JP3406036B2 - Control method of playback type painting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention controls the operation of a robot body holding a coating gun by a robot controller in accordance with a program based on teaching, and controls the operation of the robot body in accordance with the operation of the robot body. The present invention relates to a control method of a playback type painting robot in which painting equipment is controlled by an external sequencer in response to a request from a robot controller. 2. Description of the Related Art Conventionally, for example, in a playback type painting robot used in a painting process in an automobile production line, as shown in FIG. 4, a robot controller for controlling the operation of the robot body is provided by teaching. The track data taught in advance and the menu-based coating data for each coating position in the middle of the track are set, and the paint discharge amount and the paint atomization corresponding to each menu are provided to an external sequencer for controlling the coating equipment. By setting the air pressure and pattern air pressure, etc., and inputting the coating data in the form of a menu from the robot controller to each external sequencer for each coating position, the external sequencer allows the paint discharge amount and paint atomization corresponding to the menu. The coating equipment is controlled by selecting the air pressure and the pattern air pressure. However, in pursuit of an optimum coating film thickness for each function, in an automobile having a complicated outer shape, the coating film thickness is slightly reduced at a certain position. There may be a request to make it thinner or thicker. That is, in FIG. 4, for example, at the first painting position, the robot controller sends a NO. 1 menu is requested, and the external sequencer 50cc / m paint discharge amount corresponding to one menu
in will control the coating equipment, but 50cc / m
When the paint film thickness is insufficient with the paint discharge amount of “in”, there may be a demand to change the paint discharge amount to, for example, 55 cc / min. Therefore, in the external sequencer, the NO. By changing the paint discharge amount corresponding to one menu to 55 cc / min, a sufficient coating film thickness at the first coating position can be secured.
Between the other coating positions where the optimum coating film thickness was obtained with the paint discharge amount of cc / min, for example, between the second coating position and the coating position, if the operation control of the robot body is left as it is,
NO. As the amount of paint discharged per menu is changed from 50 cc / min to 55 cc / min, paint dripping will occur. That is, the operation of the robot body needs to be changed by changing the coating conditions, and re-teaching is required. The present invention has been made in view of such circumstances, and relates to a control method of a playback type painting robot which does not require re-teaching of a robot controller and can easily change the painting conditions at a specific painting position. [0005] In order to achieve the above object, the present invention is to control the operation of a robot body holding a coating gun by a robot controller according to a program based on teaching, and to operate the robot body. In a control method of a playback type painting robot in which an external sequencer controls painting equipment in response to a request from a robot controller in accordance with the condition, locus data in which a movement locus of a painting gun is continuously determined; A plurality of coating position data in the middle of the trajectory of the gun are set in the robot controller by teaching, and the paint discharge amount, the air pressure for atomizing the paint, and the And a pattern air pressure for determining the paint spray pattern and corresponded to the coating position data. The coating data is set in the external sequencer, and in response to the input of the coating position data from the robot controller to the external sequencer, the external sequencer controls the coating equipment according to the coating data corresponding to the coating position data, and the robot controller Locus data and painting position
Before setting the data and painting data on the external sequencer
After the serial configuration and is made, any when changes the coating conditions of the coating position, the coating of the other paint position
Make sure that the external sequencer does not affect the conditions.
It is characterized in that only the coating data at an arbitrary coating position is changed . An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 to 3 show an embodiment of the present invention. FIG. 1 is a schematic configuration diagram of a painting robot, FIG. 2 is a longitudinal sectional view of a painting gun, and FIG. FIG. 3 is a diagram showing an example of data transfer. First, in FIG. 1, a bell-shaped coating gun 4 is held at the tip of a movable arm 2 of a robot body 1 via a flexible arm 3 and a drive built in a base 5 of the robot body 1. The robot body 1 is operated by the means. The operation of the driving means, that is, the operation of the robot body 1 is controlled by the robot controller 6 according to a program based on teaching. On the other hand, a paint supply source 9 is connected to the paint gun 4 through a paint passage 8 for introducing paint, and a first air pressure for introducing turbine air pressure as air pressure for atomizing the paint. The air source 1 is provided via a passage 10 and a second air passage 11 for guiding a shaping air pressure as a pattern air pressure for determining a paint spray pattern on a workpiece.
2, a paint control valve 13 as a first coating device is interposed in the paint passage 8, and a turbine air pressure control valve 14 as a second coating device is interposed in the first air pressure passage 10. In addition, a shaping air pressure control valve 15 as a third coating device is interposed in the second air pressure passage 11. The operation of the paint control valve 13, the turbine air pressure control valve 14, and the shaping air pressure control valve 15 as the above-mentioned coating equipment is performed by the external sequencer 7 in response to a request from the robot controller 6 in accordance with the operation of the robot body 1.
Is controlled by In FIG. 2, the coating gun 4 has a gun body 17 attached to the movable arm 2 of the robot body 1 via the flexible arm 3, and a casing 19 of an air motor 18 is provided at the tip of the gun body 17. It is screwed. The air motor 18 includes a rotating shaft 21 rotatably supported by a sleeve 20 press-fitted into a casing 19, and a flange 22 provided integrally with a rear end (left end in FIG. 2) of the rotating shaft 21. A number of row holes 23 are provided on the outer periphery of the flange portion 22. The flange portion 22 is sandwiched between a spacer 24 fitted to the distal end portion of the gun body 17 and the sleeve 20 so as to freely rotate around an axis. An annular front chamber 25 is formed between the outer periphery of the spacer 24 and the gun body 17, and the outer periphery of the flange 22 is formed between the front end of the spacer 24 and the rear end of the sleeve 20. It is arranged facing the room 26. The spacer 24 and the gun body 17 are provided with an air supply hole 27 connected to the first air pressure passage 10 for guiding the turbine air pressure. The spacer 24 has a plurality of turbines that blow air from the front chamber 25 to the rear chamber 26. The air ejection hole 28 has the flange portion 2
2 corresponding to the multiple row holes 23. An air discharge hole 29 is provided in the gun body 17 and the casing 19.
The rear chamber 26 is communicated with an air discharge hole 29 through an exhaust hole 30 formed in the spacer 24. In such an air motor 18, turbine air supplied to the front chamber 25 from the air supply hole 27 connected to the first air pressure passage 10 is blown from the turbine air ejection hole 28 to the row holes 23 of the flange portion 22. As a result, the air in the rear chamber 26 flows from the exhaust hole 30 to the air discharge hole 2.
9 to the outside. At the end of the rotating shaft 21 of the air motor 18, a disk plate 3 having a plurality of outflow holes 31 on the outer periphery is provided.
2 is fixed by a screw member 34, and a paint discharge nozzle 36 connected to a paint supply path 35 provided in the gun body 17 and the casing 19 is disposed inside the cup 33. . Thus, the paint supply path 35
Is connected to a paint passage 8. At the tip of the casing 19, a cup 33 is provided.
Provided with a plurality of shaping air ejection holes 37 at positions circumferentially spaced along an imaginary circle surrounding the cap 3
8 and the cap 38 and the casing 19
An annular air chamber 39 communicating with each shaping air ejection hole 37 is formed between the air chamber 3 and the tip of the air chamber 3.
9, an air supply hole 40 formed in the casing 17.
Is connected to a second air passage 11 for guiding the shaping air pressure. According to such a bell-shaped coating gun 4,
The cup 33 is rotated in response to the rotation of the air motor 18, and the paint supplied from the paint jet nozzle 36 into the cup 33 moves forward along the inner surface of the cup 33 due to centrifugal force, and the outflow hole of the disk plate 32. It passes through 31 and reaches the leading edge of the cup 33. On the other hand, shaping air is ejected from the shaping air ejection hole 37 toward the outer periphery of the cup 33, and the paint that has reached the tip edge of the cup 33 is formed into a predetermined pattern by the shaping air to be coated (not shown). ) Is sprayed. Since the degree of atomization of the paint is determined by the rotation speed of the cup 33, that is, the rotation speed of the air motor 18, the degree of atomization of the paint is adjusted by controlling the turbine air pressure control valve 14 which determines the turbine air pressure. By controlling the shaping air pressure control valve 15 which determines the shaping air pressure, the paint spray pattern on the workpiece is adjusted. In FIG. 3, the robot controller 6 includes trajectory data for continuously determining the trajectory of the coating gun 4 and a plurality of coating position data in the middle of the trajectory of the coating gun 4. The program is set by teaching, and the operation of the robot main body 1 is controlled in a CP (continuous path) type by the robot controller 6, and at a plurality of painting positions set in the middle of the motion locus during the operation of the robot main body 1. Then, painting position data indicating that the painting position has been reached is sent from the robot controller 6 to the external sequencer 7. On the other hand, the external sequencer 7
Is set with coating data corresponding to each of the above coating position data. That is, the paint discharge amount, the turbine air pressure, and the shaping air pressure are set corresponding to each coating position, and each coating device, that is, the paint control valve 13, the turbine air pressure control valve 14, and the shaping air are set in accordance with the coating data. The pressure control valve 15 is controlled by the external sequencer 7. It is assumed that, for example, when painting the body of an automobile by such a painting robot, a request to change the painting conditions at a certain position arises. For example, in the first setting, the paint discharge amount at the third painting position is 70 cc / min as shown in FIG. 3, but in order to reduce the paint film thickness, the paint discharge amount at the third painting position is set to, for example, 60 cc / min. When changing, use the external sequencer 7
60cc / min paint discharge amount at the third painting position
Should be changed to Then, the coating conditions at only the third coating position can be changed without changing the coating conditions at coating positions other than the third coating position. That is, in the external sequencer 7, since the painting data is set for each painting position, it is possible to change the painting condition only at the painting position where the painting condition is to be changed, which affects the painting condition at other painting positions. Therefore, re-teaching of the robot controller 6 is unnecessary, and the coating conditions at the specific coating position can be changed very easily. Although the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do. For example, in the above embodiment, a painting robot having a bell-shaped painting gun has been described. However, the present invention is also applicable to a painting robot having an air gun. As described above, according to the present invention, the trajectory data of the paint gun and a plurality of paint position data in the middle of the trajectory of the paint gun are set in the robot controller by teaching. At the same time, a variety of coating data corresponding to the coating position data, including the paint discharge amount, the air pressure for atomizing the paint, and the pattern air pressure for determining the paint spray pattern, is set in the external sequencer. In addition,
In response to the input of the coating position data from the robot controller to the external sequencer, the external sequencer controls the coating equipment in accordance with the coating data corresponding to the coating position data, and controls the locus data and the coating data by the robot controller.
The above setting of position data and painting data by external sequencer
Wherein after the setting and is made, the order to change the coating conditions of any coating position, the other painting position of
Use an external sequencer so that the coating conditions are not affected.
Since only the coating data of the arbitrary coating position is changed ,
The need for re-teaching of the robot controller is eliminated, and the coating conditions at the specific coating position can be easily and quickly changed even after the setting, despite the variety of coating data.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of a painting robot. FIG. 2 is a vertical sectional view of a coating gun. FIG. 3 is a diagram showing an example of data transfer between a robot controller and an external sequencer. FIG. 4 is a diagram showing an example of data transfer between a robot controller and an external sequencer according to the related art. [Description of Signs] 1 Robot body 4 Painting gun 6 Robot controller 7 External sequencer 13 Paint control valve as painting equipment 14 Turbine air pressure control valve as painting equipment 15 Shaping air pressure control valve as painting equipment

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-21757 (JP, A) JP-A-2-280865 (JP, A) JP-A-5-220580 (JP, A) JP-A-5-220580 49983 (JP, A) JP-A-2-303570 (JP, A) Japanese Utility Model Application Sho 62-57053 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B05B 12/00-13 / 06 G05B 19/18-19/46

Claims (1)

(57) [Claims 1] The operation of a robot body (1) holding a coating gun (4) is controlled by a robot controller (6) according to a program based on teaching, and the robot body (1) In a control method of a playback type painting robot, the painting equipment (13, 14, 15) is controlled by an external sequencer (7) in response to a request from a robot controller (6) according to the operation of the painting gun ( The robot controller (6) converts the locus data in which the moving locus of (4) is continuously determined and a plurality of painting position data in the middle of the moving locus of the coating gun (4).
In addition to the setting of the paint position, the paint discharge amount, the air pressure for atomizing the paint, and the pattern air pressure for determining the paint spray pattern on the object to be coated are included. The painting data corresponding to the data is set in the external sequencer (7), and the external sequencer (7) is sent from the robot controller (6).
In response to the input of the coating position data to the robot , the external sequencer (7) controls the coating equipment (13, 14, 15) according to the coating data corresponding to the coating position data, and the locus data by the robot controller (6). And painting position
The setting of the setting data and the coating data with the external sequencer (7)
In after the setting of the over data and is made, the order to change the coating conditions of any coating positions, other painting position
External sequencer so that the coating conditions of the
Only the coating data at the arbitrary coating position in (7) is changed.
A control method for a playback type painting robot, characterized by further comprising :