JP3222033B2 - Painting method in painting robot equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot equipment comprising a painting robot comprising a painting robot or a working robot capable of moving a worktable equipped with the painting robot back and forth, right and left, and up and down. More particularly, the present invention relates to a coating method capable of keeping the coating thickness of the seam at the beginning and end.

[0002]

2. Description of the Related Art Conventionally, when painting is performed by a painting robot, it is performed by teaching playback.

[0003]

However, in a teaching playback that imitates a manually input operation, the starting and end of the coating film overlap with the previous or next coating film and become thicker or more distant. There is a problem that the film thickness becomes thin, and the thickness of the coating film at the seam at the beginning and end of the coating stroke becomes non-uniform, so that a beautiful finish cannot be obtained.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a coating method in a coating robot facility capable of forming a seam at a start portion and an end portion of a coating stroke with a uniform coating thickness.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a painting method in a painting robot facility of the present invention mainly comprises
Spray gun from start to end of stroke
When spraying straight at the same speed with the spray direction fixed
Then, in the main stroke section, start at a constant speed from the start end position
In the working range of the platform up to the position,
While moving the Reagan at a reduced speed along the painting direction,
How to paint the workbench of the work equipment equipped with this painting robot
The acceleration movement along the direction
Move the spray gun at a constant speed with the acceleration against 0, and
In the platform stop range from the end position to the end position,
Bot accelerates spray gun along painting direction
The workbench along the painting direction
To reduce the relative acceleration of the spray gun to zero.
To move the spray gun at a constant speed.

Further, in the above configuration, the constant velocity start position
Spray gun by coating robot from
Is moved forward at a constant speed along the painting direction.
is there.

[0007]

[0008]

[0009]

In the above configuration, the work table is driven by the work device.
To move the painting robot on the workbench,
When painting along the trolley, use a workbench
The spray gun vibrates due to the acceleration caused by starting and stopping
Paint unevenness may occur.
The sprayer applies acceleration in the opposite direction
To make the relative acceleration of the spray gun zero
This suppresses the generation of spray gun vibration.
Wear.

[0010]

[Function] In addition, the spray gun is painted by the painting robot.
By moving the robot at a constant speed in the direction
Effectively use the drive stroke to paint the spray gun.
Trokes can be increased.

[0011]

[0012]

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a painting robot facility according to the present invention will be described below with reference to the drawings. As shown in FIG. 6, the painting robot equipment includes a work apparatus 1 which can travel on a floor on which a work is arranged and can move up and down a work table 2, and a coating apparatus mounted on the work table 2 of the work apparatus 1. The robot 3 is configured.

The working device 1 includes a traveling frame 12 guided by guide rails 11 laid in the front-rear direction and movable in the front-rear direction, and a traveling carriage 13 movable on the traveling frame 12 in the left-right direction. And
The traveling platform 13 is provided with a worktable 2 supported so as to be able to move up and down via a main parallel link 14, and is disposed on the traveling frame 12 so as to be able to move close to and away from the traveling platform 13 so as to be movable. An ascending and descending carriage 16 is provided which can move up and down the work table 2 via the main parallel link 14 by a sub parallel link 15 connected to the intermediate portion.

[0015] As shown in FIG.
A bogie section 19 having running wheels 17 and guide wheels 18 guided by the guide rails 11 at both ends of the
A and 19B are provided, and a traveling pinion 22 which is rotationally driven by a traveling motor 21 is provided in each of the bogie portions 19A and 19B, and a traveling rack 23 is laid along the guide rail 11 for traveling. Pinion 22
Are engaged. A traveling device is also provided on each of the traveling vehicle 13 and the lifting vehicle 16.

The painting robot 3 disposed on the work table 5
Is an articulated type, as shown in FIG. 8, for example, a plurality of rotating arms 31A to 31E can be rotated around respective first to sixth shafts 32A to 32F by respective driving devices (not shown). The spray gun 33 for painting can be operated in any direction within a predetermined range.

FIG. 1 shows a painting state of a painting surface 4 of a work by the painting robot equipment. A paint stroke L to be painted in one operation is formed on the paint surface 4 by a start portion Ls, a linear stroke portion (main stroke portion) Lm, and an end portion Le. And the start part L
In s, in the range from the starting point L1 of the coating stroke L to the start end position L2 of the linear stroke portion Lm, the start portion coating film Ts is formed in a tapered shape in which the thickness gradually increases. Further, a uniform coating film Tm having a uniform thickness is formed in the range from the start end position L2 to the end position L3 in the linear stroke portion Lm.
Further, the end portion Le of the coating stroke L is formed in a tapered shape in which the thickness of the end portion coating film Te gradually decreases in a range from the end position L3 of the linear stroke portion Lm to the end point L4 of the coating stroke L. .

The start coating film Ts of the coating stroke L is applied over the end coating film Te 'of the end portion Le' of the previous coating stroke L '. Te is coated with the start coating film Te "of the start portion Ls" of the next coating stroke L ". The sum Ts + Te of the coating films of the start and end portions Ls and Le of the coating stroke L is expressed by a linear stroke. The seam of the coating stroke L can be formed on a uniform coating surface by setting the same thickness as the equal thickness coating portion Tm of the portion Lm.

The coating film Ts,
First, at the start Ls of the painting stroke L, the spray gun 33 is rotated forward about the sixth shaft 32F of the wrist in the painting direction to form Tm and Te, as shown in FIG. The coating speed is reduced from a high speed to a low speed from the starting point L1 of the stroke L to the start end position L2 of the linear stroke portion Lm, and the coating is performed. Next, the spray direction of the spray gun 33 is fixed to, for example, a right angle with respect to the coating surface 4,
The straight-line coating is performed over the linear stroke portion Lm at the same constant speed as the start position L2 up to the end position L3. The straight coating at this time is performed jointly by the work apparatus 1 and the painting robot 3 in order to reduce vibrations at the time of starting and stopping the work table by the work apparatus 1 as described later. Further, at the end portion Le of the painting stroke L, the spray gun 33 is rotated forward in the painting direction, and the end position L of the linear stroke portion Lm.
This is performed by increasing the coating speed from low to high from 3 to the end point L4 of the coating stroke L.

Here, at the start end position L2 and the end position L3 of the linear stroke portion Lm, the linear stroke portion Lm
In order to make the linear coating speed at m and the rotary coating speeds of the start part Ls and the end part Le continuous with each other, the speed of the nozzle tip of the spray gun 33 is obtained.
For example, in end portion Le, as shown in FIG. 4, the nozzle tip speed _{f (t) = V 0 +} a · t V of the spray gun 33 _0: t = _0, i.e. painting speed in end position L3, a: acceleration, Then, the spray gun 3 after t hours
Position of the nozzle tip 3 _{is, x (t) = V 0} · t + a · t 2/2 θ (t) = x (t) / R X (t) = (R + S) tan θ (t) wherein, x (t): Moving distance of the nozzle tip in the painting direction after t seconds θ (t): Rotation angle of the nozzle after t seconds R: Distance from the sixth shaft 32F to the nozzle tip X (t): After t seconds Distance of the coating position in the coating direction from the nozzle tip at the end position L3 to the coating surface 4
Therefore, the speed of the coating position after t seconds on the coating surface 4 is: V
(t) is: V (t) = dX / dt = (R + S) dtan θ (t) / dt = (R + S) {dtan θ (t) / dθ} / {dθ / dt} where dtan θ (t ) / Dθ = 1 / cos ² θ (t) dθ / dt = {1 / R} · dx (t) / dt = f (t) / R V (t) = ｛(R + S) · f ( t)｝ / ｛R · cos ² θ (t) 時 When t = 0, to obtain the speed F, V (t) = (R + S) · V ₀ / R = F V ₀ = R · F / ( R + S) Therefore, by setting the speed of the nozzle tip as f (t) = RF / (R + S) + at, the linear coating speed in the linear stroke portion Lm and the rotational coating of the start portion Ls and the end portion Le are obtained. The speed can be made continuous by matching the speed.

FIG. 5 shows a graph in which the thickness of the coating film was measured by rotating the spray gun 33. The acceleration a of the spray gun 33 was changed to 25 mm / s ² , 100 mm / s ² , and 200 mm / s ² . Each coating thickness Ts, Tm, Te is measured. The experimental conditions at this time were as follows: paint temperature: 28 ° C., paint viscosity: 8.5 dPas, outside air temperature: 19 ° C., nozzle tip N
o: 182-623, air pressure: 5kgf / cm ^2, the secondary pressure: 100
１２５125 kgf / cm ² , coating speed: V ₀ = 200 mm / s, spray distance: S = 400 mm, swing radius: R = 300 mm.

According to FIG. 5, under the above conditions, the start portion L
acceleration a = ± 25 mm / s ^{2 at} s and end Le
It was found that at this time, a start portion coating film Ts and an end portion coating film Te having a linear taper shape could be formed.

By the way, in the linear coating portion of the linear stroke portion Lm, the work is performed by moving the work table 2 by the work apparatus 1, but the spray gun 33 vibrates due to the acceleration at the time of starting and the deceleration at the time of stopping. Unevenness, for example, may cause a striped pattern. In the present invention, in order to solve this problem, the spray robot 33 is given an acceleration opposite to the acceleration and deceleration of the worktable 2 by the painting robot 3 to make the relative acceleration zero, thereby reducing the vibration generated in the spray gun 33. Restrained.

That is, as shown in FIG. 3A, the operation of the work table 2 by the work apparatus 1 is performed by the linear stroke portion Lm
From the starting end position L2 to the rising position L5 in the workbench starting range Lms, and then from the rising position L5 to the falling position L6 in the workbench constant speed range Lmm, and move at a constant speed.
Further, the work table is decelerated and moved in the worktable stop range Lme from the falling position L6 to the end position L3 of the linear stroke portion Lm.
The operation of the spray gun 33 by the coating robot 3 is as follows.
As shown in FIG. 3 (b), deceleration movement is performed in the workbench start range Lms, constant speed complementary movement is performed in the workbench constant speed range Lmm, and acceleration movement is performed in the workbench stop range Lme.

Therefore, as shown in FIG. 3C, the acceleration by the work table 2 and the acceleration by the painting robot are made equal, the relative acceleration of the spray gun 33 by the work table 2 and the painting robot 3 is set to 0, and the start-up is performed. By making the relative speed of the position L5 and the falling position L6 equal to the combined speed from the rising position L5 to the falling position L6, the spray gun 33 can be used.
From the start position L2 to the end position L of the linear stroke portion Lm.
3 can be moved at a constant speed. Thereby, the vibration of the spray gun 33 due to the start / stop of the work table 2 can be effectively suppressed.

The spray gun 33 can be stopped when the spray robot 33 is moved from the rising position L5 to the falling position L6 at a constant speed by the coating robot 3, but the spray gun 33 is moved at the complementary speed. The rotation arm 3
The painting stroke L can be increased in the painting direction movement range by 1A to 31D, and the movement range of the painting robot 3 moving during painting can be reduced by making the speed at the time of complementary movement immediately negative. it can.
In fact, the range of movement of the painting robot is limited.

[0027]

As described above, according to the painting method in the painting robot equipment of the present invention, the work is performed by the working device.
Move the painting robot on the worktable by driving the
When painting along the painting stroke, depending on the work equipment
The acceleration caused by starting and stopping the work table
Vibration may cause uneven coating, but in the present invention
The acceleration in the direction opposite to the workbench by the painting robot.
The relative acceleration of the spray gun is set to 0
To reduce the vibration of the spray gun
be able to.

Further, a spray gun is operated by a painting robot.
By moving the robot at the same speed in the painting direction,
Spray gun coating by effectively using the
The mounting stroke can be increased.

[0029]

[0030]

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing one embodiment of a coating film painted by a painting robot facility according to the present invention.

2A is a graph showing a relationship between a coating speed and a film thickness on a coating surface in the coating equipment, and FIG. 2B is a graph showing a moving speed of a nozzle tip of a spray gun in the coating equipment.

FIG. 3A is a graph showing a moving (painting) speed of a worktable by a working device in the painting equipment, FIG. 3B is a graph showing a painting speed of a spray gun nozzle by a painting robot in the painting equipment, c) is a graph showing a composite coating speed by a spray robot nozzle worktable and a coating robot in the coating equipment.

FIG. 4 is an explanatory view of the operation of linear coating and rotary coating in the coating equipment.

FIG. 5 is a measurement graph of the thickness of a coating film coated by the coating equipment.

FIG. 6 is an overall view showing the coating equipment.

FIG. 7 is a cross-sectional view showing a truck portion of a traveling frame of the coating equipment.

FIG. 8 is a configuration diagram showing a painting robot of the painting equipment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Working apparatus 2 Work table 3 Painting robot 4 Painting surface 31A-31D Rotating arm 32A-32F Rotating axis 33 Spray gun L Painting stroke L1 Start point L2 Straight stroke part start position L3 Linear stroke part end position L4 End point L5 Standing Upper position L6 Falling position Ls Start part Lm Straight stroke part (main stroke part) Lms Workbench start range Lmm Workbench constant speed range Lme Workbench stop range Le End part Ts Start part coating film Tm Equal thickness coating film part Te end Part coating

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuhiro Sadaya 3-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Yukio Saito 5, Nishikujo, Konohana-ku, Osaka-shi, Osaka No. 3-28, Hitachi Zosen Corporation (56) References JP-A-62-160163 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B05D 1/00-7/26

Claims (2)

(57) [Claims] 1. A main stroke portion from a start end position to an end position.
To fix the spray direction of the spray gun and
When performing line painting, the spray gun is decelerated and moved along the painting direction by the painting robot in the workbench activation range from the start end position to the constant speed start position of the work equipment,
By accelerating and moving the work table of the work apparatus equipped with the painting robot along the painting direction, the spray gun is moved at a constant speed with the relative acceleration of the spray gun being 0, and the work table from the end position at the constant speed to the end position is moved. In the stop range, the spray gun is accelerated in the painting direction by the painting robot, and the work table is decelerated in the painting direction by the working device to move the spray gun at a constant speed with the relative acceleration of the spray gun being zero. A coating method in a coating robot facility, characterized in that: 2. A coating method in the painting robot equipment according to claim 1, wherein the moving complemented constant velocity spray gun by painting robots constant velocity start position to a constant velocity end position in painting direction.