) 16. The CCV 16 includes a plurality (three in FIG. 2) of opening / closing valves 16a. Each of the plurality of opening / closing valves 16a is provided in each of the plurality of supply paths 15 so as to be openable / closable. The plurality of on-off valves 16a are all provided outside the coating machine 11.

  By switching the plurality of on-off valves 16a, one on-off valve 16a is selectively opened, and the paint of the color corresponding to the supply path 15 flows through the supply path 15 corresponding to the on-off valve 16a. To be supplied. The on-off valve 16a itself can also be called CCV.

  Note that the numbers of the pumps 14, the supply paths 15, and the open / close valves 16 a in FIG. 2 are appropriately changed according to the number of colors used.

  The on-off valve 16a is configured as a valve that is operated by the air pressure of the air supplied through the air supply path 17a. Although not particularly illustrated, the opening / closing valve 16a includes a valve body and an elastic spring that biases the valve body in a closing direction. Since the opening / closing valve 16a is in contact with the solvent and is frequently turned on / off, components such as a spring and packing are likely to deteriorate and malfunction is likely to occur.

  An electromagnetic valve 17 controlled by the control unit 30 is provided in the air supply path 17a so as to be openable and closable. The electromagnetic valve 17 is a known electromagnetic valve that operates using electromagnetic force, and a description of a specific structure is omitted. However, the electromagnetic valve 17 is opened by the first command signal S1 output from the control unit 30. It is configured.

  In FIG. 2, for convenience of explanation, the air supply path 17a is shown connected to only one open / close valve 16a. However, in reality, the air supply path 17a is similarly applied to the other open / close valves 16a. Is connected.

  The air pressure acting on the valve body of the on-off valve 16a is relatively high when the electromagnetic valve 17 is opened, and is relatively low when the electromagnetic valve 17 is closed. The air pressure overcomes the biasing force of the elastic spring and the valve body moves in the opening direction, so that the opening / closing valve 16a opens. On the other hand, the opening / closing valve 16a is closed by the air pressure being lowered and the valve body moving in the closing direction according to the biasing force of the elastic spring.

  The motor 13 of the coating machine 11 is configured as an air motor that rotates by the air pressure of the air supplied through the air supply path 18a. When the motor 13 rotates about the rotation axis L, the bell cup 11 a also rotates about the rotation axis L coaxial with the motor 13.

  An electropneumatic regulator (electropneumatic Reg.) 18 is provided in the air supply path 18a. The electropneumatic regulator 18 is a known electropneumatic regulator, and a description of a specific structure is omitted. However, an electric command signal output from the control unit 30 is detected, and the motor 13 is detected according to the command signal. Has a function of controlling the air pressure supplied to the. The electropneumatic regulator 18 increases the air pressure in the air supply path 18a by the second command signal S2 output from the control unit 30, while the air supply path 18a by the third command signal S3 output from the control unit 30. The air pressure is reduced.

  The detection unit 19 has a function of detecting information related to the number of rotations of the motor 13 that rotationally drives the bell cup 11 a of the coating machine 11. The detection unit 19 is a non-contact type rotational speed detector equipped with an LED, and detects information on the rotational speed by detecting reflected light returned from the red visible light emitted from the LED hitting the rotating portion of the motor 13. Configured to get. Instead of the detection unit 19, a rotational speed detector of another detection method can be employed.

  Here, the diagnosis system 1 of the first embodiment is for diagnosing the plurality of on-off valves 16a of the CCV 16, and includes the detection unit 19, the control unit 30, and the notification unit 40. The control unit 30 is configured as a control unit that is also used as the robot control unit 22.

  The control unit 30 controls the opening and closing of the plurality of on-off valves 16a, and feeds back the motor 13 based on the information detected by the detection unit 19 and its target value, that is, based on the motor 13 and its target rotational speed. It has a function to control. In order to realize this function, the control unit 30 includes a storage unit 31, a timer 32, a calculation unit 33, a determination unit 34, and a drive unit 35.

  The storage unit 31 temporarily stores information detected by the detection unit 19 and the timer 32, information such as an arithmetic expression used in the calculation of the calculation unit 33, and a threshold for determination, and stores the stored information according to a request. Has a function to output.

  The timer 32 has a function of measuring a response time used in determination of an opening / closing valve diagnosis process described later.

  The computing unit 33 has a function of performing necessary computations using information stored in the storage unit 31.

  The determination unit 34 has a function of determining whether the opening / closing valve 16a is normal in the opening / closing valve diagnosis control described later, using the calculation result of the calculation unit 33.

  The drive unit 35 drives each of the electromagnetic valve 17, the electropneumatic regulator 18, and the notification unit 40 based on the information stored in the storage unit 31, the calculation result of the calculation unit 33, and the determination result of the determination unit 34. The control signal is output.

  The notification unit 40 has a function of notifying the determination result determined by the determination unit 34 of the control unit 30. As the notification unit 40, typically, speakers that output sound information such as alarm sounds and voices, and lamps that can be turned on and blinking are used.

  Next, the coating control by the control unit 30 will be specifically described with reference to FIG.

As shown in the flowchart of FIG. 3, this painting control is achieved by sequentially executing the processing from step S101 to step S106.
In addition, another step may be added to this flowchart as needed, or one step may be divided into a plurality of steps.

  Step S101 is a step in which the motor 13 is started and rotated at a constant rotational speed. In step S101, the electropneumatic regulator 18 is controlled to supply the motor 13 with air pressure for achieving the target rotational speed.

  In step S102, based on the paint discharge command for painting, the solenoid valve 17 is opened for the opening operation so that the opening / closing valve 16a selected from the plurality of opening / closing valves 16a of the CCV 16 is opened when the valve is switched. 1 is a step of outputting a command signal S1. According to this step S102, the selected on-off valve 16a is opened, and the paint is supplied to the flow passage 12a of the coating machine 11.

  Step S <b> 103 is a step of outputting a second command signal S <b> 2 for increasing the rotational speed of the motor 13 to the electropneumatic regulator 18. According to this step S103, the air pressure of the air supplied to the motor 13 through the air supply path 18a increases according to the command value of the second command signal S2.

  Here, when the paint is supplied to the flow passage 12a of the coating machine 11, the load of the bell cup 11a increases, and the rotational speed of the motor 13 that rotationally drives the bell cup 11a temporarily decreases. Therefore, in step S103, a command value for returning the motor 13 from the reduced state to the target rotational speed by the feedback control by the control section 30 is output from the control section 30 to the electropneumatic regulator 18. As a result, the air pressure in the air supply path 18a increases and the rotation speed of the motor 13 increases.

  Step S104 is a step of determining whether or not the rotational speed of the motor 13 detected by the detection unit 19 is equal to or higher than the target rotational speed. If it is determined in step S104 that the rotational speed of the motor 13 is equal to or higher than the target rotational speed, the process proceeds to step S105. If not, the process returns to step S103.

  Step S105 is a step of outputting a third command signal S3 for lowering the rotational speed of the motor 13 to the electropneumatic regulator 18. According to this step S105, the air pressure of the air supplied to the motor 13 through the air supply path 18a decreases according to the command value of the third command signal S3. As a result, the rotational speed of the motor 13 is reduced.

  Step S106 is a step of determining whether or not the rotational speed of the motor 13 detected by the detection unit 19 is lower than the target rotational speed. If it is determined in step S106 that the rotational speed of the motor 13 is lower than the target rotational speed, the process returns to step S103, and if not, the process returns to step S105.

  By continuously detecting the number of rotations of the motor 13 by the detection unit 19, the process from step S103 to step S106 is repeated while the motor 3 is activated.

  Next, the opening / closing valve diagnosis process by the control unit 30 will be specifically described with reference to FIGS. 4 and 5.

As shown in the flowchart of FIG. 4, the opening / closing valve diagnosis process is achieved by sequentially executing the processes from step S201 to step S207.
In addition, another step may be added to this flowchart as needed, or one step may be divided into a plurality of steps.

  Step S201 is a step of starting response time measurement in accordance with the command value of the second command signal S2 output in step S103 in FIG. That is, according to this step S201, the timer 32 is controlled to start measuring the response time.

  The “response time” here refers to the second command to the electropneumatic regulator 18 after the first command signal S1 is output to the solenoid valve 17 for the on / off valve 16a selected from the plurality of on / off valves 16a at the time of valve switching. This refers to the time required to output the signal S2. In a normal state before the opening / closing valve 16a deteriorates, this response time is substantially constant, but in an abnormal state where the opening / closing valve 16a deteriorates, this response time becomes longer or shorter than in the normal state. .

  Step S202 is a step of determining whether or not the increase width of the command value of the second command signal S2 output in step S103 in FIG. 3 is greater than or equal to a set value. As this set value, a value that can be used to determine that the command value has been changed in the upward direction is used. According to step S202, the process proceeds to step S203 on condition that the increase width of the command value is equal to or greater than the set value.

  Step S203 is a step of stopping the measurement of the initial response time started in step S201. That is, according to this step S203, the timer 32 is controlled so as to stop measuring the response time.

  The processing from step S201 to step S203 is a measurement for measuring the response time required from the output of the first command signal S1 to the output of the second command signal S2 for increasing the rotational speed of the motor 13 by feedback control. It is a step.

  Step S204 is a determination step for determining whether or not the selected on-off valve 16a is normal based on the response time measured in the measurement steps from Step S201 to Step S203. In step S204, specifically, a value obtained by subtracting the reference time from the response time measured in step S203 is obtained as a time difference. And it is determined whether this time difference is below the threshold value for determination.

  If the time difference is equal to or less than the determination threshold value, it is determined in step S205 that the on-off valve 16a is in a normal state. On the other hand, if the above time difference exceeds the determination threshold, it is determined in step S206 that the opening / closing valve 16a is in an abnormal state, and subsequently the determination result in step S206 is notified using the notification unit 40 in step S207. To do. At this time, the determination result in step S205 may also be notified.

  The above open / close valve diagnosis process is executed one by one for each of the multiple open / close valves 16a at the time of CCV 16 valve switching, and all open / close valves 16a are repeatedly diagnosed.

  Here, an example of the time change of the command value output to the electropneumatic regulator 18 will be described with reference to FIG. In FIG. 5, the time change of the command value when the opening / closing valve 16a is normal is indicated by a broken line, and the time change of the command value when the opening / closing valve 16a is abnormal is indicated by a solid line. ing.

  As shown in FIG. 5, when the on-off valve 16a is normal, a first command signal S1 for opening operation is output to the electromagnetic valve 17 at time t1 (see step S102 in FIG. 3). Thereafter, the second command signal S2 is output to the electropneumatic regulator 18 at time t2, and the command value of the second command signal S2 starts to rise from Va to Vb. Therefore, the response time at normal time is Ta, and the response time Ta at this time is a reference time for comparison with the deterioration time (see step S204 in FIG. 4).

  Note that it is preferable to measure the reference time Ta when the coating control in FIG. 3 is executed for the normal opening / closing valve 16a. Alternatively, the reference time Ta may be measured in advance during the test operation of the coating apparatus 10. Then, the measured reference time Ta is temporarily stored in the storage unit 31 of the control unit 30.

  On the other hand, when the opening / closing valve 16a is deteriorated, the first command signal S1 for opening operation is output to the electromagnetic valve 17 at time t1 as in the normal state (see step S102 in FIG. 3). Thereafter, at time t3 later than time t2, the second command signal S2 is output to the electropneumatic regulator 18, and the command value of the second command signal S2 starts to rise from Va to Vb. Therefore, the response time at the time of deterioration is Tb (> Ta) that exceeds the normal time. Further, a time difference ΔT, which is a value obtained by subtracting a predetermined normal response time (reference time) Ta from the response time Tb at this time, is a threshold value for determination M stored in advance in the storage unit 31 of the control unit 30. (See step S204 in FIG. 4). The determination threshold value M may be a common value for all of the plurality of on-off valves 16a, or may be a value set individually for each of the plurality of on-off valves 16a.

  FIG. 5 illustrates the case where the output timing of the second command signal S2 to the electropneumatic regulator 18 becomes slower than normal due to deterioration of the on-off valve 16a, but this output timing is higher than normal. It can be expected to be faster. In this case, since the response time Tb at the time of deterioration is lower than the response time Ta at the normal time, a value obtained by subtracting the response time Tb from the response time Ta may be set as the time difference ΔT.

  Next, the function and effect of the first embodiment will be described.

  In the coating apparatus 10, when the on-off valve 16 a of the CCV 16 deteriorates and causes an operation failure, the paint is actually supplied to the coating machine 11 after the first command signal S <b> 1 for opening the on-off valve 16 a is output. The timing is slower or faster than normal. That is, the response time Tb required from the output of the first command signal S1 to the output of the second command signal S2 becomes longer or shorter than the normal reference time Ta.

  Therefore, in the first embodiment, when the control unit 30 outputs the first command signal S1 to the electromagnetic valve 17 and the paint is supplied to the coating machine 11, the second command signal S2 is output from the time when the first command signal S1 is output. Whether or not the selected on-off valve 16a is normal is determined on the basis of the response time Tb until output of.

Thereby, it can be determined whether the opening / closing valve 16a is normal. In addition, by paying attention to the delay in the output timing of the second command signal S2 with respect to the output timing of the first command signal S1, an indication of an abnormality in the opening / closing valve can be made earlier at the stage before the poor quality of the vehicle body W occurs. It becomes possible to determine.
And according to this discrimination | determination result, an operator should just replace | exchange the opening / closing valve 16a determined to be abnormal abnormally. As a result, it is possible to prevent the poor quality of the vehicle body W from occurring.

  In particular, in the diagnostic system 1 and the diagnostic method, when the time difference ΔT between the measured response time Tb and a predetermined reference time Ta is equal to or less than the determination threshold M, the on-off valve 16a is normal and the time difference ΔT is determined. By determining that the on-off valve 16a is abnormal, that is, deteriorated when the use threshold M is exceeded, the reliability of the determination can be increased.

  Further, according to the first embodiment, it is possible to promptly notify the operator of the replacement timing of the opening / closing valve 16a by the notification unit 40.

  Further, according to the first embodiment, the control unit 30 for the diagnosis system 1 can be shared by the robot control unit 22.

  Hereinafter, another embodiment related to the first embodiment will be described with reference to the drawings. In other embodiments, the same elements as those of the first embodiment are denoted by the same reference numerals, and the description of the same elements is omitted.

(Embodiment 2)
The diagnostic system 101 of the second embodiment is configured by the same elements as the diagnostic system 1 of the first embodiment. On the other hand, the opening / closing valve diagnosis processing by the control unit 30 of the diagnosis system 101 is different from that in the first embodiment.
Others are the same as in the first embodiment.

  As shown in FIG. 6, the on-off valve diagnosis process in the second embodiment is achieved by sequentially executing the processes from step S301 to step S307. Among these, the steps from step S301 to S303 are the same as the steps from step S201 to S203 in the first embodiment, and thus description thereof is omitted.

  Step S304 is a determination step for determining whether or not the on-off valve 16a is normal using the response time measured in the measurement steps from Step S301 to Step S303. Specifically, in this step S304, it is determined whether or not the response time (see response time Tb in FIG. 5) measured in the measurement step is equal to or less than the determination threshold value N.

  If the response time Tb is equal to or shorter than the determination threshold value N, it is determined in step S305 that the on-off valve 16a is in a normal state. On the other hand, when the response time Tb exceeds the determination threshold value N, it is determined in step S306 that the on-off valve 16a is in a deteriorated state, and subsequently the determination result of step S306 is obtained using the notification unit 40 in step S307. Inform. At this time, the determination result in step S305 may also be notified.

  The determination threshold N is set in advance and stored in the storage unit 31 of the control unit 30 in advance. This determination threshold value N may be a common value for all of the plurality of on-off valves 16a, or may be a value set individually for each of the plurality of on-off valves 16a.

According to the second embodiment, the process of measuring the reference time Ta as in the first embodiment can be omitted by comparing the measured response time Tb itself with the determination threshold value N. It can be simplified.
In addition, the same effects as those of the first embodiment are obtained.

  The present invention is not limited to the above-described exemplary embodiments, and various applications and modifications can be considered without departing from the object of the present invention. For example, the following embodiments applying the above-described embodiment can be implemented.

  In the above embodiment, the case where the parameters used for the feedback control of the motor 13 are the rotation speed of the motor 13 and its target rotation speed is exemplified, but instead, the rotation speed of the bell cup 11a and its target rotation speed. Can also be used for feedback control of the motor 13.

  In the above embodiment, the case where the determination result determined by the determination unit 34 of the control unit 30 is notified by the notification unit 40 has been exemplified. However, instead of or in addition to the notification unit 40, the above determination result is displayed on the screen. It is also possible to use monitors and printers that print out the determination results.

  In the above embodiment, the case where the control unit 30 of the diagnostic system 1, 101 is also used as the robot control 22 is illustrated, but instead, the control unit 30 is a dedicated control unit for the diagnostic system 1, 101. You can also.

  In the above embodiment, the case where the open / close valve diagnosis process is executed for all the open / close valves 16a of the CCV 16 has been illustrated, but instead of this, one or more specific open / close of the multiple open / close valves 16a as necessary. The open / close valve diagnosis process may be executed only for the valve 16a.

  In the above embodiment, the command signal S1 for opening the on-off valve 16a is output to the electromagnetic valve 17 communicating with the on-off valve 16a. However, when an electromagnetic valve is used as the on-off valve 16a, The electromagnetic valve itself may be output with a command signal for opening operation.

  In the above embodiment, the case where the motor 13 that rotationally drives the bell cup 11a of the coating machine 11 is an air motor is exemplified, but an electric motor may be employed instead of the motor 13. In the case of the motor 13 of the present embodiment, command signals S2 and S3 for changing the number of revolutions are output to the electropneumatic regulator 18. However, in the case of an electric motor, the command signals S2 and S3 are used for changing the number of revolutions. The command signal may be output to the electric motor itself.

  In the above embodiment, the electromagnetic valve 17 is provided in the air supply path 17a for supplying air to the on-off valve 16a, and the electropneumatic regulator 18 is provided in the air supply path 18a for supplying air to the motor 13. Accordingly, at least one of the electromagnetic valve 17 and the electropneumatic regulator 18 can be changed to another type of valve.

  In the above embodiment, the case where the opening / closing valve 16a is provided outside the coating machine 11 is illustrated, but instead, the opening / closing valve 16a may be provided in the housing 12 of the coating machine 11.

  In the above embodiment, the case where the color of the coating machine 11 is changed by switching the opening / closing valve 16a provided in the paint supply path 15 is exemplified, but instead, the paint is filled and the paint supply path is provided. An opening / closing valve that can be opened and closed is built in, and a plurality of cartridges, each of which can be attached to and detached from the coating machine, may be used, and the color of the coating machine may be changed by replacing the plurality of cartridges. In this case, a plurality of cartridges each incorporating an on-off valve are components of the coating apparatus.

  A cartridge filled with a paint of a desired color is selected from a plurality of cartridges and attached to the coating machine. Thus, the open / close valve of the selected cartridge is provided in the supply path for supplying the paint of this color so as to be openable / closable. This on-off valve can also be referred to as an on-off valve selected from a plurality of on-off valves.

  Air is supplied through an electromagnetic valve 17 and an air supply path 17a to an open / close valve built in a cartridge attached to the coating machine to open the open / close valve, and supply an extrusion liquid for extruding paint to the cartridge. . As a result, the paint filled in the cartridge is sprayed from the coating machine. In addition, the open / close valve built in the cartridge can be diagnosed using the above-described diagnostic system 1,101. Each time the cartridge is replaced in the coating machine, the open / close valve built in the cartridge can be diagnosed.

  In view of the above-described embodiment and other modified examples, the following modes are conceivable.

As one aspect,
"With a bell-type coating machine,
A plurality of on-off valves each provided to be openable and closable in each of a plurality of supply paths for supplying paint to the bell-type coating machine;
A detection unit for detecting information on the rotational speed of a motor that rotationally drives the bell cup of the bell type coating machine;
A control unit that performs open / close control of the plurality of open / close valves and feedback-controls the motor based on information detected by the detection unit and a target value thereof;
With
The controller outputs a first command signal for opening an opening / closing valve selected from the plurality of opening / closing valves, and when the paint is supplied to the bell-type coating machine, It is determined whether or not the selected on-off valve is normal based on the response time required from the time of output until the output of the second command signal for increasing the rotational speed of the motor by the feedback control. The painting equipment is composed of "
It can take the form.
According to this aspect, it is possible to provide a coating apparatus having a discrimination function that can discriminate abnormalities of the on-off valve at an early stage.

As another aspect,
"With a bell-type coating machine,
A detection unit for detecting information on the rotational speed of a motor that rotationally drives the bell cup of the bell type coating machine;
A plurality of cartridges each having a built-in opening / closing valve filled with a paint and capable of opening and closing the supply path of the paint, each configured to be detachable from the bell-type coating machine;
The open / close valve of a cartridge attached to the bell type paint machine is selected from the plurality of cartridges and controlled to open / close, and the motor is fed back based on the information detected by the detection unit and its target value. A control unit to control;
With
The control unit outputs a first command signal for opening the on-off valve, and when the paint is supplied from the cartridge to the bell-type coating machine, the feedback control is performed from the output of the first command signal. The coating apparatus is configured to determine whether or not the on-off valve is normal based on a response time required to output a second command signal for increasing the number of rotations of the motor. . "
It can take the form.
According to this aspect, it is possible to provide a coating apparatus having a determination function capable of determining at an early stage an abnormality of an on-off valve built in a cartridge attached to a bell type coating machine.

1,101 Diagnosis system for on-off valve for bell type painter 11 Bell type painter (painter)
11a Bell cup 13 Motor 15 Supply path 16 Color change valve (CCV)
16a On-off valve 19 Detection unit 20 Coating robot 21 Robot arm 22 Robot control unit 30 Control unit 40 Notification unit M, N Determination threshold S1 First command signal S2 Second command signal Ta Response time (reference time)
Tb Reference time ΔT Time difference

Claims (6)

A diagnostic system for an on-off valve for a bell-type coating machine for diagnosing a plurality of on-off valves provided to be able to open and close each of a plurality of supply paths for supplying paint to the bell-type coating machine,
A detection unit for detecting information on the rotational speed of a motor that rotationally drives the bell cup of the bell type coating machine;
A control unit that performs open / close control of the plurality of open / close valves and feedback-controls the motor based on information detected by the detection unit and a target value thereof;
With
The controller outputs a first command signal for opening an opening / closing valve selected from the plurality of opening / closing valves, and when the paint is supplied to the bell-type coating machine, The response time required from the time of output to the output of the second command signal for increasing the rotation speed of the motor by the feedback control is measured. Based on the measured response time, the selected opening / closing valve is normal. A diagnostic system for an on-off valve for a bell-type coating machine, which is configured to determine whether or not it is.   The control unit determines that the opening / closing valve is normal when a time difference between the measured response time and a predetermined reference time is equal to or less than a determination threshold value, and the time difference exceeds the determination threshold value. The diagnostic system for an on-off valve for a bell type paint machine according to claim 1, wherein the on-off valve is determined to be abnormal.   The diagnostic system for an on-off valve for a bell type paint machine according to claim 1 or 2, further comprising a notification unit that notifies a determination result determined by the control unit. Both the bell-type coating machine and the plurality of on-off valves are attached to the robot arm of the painting robot.
The said control part is a diagnostic system of the on-off valve for bell type coating machines as described in any one of Claims 1-3 comprised by the robot control part which controls the movement locus | trajectory of the said robot arm. A diagnostic method for an on-off valve for a bell-type paint machine for diagnosing a plurality of on-off valves provided to be able to open and close each of a plurality of supply paths for supplying paint to the bell-type paint machine,
When the first command signal for opening the opening / closing valve selected from the plurality of opening / closing valves is output and the paint is supplied to the bell type coating machine, feedback control is performed from the time when the first command signal is output. A measurement step for measuring a response time required to output a second command signal for increasing the rotational speed of the motor by
A determination step of determining whether the selected on-off valve is normal based on the response time measured in the measurement step;
A diagnostic method for an on-off valve for a bell-type coating machine.   In the determination step, the opening / closing valve is determined to be normal when the time difference between the response time measured in the measurement step and a predetermined reference time is equal to or less than a determination threshold, and the time difference is determined for the determination. The diagnostic method for an on-off valve for a bell type paint machine according to claim 5, wherein the on-off valve is determined to be abnormal when a threshold value is exceeded.

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