JP3376000B2 - Control device and control method for sealing work robot - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to a control method and apparatus for sealing a robot to perform the sea-ring work robot.

[0002]

2. Description of the Related Art It is common practice to attach a sealing gun to the wrist at the tip of a robot arm, teach the robot a sealing operation, and perform the sealing operation by the robot. Conventionally, the control of the sealing work by this robot is provided with a sealant supply control device separately from the robot control device, and based on a control signal such as a seal start or stop command from the robot control device, the sealant is supplied. The supply control device controls the sealing agent supply rate. In addition, there are two types of seal guns, one that applies the sealant using a rod-shaped nozzle and the other that uses a spray nozzle.The former is used to apply the sealant linearly to the target object, and the latter is a planar object. It is used when a sealant is applied to the surface.

[0003]

When the robot performs the sealing work as described above, it requires two control devices, a robot control device and a sealant supply control device for controlling the supply of the sealant. Further, sealing gun of the bar-shaped nozzle from supplying the sealing agent to the linear, the coating film thickness of the sealant is uniformly applied is <br/> not desirable with respect to the object.

The object of the present invention, also controls the sealing agent supply pump by the robot controller, when sealing gun is bar-shaped nozzle, as the sealant is evenly applied to the object, the robot and the seal and to provide a control method and how to control the agent supply pump.

[0005]

[Means for Solving the Problems] A stick-shaped nozzle for sealing
Attach the seal gun to be applied to the robot and apply the sealant.
In a control method of performing cloth by a robot, the robot
Supply the sealant to the seal gun to the control unit of the controller.
The sealant supply pump is connected and the robot is commanded.
Connected to the controller based on the speed command after acceleration / deceleration processing.
The robot controller is provided with means for controlling the motor of the sealant supply pump .

[0006]

[Action] Since the speed command after the acceleration process of the robot can be determined by the robot controller, the robot control device on the basis of the speed command after the acceleration process of the robot determined
The speed command is output to control the motor of the sealant supply pump. As a result, since the motor of the sealant supply pump is controlled according to the robot moving speed, including the acceleration / deceleration state, that is, the relative speed between the object and the seal gun, the sealant does not generate the sealant according to the relative speed. Since it is supplied and applied to the object, the sealing agent is evenly applied to the object.

[0007]

FIG . 2 is a block diagram of a main part of a sealing device using a robot for performing a sealing work according to an embodiment of the present invention. A robot controller 10 includes a processor (CPU) 11 and a ROM 1 for storing a control program.
2, RAM 13 used for temporary storage of data, non-volatile memory 14 for storing teaching programs, teaching operation panel 15 with display device, axis control for driving and controlling the drive source (servo motor) of each axis of the robot The circuit 16, an additional axis control circuit 17 and an input / output interface 18, which are additionally provided for controlling axes other than the axes of the robot, are connected to the bus. Further, each axis drive source (servo motor) of the robot body 20 is connected to the axis control circuit 16, and the motor 30a of the sealant supply pump for supplying the sealant to the seal gun 30b is connected to the additional axis control circuit 17. Has been done. The seal gun 30b is attached to the wrist of the robot body 20 at the end of the arm . Also, sealing gun 30
In b, there is a discharge port opening / closing device for controlling the discharge of the sealant, which is controlled by an electromagnetic valve. This solenoid valve is connected to the input / output interface 18, and its operation is controlled by the robot controller 10 to control the opening / closing of the discharge port.

Next, a description will be given with reference to a flowchart of a process executed by the processor 11 of the robot control device shown in FIG. 1 for each predetermined cycle, when a stick gun type seal gun is attached to the wrist of a robot and a sealing operation is performed. First, the movement path of the seal gun 30b is taught to the robot in advance, and the operation teaching program is already stored in the nonvolatile memory 14. The type of seal gun used is stored in a non-volatile memory together with the teaching program. In the case of this embodiment, it is assumed that a rod-shaped nozzle is designated. When the operation start command is input, the processor 11 sequentially reads the teaching program block by block at a predetermined cycle, drives and controls the servo motor of each axis of the robot body 20 through the axis control circuit 16 to drive the robot, and the seal gun. Will be moved along the teaching route. Then, when a sealing start command is read from the teaching program, the electromagnetic valve of the seal gun 30b is operated via the input / output interface 18 to open the sealing agent discharge port and set the flag F to "1". . When the sealing end command is read, the solenoid valve is deactivated and the sealing agent discharge port is closed, and the flag F is set to "0". Furthermore, processor 1
1 executes the processing of FIG. 1 every predetermined cycle (for example, a cycle synchronized with a distribution cycle for distributing a movement command to each axis of the robot).

First, it is judged whether or not the flag F is set to "1" (step a1). If it is not set to "1", the supply of the sealing agent controlled via the additional axis control circuit 17 is performed. Rotation speed command V of the pump motor 30a
The cmd is set to "0" (step a5), output to the additional axis control circuit 17 (step a4), and the process of the cycle is finished. That is, while the sealing start command is not read from the teaching program and the flag F is not set to "1", the speed command of the pump motor 30a is "0", the motor does not rotate, and the sealant is the target. Not supplied to things.

On the other hand, when the sealing start command is read from the teaching program, as described above, the solenoid valve is activated, the sealing agent discharge port is opened, and the flag F is set to "1". When it is detected that the flag F is set to "1", the speed command Vr after the acceleration / deceleration processing executed before the pulse distribution of the movement command to each axis of the robot is read (step a2). ), The speed command Vr is multiplied by the set proportional gain K1 to obtain the speed command Vcmd of the motor of the sealant supply pump (step a3), and the speed command Vcmd is added to the additional axis control circuit 17
(Step a4) to drive the motor 30a of the seal supply pump. That is, when each axis of the robot is drastically driven when starting or stopping the driving of the robot, vibration or impact is generated.Therefore, acceleration / deceleration control is performed to gradually accelerate or decelerate each axis of the robot. Processing is performed, and the moving speed of the robot follows the moving speed Vr after this acceleration / deceleration processing. Therefore, if the speed command Vr after this acceleration / deceleration processing is read and the motor 30a of the seal supply pump is driven by the speed command Vcmd proportional to this speed Vr, the sealing agent supplied to the object from the rod-shaped nozzle of the seal gun 30b The supply amount is the moving speed Vr of the robot,
That is, it becomes proportional to the moving speed of the seal gun, and even if the moving speed Vr changes, the supply amount of the sealing agent changes with the change, so that the sealing agent is evenly applied to the object.

Hereinafter, while the flag F is "1", the processing of steps a1 to a4 is repeated for each cycle to control the rotation speed of the motor 30a of the seal supply pump.
When the sealing stop command is read from the teaching program and the flag F is set to "0", the rotational speed command Vcmd to the motor 30a of the seal supply pump becomes "0" (step a5), and the motor is The supply of sealing agent is also stopped. As described above, the rotation speed of the motor of the seal supply pump is the robot speed Vr,
That is, it is controlled at a speed proportional to the moving speed of the seal gun, and as a result, the supply amount of the sealing agent is proportional to the moving speed of the seal gun, so that the sealing agent is uniformly applied to the object. .

[0012]

In the present invention, since the control device for controlling the robot was Unishi by controller also Ru serves the sealing agent supply device, i.e., to control the motor of the sealing agent supply pump by the control unit of the robot controller With this configuration, a control device is not required for the sealant supply device, the structure is simplified, and the cost can be reduced. Further, when the seal gun is a rod-shaped nozzle, it is important to uniformly supply the sealant to the target object, but the robot control device itself controls the robot moving speed, that is, the seal gun moving speed even during acceleration / deceleration. Because it is required
In the present invention, since the motor of the sealant supply pump is controlled so that the sealant is supplied in an amount based on the moving speed of the seal gun, it is possible to uniformly apply the sealant to the object. it can.

[Brief description of drawings]

FIG. 1 is a flowchart of rotational speed control of a motor of a sealant supply pump when a rod-shaped nozzle is used in a seal gun according to an embodiment of the present invention.

FIG. 2 is a main part configuration diagram of a control unit according to an embodiment of the present invention.

[Explanation of symbols]

10 Robot controller 11 processors 30a Motor of sealant supply pump 30b seal gun

Continuation of the front page (56) References JP-A-3-16675 (JP, A) JP-A-61-15763 (JP, A) JP-A-2-78462 (JP, A) Actual development Sho-59-115458 (JP , U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B05B 12/00-13/06 B25J 9/16

Claims (2)

(57) [Claims] 1. A sealant supply pump for supplying a sealant to a seal gun to a controller of a robot controller in a control method of mounting a sealant on a robot by a rod-shaped nozzle to a robot. And connect the robot to the robot by the robot controller.
A method for controlling a robot for a sealing operation, which controls a motor of a sealant supply pump connected to the control unit based on a speed command after acceleration / deceleration processing that is commanded to . Wherein Oite a sealing gun for performing coating of sealant in the bar-shaped nozzle coating mounting sealant robot control equipment performed by the robot, and supplies the sealing agent to the sealing gun control unit of the robot controller After the sealant supply pump is connected, after the acceleration / deceleration processing commanded by the robot
Sealant connected to the control unit based on the speed command of
A controller for a robot for sealing work, comprising a means for controlling a motor of a supply pump .