JP2845992B2 - Painting robot - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a painting robot, and more particularly to a teaching and playback type painting robot.

"Conventional technology" In a conventional painting robot, a teaching operator (operator) empirically determines a spray width and a pitch of a painting pass to create a painting pattern.

"Problems to be Solved by the Invention" Since the viscosity of the coating liquid changes with temperature, the spread angle of the spray also changes with temperature. For example, in summer, the spray is spread widely because the viscosity of the coating liquid is low, but in winter, the spray is narrowly spread because the viscosity of the coating liquid is high. For this reason, especially when an unskilled worker teaches, there is a discrepancy from the actual situation,
In some cases, the teaching data had to be corrected repeatedly. In such a situation, much time had to be spent teaching.

In order to solve the above problems, an object of the present invention is to measure a coating liquid temperature and provide spray information based on the coating liquid temperature.

"Means for Solving the Problems" In order to solve the above-mentioned problems, the present invention stores a temperature recognizing means for recognizing a temperature of a coating liquid and a temperature-spray characteristic of the coating sprayed from a coating tool. Teaching data generating means for reading, from the memory, spray state data corresponding to the recognized temperature of the coating by the memory and the temperature recognizing means, and generating teaching data based on the read spray state data. And is characterized by having.

[Operation] According to the present invention, since the coating liquid temperature is measured and the spray state data can be known based on the measured coating liquid temperature, accurate teaching data can be obtained quickly.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic perspective view showing the overall configuration of a painting robot system according to one embodiment of the present invention. In this figure, reference numeral 1 denotes a manipulator (robot main body),
Reference numeral 2 denotes a controller for controlling the position and posture of the manipulator 1, and reference numeral 3 denotes a coating liquid tank for storing a coating liquid. The manipulator 1 is generally constituted by a fixed base 4, a turning base 5, a first arm 6, a second arm 7, a wrist 8, and a coating gun 9. Between the fixed base 4 and the turning base 5, an actuator 10 for turning the turning base 5 in the horizontal direction (in the direction of arrow A) is attached and fixed, and constitutes a first joint portion. An actuator 11 for rotating the first arm 6 in the vertical direction (in the direction of arrow B) is attached and fixed between the turning base 5 and the first arm 6 to form a second joint. Further, between the first arm 6 and the second arm 7, an actuator 12 for rotating the second arm 7 in the vertical direction (in the direction of arrow C) is attached and fixed, thereby constituting a third joint. The above wrist 8
Is composed of three actuators that are driven independently (in directions of arrows D, E, and F).

Further, the controller 2 includes a CP for controlling each unit of the apparatus.
U (central processing unit, not shown), a memory (not shown) for storing various data, and an operation unit 13 including various keyboards
And a display unit 14.

A temperature sensor 16 for detecting the temperature of the coating liquid 15 is mounted inside the coating liquid tank 3 as shown in FIG. The temperature sensor 16 sends a detection signal to the controller 2 via the electric cable 17. The coating liquid 15 in the coating liquid tank 3 is
The hose 18 supplies the paint to the coating gun 9. Paint gun 9
Is provided with an air tube 19 for spraying the coating liquid 15 supplied from the coating liquid tank 3, whereby compressed air is introduced. The other end of the air tube 19 is connected to an electromagnetic valve (not shown) attached to the controller 2. The controller 2 controls the supply and cutoff of the compressed air to the coating gun 9 (that is, the injection and stop of the coating liquid 15) by opening and closing the solenoid valve.

 Next, the operation of this example will be described.

First, a manual teaching operation procedure will be described with reference to FIG.

When the operator operates the operation unit 13 to enter the manual teaching mode, the CPU waits for the arrival of a read command for the pattern width θ in step SA1. Here, the pattern width θ indicates a spread angle of a coating liquid (hereinafter, referred to as a spray 20) sprayed from the coating gun 9, as shown in FIG. 4 (b). In the standby state of step SA1, when the operator inputs a read command signal of the pattern width θ, the read command signal is taken into the CPU. When the CPU receives the read command signal, the CPU proceeds to step SA2. In step SA2, the CPU reads the coating liquid temperature T detected by the temperature sensor 16 and displays it on the display unit 14. After that, the CPU proceeds to step SA3 and sets the setting in the memory of the controller 2 based on the read coating liquid temperature T. From the converted coating liquid temperature (T) -pattern width (θ) conversion table (hereinafter simply referred to as a conversion table), a pattern width θ corresponding to the read coating liquid temperature T is obtained.
Is read. Here, the conversion table is a table in which a relation curve between the coating liquid temperature and the pattern width is tabulated. As shown in FIG. 5, the pattern width θ tends to increase within a predetermined temperature range because the viscosity of the coating liquid decreases with an increase in temperature. Then, above a certain temperature, it becomes constant irrespective of the temperature change. After reading the pattern width θ, the CPU proceeds to step SA4 and displays the read pattern θ. The operator looks at the pattern θ displayed on the display unit 14 and, based on the pattern width θ, firstly obtains a distance L from the coating gun 9 to the object 21 (hereinafter referred to as a spray flying distance L (FIG. 4). (B))) and the spray width W (FIG. 4 (b)) is calculated from the pattern width θ and the spray flight distance L. Here, the spray width W means the diameter of the spray applied to the work 21. Further, the operator determines the coating pitch P (the pitch of the coating pass, FIG. 4 (a)) and the number of passes based on the calculated spray width W. When the teaching data (spray flying distance L, coating pitch P, number of passes, etc.) is determined in this way, the operator operates the operation unit 13 to input the determined teaching data (painting pattern).

Next, an automatic teaching operation procedure will be described with reference to FIG.

When the operator operates the operation unit 13 to set the automatic teaching mode, the CPU starts the temperature sensor in step SB1.
After the coating liquid temperature detected by step 16 is read and displayed on the display unit 14, the process proceeds to step SB2, where the pattern width θ corresponding to the current coating liquid temperature is read from the conversion table. Next, in step SB3, the CPU calculates and sets the optimal spray flight distance L, spray width W, coating pitch P, and pass solution based on the read pattern width θ, and displays the calculation setting result on the display unit 14. indicate. Next, the CPU proceeds to step SB4, and automatically generates a paint trajectory based on the calculation result in step SB3. Here, the CPU determines a pattern width θ corresponding to the temperature of the coating recognized by the temperature sensor 16.
Is read from the conversion table described above, and based on the read pattern width θ, the optimal spray flight distance L, spray width W, coating pitch P, number of passes, and teaching of the coating trajectory and the like obtained based on those results. Creating data.
That is, the CPU and the program that causes the CPU to perform these arithmetic processings constitute teaching data creation means.
Then, the CPU controls the manipulator 1 to cause the manipulator 1 to perform a painting operation along the automatically generated painting trajectory. When a series of painting operations is completed, if there is a next painting operation, the CPU returns to step SB1, and if there is no next painting operation, the CPU ends the entire process of the automatic teaching operation procedure (step SB5). .

As described above, according to the above configuration, (1) at what pitch width P the coating gun 9
Can be determined, the teaching can be performed accurately, and the number of correction operations can be reduced.

(2) By measuring the coating liquid temperature T, it is possible to automatically create a coating pattern according to the temperature conditions, so that the temperature control may be coarse.

(3) Since the temperature sensor 16 can be used for controlling the temperature of the paint, existing equipment may be used.

In the above-described embodiment, the case has been described where the CPU calculates the spray flight distance L, the spray width W, and the coating pitch P based on the read pattern width θ.
Instead of this, a large number of coating liquid temperature-spray width tables and coating liquid temperature-coating pitch tables may be set for each spray flight distance L. In this way, the CPU
Can significantly reduce the calculation processing time, and thus the processing capability of the robot can be improved.

Further, in the above embodiment, the case where the CPU calculates the optimum spray distance L has been described, but the spray distance L may be input and selected by the operator.

In the above-described embodiment, the description has been made on the assumption that the size of the object 21 is known.However, if the size of the object 21 is not clear, first, the diagonal line of the object 21 is used. The following two points may be taught. In this case, the CPU determines the size of the object 21 from the taught two diagonal points.

[Effects of the Invention] As described above, according to the present invention, the coating liquid temperature is measured, and the spray state data can be known based on the measured coating liquid temperature. Can be obtained quickly.

[Brief description of the drawings]

FIG. 1 shows a painting robot according to an embodiment of the present invention.
FIG. 2 is a schematic perspective view showing the entire configuration of the system, FIG. 2 is a flowchart for explaining the operation procedure of the embodiment, FIG. 3 is a sectional view showing the configuration of the coating liquid tank of the embodiment, and FIG. FIG. 5 is a view for explaining the spraying operation of the coating gun of the embodiment, and FIG. 5 is a view showing the temperature characteristics of the spray pattern width. 1 ... manipulator (robot main body), 2 ... controller (temperature recognition means, memory, reading means), 3 ...
Coating liquid tank, 9 coating gun, 15 coating liquid, 16 temperature sensor, 20 spray, θ, pattern width,
L: spray distance, W: spray width, P: pitch width.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-280865 (JP, A) JP-A-61-21758 (JP, A) JP-A-58-34065 (JP, A) JP-A-3-28065 21363 (JP, A) Japanese Utility Model Showa 60-151567 (JP, U) Japanese Utility Model Showa 61-155066 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B05B 12/00-12 /Ten

Claims (1)

(57) [Claims] A temperature confirmation unit for recognizing a temperature of the coating; a memory for storing a temperature-spray characteristic of the coating sprayed from a coating tool; and a temperature of the coating recognized by the temperature recognizing unit. Reading the spray state data corresponding to
A coating robot comprising: teaching data creating means for creating teaching data based on the read spray state data.