JP7044932B1 - Painting judgment device and painting system for painting heads - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the occurrence of coating defects due to clogging generated in a plurality of consecutive coatings.
SOLUTION: The coating determination device of the present invention has a plurality of nozzles for discharging paint, discharges the paint from the plurality of nozzles while moving in one direction, and paints a work with the discharged paint. In the paint head paint determination device that determines the paint on the head, the work is normally painted based on the image acquisition means for acquiring the image of the painted work and the image acquired by the image acquisition means. It is characterized by having a determination means for determining whether or not it has been damaged.
[Selection diagram] Fig. 5

Description

The present invention relates to a coating determination device and a coating system for a coating head.

In general, a technique for painting an exterior with a painting device provided with a painting head having a plurality of nozzles for discharging paint has been proposed. As an example, in an automobile production factory, it is proposed to install a painting device consisting of an articulated robot having the above-mentioned painting head at the tip on a painting line to paint the vehicle body (body) of the automobile. In the painting with this painting head, since a paint having a viscosity different from that of the ink used for printing on the paper surface is used, the nozzle is likely to be clogged due to the adhesion of the paint residue in the nozzle.

Therefore, it has been devised to detect the state of droplets of the coating agent or paint discharged from the coating device and clean each nozzle of the coating head until the clogging is cleared (see Patent Document 1). In Patent Document 1, a light source that irradiates inspection light and a camera that captures droplets irradiated by the light source are provided in the cleaning device, and the number of droplets and the ejection angle of the droplets are determined from the image captured by the camera. The presence or absence of clogging is detected by evaluating whether or not the ejection direction of the droplet ejected from each nozzle is closed.

International Publication No. 2020/115117

The cleaning device disclosed in Patent Document 1 has an advantage that the presence or absence of clogging can be detected and the nozzle can be cleaned by one device. However, in Patent Document 1, the degree of clogging or clogging is detected on the premise that the nozzle is cleaned when the color of the paint is changed or while the painting is stopped. It does not detect the degree of clogging or clogging that occurs in the process of performing. Therefore, Patent Document 1 has a problem that it is not possible to detect the presence or absence of clogging that occurs in a plurality of consecutive coatings, that is, whether or not a coating defect has occurred.

The present invention has been invented in order to solve the above-mentioned problems, and provides a technique capable of preventing the occurrence of coating defects due to clogging that occurs in a plurality of consecutive coatings. The purpose is to do.

In order to solve the above-mentioned problems, one aspect of the coating determination device for the coating head of the present invention has a plurality of nozzles for ejecting paint, and ejects the paint from the plurality of nozzles while moving in one direction. Then, in the paint head paint determination device that determines the paint of the paint head that paints the work with the discharged paint, the image acquisition means for acquiring the image of the painted work and the image acquisition means acquired by the image acquisition means. It has a determination means for determining whether or not the work is normally painted based on an image.

Further, the work has an extraction means for extracting coating defects generated in the work from the painted image of the work, and the determination means is said to have when the extraction means extracts the coating defects generated in the work. Among the plurality of nozzles of the paint head, the nozzle in which the paint ejection failure has occurred is specified.

Further, the coating head has a control means for controlling the ejection of the paint in the plurality of nozzles for each nozzle, and the control means is such that the coating head moves in one direction according to the movement of the coating head in one direction. Using the plurality of nozzles having the nozzle, the work is coated with a determination pattern for determining the presence or absence of ejection failure of the paint, and the determination means is obtained from an image of the work on which the determination pattern is applied. It is for determining whether or not the work is normally painted.

In this case, the coating head arranges a plurality of nozzle rows in which a predetermined number of nozzles are arranged in a direction inclined with respect to the one direction in a direction orthogonal to the one direction, and the determination pattern has a two-dimensional shape. The control means includes at least a plurality of check lines extending in one direction arranged in the above, and the control means is any one of a predetermined number of nozzles possessed by each of the plurality of nozzle rows when the paint head is moved in one direction. The operation of continuously ejecting the paint from the nozzles is performed on all the nozzles while switching the nozzles, so that the plurality of check lines are painted on the work.

Further, the determination means is a check line having a predetermined number or more among the check lines using any of the predetermined number of nozzles having the same nozzle row in the image of the determination pattern acquired by the image acquisition means. When a coating defect has occurred in the work, it is determined that the work is not normally painted using the coating head.

Further, a three-dimensional image of the work painted by the painting head is generated by using one or more imaging means for imaging the work at a plurality of different positions and the captured images acquired by the one or more imaging means. Further, it has a three-dimensional image generation means for determining the coating state of the work by using the three-dimensional image of the work generated by the three-dimensional image generation means.

In this case, the state determining means uses the three-dimensional image to determine whether or not the thickness of the paint coated with the work is equal to or less than a preset thickness, and the state determining means is the paint. Further, it has an instruction means for instructing the work to be coated with a determination pattern for determining the presence or absence of defective ejection of the paint when it is determined that the thickness is equal to or less than a preset thickness. ..

Further, one aspect of the coating system of the present invention is a coating head having a plurality of nozzles and a moving means which is arranged in an explosion-proof controlled coating chamber and can move the coating head in one direction along a work. The above-mentioned coating head coating determination device and cleaning means for cleaning a plurality of nozzles of the coating head are provided, and the cleaning means normally paints the work by the coating head coating determination device. When it is determined that the coating head is not used, the plurality of nozzles of the coating head are cleaned.

Further, the work includes a first work used in the coating determination device for the coating head to determine whether or not the coating of the work is normally performed, and the coating determination device for the coating head includes the coating. Further, it is provided with a transport means for transporting the first work, which is installed outside the room and is painted by the paint head, to the paint determination device of the paint head.

According to the present invention, it is possible to prevent the occurrence of coating defects due to clogging that occurs in a plurality of consecutive coatings.

It is a figure which shows an example of the coating system in embodiment of this invention. (A) is a diagram showing an example of the arrangement of nozzles provided on the nozzle forming surface, (b) is a diagram showing a partially enlarged view of the nozzle forming surface, and (c) is the result of ejecting paint from each nozzle. It is a figure which shows. (A) is a diagram showing an example of a test pattern, and (b) is a diagram showing an enlarged region A in (a). It is a figure which shows an example of the classification of the nozzle provided on the nozzle forming surface. It is a figure which shows the control structure in a painting system. It is a figure which shows an example of the test pattern which becomes a coating defect. It is a figure which shows an example of the test pattern which becomes a coating defect. It is a figure which shows an example of the test pattern which becomes a coating defect. It is a figure which shows an example of the test pattern which becomes a coating defect. It is a flowchart which shows the flow of the process from the painting of a test pattern to the cleaning of a painting head unit. It is a flowchart which shows the flow of the determination process of the coating defect carried out in the flowchart shown in FIG. It is a figure which shows an example of the coating system which executes the determination process of the coating defect based on the coating state of the coating surface of the object to be coated.

Hereinafter, the painting system in which the present invention is carried out will be described with reference to the drawings. As shown in FIG. 1, the painting system 10 includes a painting robot 11, an image processing device 12, a transport device 13, and a painting determination device 14. In the painting system 10, the painting robot 11 is arranged in the painting chamber 17 which has been subjected to the explosion-proof treatment, and the image processing device 12 is arranged outside the painting chamber 17. Further, the coating determination device 14 is arranged in the inspection chamber 18 adjacent to the coating chamber 17. The transport device 13 is arranged so as to straddle the painting chamber 17 and the inspection chamber 18.

Although not shown, the object to be painted is conveyed from the upstream side of the coating line to the inside of the coating chamber 17, and is painted while being conveyed inside the coating chamber 17, or a predetermined value inside the coating chamber 17 is applied. When it is transported to the position, it stops temporarily and is painted. When the object to be painted is painted, the painted object is transported from the painting chamber 17 toward the downstream side of the painting line. Hereinafter, the vehicle body FR of an automobile will be described as an example of the object to be painted, but the object to be painted may be, for example, an automobile part other than the vehicle body (for example, a door, a bonnet, various panels, etc. may be mentioned. If it is necessary to paint, such as various parts other than automobiles (for example, exterior parts of airplanes and railways), it is not necessary to be limited to the body of automobiles. ..

Further, in the following description, the painting system 10 for painting the vehicle body FR using one painting robot 11 will be described, but the painting system for painting the vehicle body FR using two or more painting robots 11. May be good.

Painting is performed for the purpose of forming a coating film on the surface of an object to be painted to protect the surface and give an aesthetic appearance. Therefore, the painting includes not only painting the object to be painted with a paint of a specific color or a paint having a specific function, but also painting the object to be painted with paints of a plurality of colors in order. Also, painting includes painting, for example, patterns, illustrations or images.

As an example, the painting robot 11 has a base 20, legs 21, a rotation driving unit 22, a robot arm 23, and a painting head unit 24. The base 20 is a member that holds the lower end side of the leg portion 21 extending in the vertical direction and supports the entire painting robot 11. The base 20 may be fixed to the floor surface of the painting chamber 17, for example, or may be movable inside the painting chamber 17. The painting robot 11 has a position (solid line in FIG. 1) for painting the vehicle body FR conveyed on the painting line by the painting robot 11 with the leg 21 as the center of rotation, and a test pattern TP (solid line in FIG. 1). It rotates between the position (two-dot chain line in FIG. 1) where the coating is performed (see FIG. 3A). Here, the vehicle body FR and the sample S correspond to the work described in the claims.

The rotation drive unit 22 is provided at the upper end of the leg unit 21. The rotation drive unit 22 includes a rotation shaft unit 25 and a rotation arm 26. The rotation shaft portion 25 rotates the robot arm 23 connected via the rotation arm 26 with a straight line included in a plane parallel to the floor surface (XY plane in FIG. 1) as a rotation center. The rotary arm 26 is provided between the rotary shaft portion 25 and the robot arm 23. When the motor M1 (see FIG. 5) is driven, the rotary arm 26 rotates about the central axis of the rotary axis of the motor M1, that is, the central axis of the rotary shaft portion 25 as the center of rotation. Examples of the motor M1 include an electric motor and an air motor.

The robot arm 23 includes a first rotation arm 27 and a second rotation arm 28. The first rotating arm 27 is connected to the rotating arm 26 at one end side in the extending direction (for example, the X-axis direction in FIG. 1) of the first rotating arm 27 via a shaft portion (not shown). By driving the motor M2 (see FIG. 5), the motor M2 rotates about the central axis of the shaft portion as the rotation center. Although details are not shown, the motor M2 is housed in the housing of the rotating arm 26 or in the housing of the first rotating arm 27.

The second rotation arm 28 is attached to the first rotation arm 27 via a shaft portion (not shown) on the other end side in the extending direction (for example, the X-axis direction in FIG. 1) of the first rotation arm 27. They are connected and rotate around the central axis of the shaft portion by driving the motor M3 (see FIG. 5). Although not shown in detail, the motor M3 is housed in the housing of the first rotating arm 27 or in the housing of the second rotating arm 28.

The second rotating arm 28 holds the wrist portion 29 on the other end side opposite to one end connected to the first rotating arm 27. The wrist unit 29, while holding the paint head unit 24, rotates the held paint head unit 24 with one of the plurality of shafts owned by the wrist unit as the center of rotation. Here, the plurality of shaft portions are, for example, three shaft portions having different orientations. The number of shaft portions may be two or more.

The wrist unit 29 has motors M4, M5, and M6 (see FIG. 5), and when any one of these motors is driven, the wrist unit 29 is driven among the plurality of shaft units described above. It enables rotational movement centered on the shaft corresponding to the motor.

The coating head unit 24 includes a coating head 30, a circulation path for circulating paint (not shown), a head control unit 54 for controlling a piezoelectric substrate 60 (see FIG. 5) included in the coating head 30, and the like.

FIG. 2A shows a front view of the nozzle forming surface 31 of the coating head 30. As shown in FIG. 2A, the nozzle forming surface 31 has two nozzle groups 32a and 32b arranged along the main scanning direction (S1 direction in FIG. 2A) in the coating head unit 24. As shown in FIG. 2B, the nozzle group 32a includes, for example, a nozzle row 34a in which four nozzles 33 are arranged at regular intervals on a straight line L1 inclined at a predetermined angle with respect to the main scanning direction. , A plurality of sub-scanning directions (S2 direction in FIG. 2A) orthogonal to the main scanning direction. Here, assuming that the four nozzles constituting the nozzle row 34a are the nozzle 33a, the nozzle 33b, the nozzle 33c, and the nozzle 33d from the upper middle of FIG. 2B, the nozzle 33a of each nozzle row 34a is assumed to be in the main scanning direction. The positions of are the same. Similarly, the nozzles 33b, the nozzles 33c and the nozzles 33d in each nozzle row 34a are at the same position in the main scanning direction. Here, assuming that the distance between the two adjacent nozzles 33 in the same nozzle row 34a in the sub-scanning direction is D1, among the nozzles 33a and 33d located at the ends of the two adjacent nozzle rows 34a, in the sub-scanning direction. The distance D2 between the two nozzles 33a and 33d that are close to each other is the same as the distance D1 (D1 = D2).

Similarly, in the nozzle group 32b, a plurality of nozzle rows 34b in which the four nozzles 33 are arranged on a straight line L2 tilted at a predetermined angle with respect to the main scanning direction are arranged in the sub-scanning direction. Here, the straight line L1 and the straight line L2 are parallel to each other. Here, assuming that the four nozzles constituting the nozzle row 34b are the nozzle 33e, the nozzle 33f, the nozzle 33g, and the nozzle 33h from the upper middle of FIG. 2A, the nozzle 33e in each nozzle row 34b in the main scanning direction. The positions will be the same. Similarly, the nozzles 33f, the nozzles 33g, and the nozzles 33h in each nozzle row 34b are at the same position in the main scanning direction. Although not shown, the secondary nozzles 33e and 33h of the interval D3 in the sub-scanning direction between the two adjacent nozzles 33 in the same nozzle row 34b and the nozzles 33e and 33h located at the ends of the two adjacent nozzle rows 34b are secondary. The distance D4 between the two nozzles 33e and 33h that are close to each other in the scanning direction is the same as the distance D1 (D3 = D4 = D1).

Further, among the nozzle groups 32a and 32b, each nozzle row 34b of the nozzle group 32b is arranged at a position deviated by a distance D1 / 2 with respect to the nozzle row 34a of the nozzle group 32a in the sub-scanning direction.

Therefore, as shown in FIG. 2C, when the nozzles 33 provided on the nozzle forming surface 31 are projected onto the same projection surface PL1, the nozzle row 34a is located between the nozzle 33e and the nozzle 33f of the nozzle row 34b. Nozzle 33a is located. Further, the nozzle 33b of the nozzle row 34a is located between the nozzle 33f of the nozzle row 34b and the nozzle 33g. Further, the nozzle 33c of the nozzle row 34a is located between the nozzle 33g and the nozzle 33h of the nozzle row 34b. According to this, the dot density can be improved at the time of painting by the two nozzle groups 32a and 32b formed on the nozzle forming surface 31.

Returning to FIG. 1, the image processing device 12 generates a three-dimensional model (three-dimensional model for painting) based on CAD data corresponding to the painting range of the vehicle and measurement data obtained by measuring an actual vehicle. .. Further, the image processing device 12 is used by the painting head unit 24 when painting is performed based on the trajectory data stored in the arm memory 57 (see FIG. 5) and the generated three-dimensional model for painting. Generates three-dimensional image data (painting pattern data). The painting pattern data is data obtained by dividing the painting area in the vehicle body FR, and is sequentially sent to the painting robot 11 when the vehicle body FR is painted.

The transport device 13 transports the sample S coated with the test pattern TP by the painting robot 11 from the painting chamber 17 to the inspection chamber 18. The conveyor device 13 is, for example, a conveyor device.

The coating determination device 14 takes an image of the test pattern TP coated on the sample S, and whether or not the coating by the coating head unit 24 is normally performed based on the imaging data obtained by the imaging and the determination image data. That is, it is determined whether or not a coating defect has occurred.

The paint determination device 14 includes an image pickup unit 41, a light source 42, and a computer 43. The image pickup unit 41 takes an image of the painted surface of the sample S conveyed by the transfer device 13. The light source 42 illuminates the painted surface of the sample S transported by the transport device 13. The computer 43 controls the drive of the image pickup unit 41 and the light source 42. Further, the computer 43 determines whether or not a coating defect has occurred from the image pickup data obtained by the image pickup unit 41 and the determination image data. Alternatively, the computer 43 may use the imaging data obtained by the imaging unit 41 and reference information other than the image data for determining the coating defect (for example, the threshold value of the pixel value for determining linearity, the width of the linear portion). Whether or not a coating defect has occurred is determined from the width and narrowness of the image. Then, when it is determined that a coating defect has occurred, the coating robot 11 is instructed to clean the coating head unit 24.

Next, the test pattern TP painted on the painted surface of the sample S will be described. As shown in FIGS. 3A and 3B, the test pattern TP includes a plurality of check line MCLs extending in the main scanning direction (S1 direction in FIG. 3) and a sub-scanning direction (S2 direction in FIG. 3). It has a plurality of check lines SCL, which extend to.

The check line SCL extending in the sub-scanning direction is from the nozzle 33 that reaches the specific position when each of the plurality of nozzles 33 provided on the nozzle forming surface 31 of the coating head unit 24 reaches the specific position in the main scanning direction. It is a check line generated by ejecting droplets of paint.

As shown in FIG. 4, the check line MCL extending in the main scanning direction is a nozzle of the nozzle group 32a having the same row counting from the left side in FIG. 4 in the sub-scanning direction (S2 direction in FIG. 4) on the nozzle forming surface 31. The row 34a and the nozzle row 34b of the nozzle group 32b were divided into the same group (Gr1, Gr2, Gr3, ...), And the coating head 30 was divided into the same group while moving in the main scanning direction. It is generated by performing the operation of continuously ejecting paint droplets from any of the nozzles 33 a plurality of times with all the nozzles 33 belonging to the same group while switching the nozzles 33 for ejecting the paint droplets. It is a check line (whether any nozzle 33 forms any of the check line MCL will be described later). The number of these check line MCLs and check line SCLs varies depending on the number of nozzles provided on the nozzle forming surface 31.

As described above, the nozzle row 34a of the nozzle group 32a and the nozzle row 34b of the nozzle group 32b are each provided with four nozzles 33. Therefore, the test pattern TP shown in FIGS. 3 (a) and 3 (b) includes eight check lines MCL1 to MCL8 extending in the main scanning direction and nine check lines SCL1 to SCL9 extending in the sub-scanning direction. Also, the eight check lines MCL1 to MCL8 will have as many as the number of groups divided in the sub-scanning direction.

In FIG. 3B, the check line MCL1 is a check line generated by continuously ejecting paint from the nozzle 33e of the nozzle row 34b of the nozzle group 32b a plurality of times. The check line MCL2 is a check line generated by continuously ejecting paint from the nozzle 33a of the nozzle row 34a of the nozzle group 32a a plurality of times. The check line MCL3 is a check line generated by continuously ejecting paint from the nozzle 33f of the nozzle row 34b of the nozzle group 32b a plurality of times. The check line MCL4 is a check line generated by continuously ejecting paint from the nozzle 33b of the nozzle row 34a of the nozzle group 32a a plurality of times.

Further, the check line MCL5 is a check line generated by continuously ejecting paint from the nozzle 33g of the nozzle row 34b of the nozzle group 32b a plurality of times. The check line MCL6 is a check line generated by continuously ejecting paint from the nozzle 33c of the nozzle row 34a of the nozzle group 32a a plurality of times. The check line MCL7 is a check line generated by continuously ejecting paint from the nozzle 33g of the nozzle row 34b of the nozzle group 32b a plurality of times. The check line MCL8 is a check line generated by continuously ejecting paint from the nozzle 33d of the nozzle row 34a of the nozzle group 32a a plurality of times.

Since the test pattern TP determines whether or not the plurality of nozzles 33 provided on the nozzle forming surface 31 are clogged, the check line SCL extending in the sub-scanning direction is not always necessary, and the check line SCL is not always necessary in the main scanning direction. It may be a test pattern of only the extended check line MCL.

Next, a controllable configuration in the coating system 10 of the present embodiment will be described. FIG. 5 is a diagram showing a controllable configuration in the coating system 10. As shown in FIG. 5, the painting system 10 includes a management device 35 and a nozzle cleaning device 36 in addition to the painting robot 11, the image processing device 12, the transfer device 13, and the painting determination device 14.

The painting robot 11 has a main control unit 51, an arm control unit 52, a paint supply control unit 53, and a head control unit 54. Although not shown, the main control unit 51, the arm control unit 52, the paint supply control unit 53, and the head control unit 54 include a CPU (Central Processing Unit), a storage unit (ROM (Read Only Memory), and a RAM (Random Access Memory). ), Non-volatile memory, etc.), and other elements.

The main control unit 51 controls the arm described above so that the motors M1, M2, M3, M4, M5, M6, the paint supply unit 58, and the piezoelectric substrate 60 cooperate to perform painting on the object to be painted. A predetermined control signal is transmitted to the unit 52, the paint supply control unit 53, and the head control unit 54.

The arm control unit 52 controls the drive of the motors M1, M2, M3, M4, M5, M6. The arm control unit 52 has an arm memory 57. The arm memory 57 is a painting head created by robot teaching in consideration of the width in the sub-scanning direction (hereinafter referred to as the painting width) to be painted on the object to be painted when the painting head unit 24 is moved in the main scanning direction. Data related to the locus of the unit 24 (trajectory data) and data related to the posture of the painting head unit 24 (posture data) such as tilt of the painting head unit 24 are stored.

Further, the arm control unit 52 of the motors M1, M2, M3, M4, M5, M6 based on the locus data, the attitude data, and the image processing performed by the image processing device 12 stored in the arm memory 57. Control the drive. Under the control of these motors M1, M2, M3, M4, M5, M6, the painting head unit 24 passes through a target position at a predetermined speed or stops at a target position when performing painting. Make it possible. The arm memory 57 may be provided in the painting robot 11 or may be provided outside the painting robot 11. When the arm memory 57 is provided outside the painting robot 11, it is preferable that the arm memory 57 is connected to a communication means capable of wirelessly or wired communication with an external device.

The paint supply control unit 53 controls the supply of paint to the paint head 30. Although not shown, the paint supply control unit 53 controls the operation of the pump, valve, etc. provided in the paint supply unit 58 to store the paint in the paint tank, cartridge, etc. connected to the paint supply unit 58. It is circulated between the paint supply unit 58 and the paint head unit 24.

The head control unit 54 controls the operation of the piezoelectric substrate 60 of the coating head 30 based on the data generated based on the image processing in the image processing device 12 and the position information from the position sensor 61 described later. That is, when the head control unit 54 determines that the coating head 30 has reached a predetermined position in the locus data based on the position information from the position sensor 61, the piezoelectric substrate is based on the coating data corresponding to that position. Operate 60. Here, the head control unit 54 not only controls the operation of the piezoelectric substrate 60, but also controls the operating frequency of the piezoelectric substrate 60 and the voltage applied to the piezoelectric substrate, and is provided on the nozzle forming surface 31. It is also possible to control the amount of droplets ejected from each of the nozzles 33 of the above.

The position sensor 61 detects the position of the paint head 30 that moves under the control of the arm control unit 52, and outputs the detection signal to the main control unit 51.

The transport device 13 has a drive control unit 65, a motor M7, and a main pulley 66. The drive control unit 65 drives the motor M7 based on the drive signal transmitted from the painting robot 11 to rotate the main pulley 66. When the main pulley 66 is rotated by the drive of the motor M7, the transfer belt 68 wound around the main pulley 66 and the driven pulley 67 (see FIG. 1) runs and is placed on the transfer belt 68. The sample S is conveyed from the coating chamber 17 toward the inspection chamber 18 (in the direction of the arrow in FIG. 1).

Further, as described with reference to FIG. 1, the paint determination device 14 includes an image pickup unit 41, a light source 42, and a computer 43. The computer 43 has a control unit 71, an operation unit 72, and a display panel 73. The control unit 71 includes a main control unit 75, an image pickup control unit 76, a light emission control unit 77, and a display control unit 78. The main control unit 75 has the functions of the image processing unit 84, the extraction unit 85, and the determination unit 86 by executing the determination program 80 stored in the memory 79 of the control unit 71.

The image processing unit 84 performs processing such as noise reduction, distortion removal, brightness adjustment, and contour extraction processing on the image data (hereinafter referred to as imaging data) of the test pattern TP imaged by the imaging unit 41. Performs image processing such as scaling processing. Further, the image processing unit 84 may perform binarization processing on the image pickup data, if necessary. The scaling process is a process of enlarging or reducing the size of the test pattern TP in the image based on the captured data to match the size of the test pattern TP in the image based on the determination image data 81.

The extraction unit 85 is included in the test pattern TP using the determination image data 81 stored in the memory 79 and the image pickup data (hereinafter referred to as processed data) image-processed by the image processing unit 84. From the check line MCL, the unpainted (missing paint) check line MCL is extracted. In the processed data, the painted checkline MCL is present as a contour, while the unpainted checkline MCL is not present as a contour. Therefore, the extraction unit 85 extracts the unpainted checkline MCL while individually comparing the plurality of checkline MCLs included in the determination image data 81 with the plurality of contours included in the processed data.

The extraction unit 85 obtains the difference data between the processed data and the determination image data 81, and in the difference data, a pixel having a pixel value whose pixel value deviates from a predetermined range within the range in which the test pattern TP is painted. However, when a predetermined number of checkline MCLs are present in the main scanning direction, it is also possible to extract the checkline MCLs at the corresponding portions as unpainted checkline MCLs.

For example, when all of the plurality of nozzles 33 provided on the nozzle forming surface 31 are not clogged, that is, in a normal state, all the check line MSLs are painted in the test pattern TP painted on the sample S. .. The determination image data 81 is obtained by painting all the check lines in the test pattern TP. Therefore, since the processed data has contours for each of the checkline MCLs constituting the test pattern TP, in this case, the unpainted checkline MCL is not extracted.

On the other hand, for example, if any of the plurality of nozzles 33 provided on the nozzle forming surface 31 is clogged, the check line MCL corresponding to the nozzles 33 is not painted.
Therefore, among the checkline MCLs constituting the test pattern TP, the processed data does not have the outline of the checkline MCL corresponding to the nozzle 33 in which the clogging has occurred. Therefore, in this case, the unpainted checkline MCL is used. Be extracted.

The extraction unit 85 extracts the unpainted check line MCL using the determination image data 81 and the processed data, and generates extraction data indicating the extraction result. For example, when an unpainted checkline MCL is extracted, the extraction data includes information on the position of the unpainted checkline MCL.

The determination unit 86 determines whether or not a coating defect has occurred in the sample S by using the extraction data generated by the extraction unit 85. The painting defect will be described later. The determination unit 86 transmits a determination result of whether or not a coating defect has occurred to the management device 35.

The management device 35 has a CPU, a memory, and the like (not shown), and collectively controls the painting robot 11, the image processing device 12, the transfer device 13, and the painting determination device 14 that constitute the painting system 10. The management device 35 transmits a signal to the painting robot 11 and the nozzle cleaning device 36 to perform cleaning based on the determination result of whether or not a coating defect has occurred, which is transmitted from the coating determination device 14.

The nozzle cleaning device 36 is a device that cleans the nozzle forming surface 31 of the coating head 30.

Next, the coating defect will be described. For example, in the case of poor coating, three or more checkline MCLs out of checklines MCL1 to MCL8 generated by ejecting paint from nozzles 33 classified into the same groups Gr1, Gr2, etc. shown in FIG. 4 are present. This is the case when it is not painted. Painting defects are illustrated below.

(1) When three or more unpainted check line MCLs are continuously extracted As shown in FIG. 3 (b), for example, the paint is normally ejected from each of the nozzles 33 in the same group. If so, all checklines MCL1 to MCL8 are painted. On the other hand, when one of the plurality of nozzles 33 in the same group is clogged, the check line MCL corresponding to the clogged nozzle 33 is not painted. As shown in FIG. 6, for example, the check lines MCL3, MCL4 and MCL5 are not painted. In FIG. 6, the unpainted check lines MCL3, MCL4 and MCL5 are shown by dotted lines. As shown in FIG. 3B, the nozzles 33b, the nozzles 33f, and the nozzles 33g are adjacent nozzles 33 when projected onto the same projection surface PL1. If the vehicle body FR is painted in this state, a band-shaped region in which the paint is not applied is generated on the vehicle body FR after painting.

(2) When three or more unpainted check lines are extracted every other row As shown in FIG. 7, for example, when the check line MCL2, the check line MCL4 and the check line MCL6 are not painted, The nozzle 33a corresponding to the check line MCL2, the nozzle 33b corresponding to the check line MCL4, and the nozzle 33c corresponding to the check line MCL6 are clogged. In FIG. 7, the unpainted check lines MCL2, MCL4 and MCL6 are shown by dotted lines. As shown in FIG. 3B, the nozzles 33a, the nozzles 33b, and the nozzles 33c are every other nozzle when projected onto the same projection surface PL1. When the car body FR is painted in this state, the unpainted part and the painted part are alternately present in the sub-scanning direction, and the color of the car body FR after painting seems to be discolored or dented. ..

Further, as shown in FIG. 8, for example, when the check line MCL2, the check line MCL5 and the check line MCL8 are not painted, the nozzle 33a corresponding to the check line MCL2 and the nozzle 33g corresponding to the check line MCL5 are checked. The nozzle 33d corresponding to the line MCL8 is clogged. In FIG. 8, the unpainted check lines MCL2, MCL5 and MCL8 are shown by dotted lines. As shown in FIG. 3B, the nozzles 33a, the nozzles 33d, and the nozzles 33g are every other nozzle when projected onto the same projection surface PL1. When painting is applied to the vehicle body FR in this state, it seems that the color of the vehicle body FR after painting is discolored due to the unpainted portion.

(3) When a plurality of unpainted check line MCLs are continuously extracted A plurality of unpainted parts As shown in FIG. 9, for example, check line MCL2, check line MCL3, check line MCL6 and check line. When the MCL7 is not painted, the nozzle 33a corresponding to the checkline MCL2, the nozzle 33f corresponding to the checkline MCL3, the nozzle 33c corresponding to the checkline MCL6, and the nozzle 33h corresponding to the checkline MCL7 are clogged. is doing. In FIG. 9, the unpainted check lines MCL2, MCL3, MCL6 and MCL7 are shown by dotted lines. As shown in FIG. 3B, the nozzles 33a and 33f, and the nozzles 33c and 33h are adjacent nozzles when projected onto the same projection surface PL1. When the sample S is painted in this state, a band-shaped region in which the paint is not painted is generated on the vehicle body FR after painting.

Here, for example, even if the ejection of droplets from the nozzle 33 in the group Gr1 (the same applies to other groups Gr2, Gr3 ...) is ordered, the number of unpainted check lines is three or more due to clogging. It is judged that the painting is defective. However, in consideration of the number of nozzles 33 per group, the components of the paint used for painting, the color of the paint, etc., the number of unpainted check lines when it is determined that the painting is defective should be set. Is possible.

Hereinafter, the flow of the process from the coating of the test pattern TP executed in the coating system 10 to the cleaning of the coating head unit 24 will be described with reference to the flowchart of FIG. The flowchart of FIG. 10 is constant, for example, when the painting robot 11 paints a predetermined number of car body FRs immediately before starting painting on the car body FR, or after the painting robot 11 is installed in the painting chamber 17. It will be carried out in any case when the period has passed.

Step S101: The painting management device 35 of the test pattern TP instructs the image processing device 12 and the painting robot 11 to paint the test pattern TP. In response to the instruction to paint the test pattern TP by the management device 35, the image processing device 12 generates the painting pattern data based on the test pattern TP and transmits it to the painting robot 11. Upon receiving the painting pattern data, the main control unit 51 of the painting robot 11 instructs the arm control unit 52 and the head control unit 54 to start driving. In response to this, the arm control unit 52 reads out the locus data when painting the test pattern TP from the arm memory 57, and drives and controls each of the motors M1 to M6 based on the read locus data. The head control unit 54 operates the piezoelectric substrate 60 of the coating head unit 24 based on the coating pattern data. As a result, the test pattern TP is painted on the sample S by the painting robot 11.

Step S102: Transfer of the sample S When the test pattern TP is painted on the sample S by the painting robot 11, the painting robot 11 notifies the management device 35 that the painting is completed. In response to this, the management device 35 instructs the transport device 13 to transport the sample S. The drive control unit 65 of the transfer device 13 drives the motor M7 for a predetermined time, and then stops driving the motor M7. Here, the predetermined time is the time during which the sample S placed on the transport belt 68 is transported from the coating chamber 17 to the inspection chamber 18.

Step S103: Determination of coating defect Whether or not the main control unit 75 of the control unit 71 included in the coating determination device 14 has a coating defect using the determination image data 81 and the imaging data stored in the memory 79. Is determined. The details of the determination of coating defects will be described later. The main control unit 75 of the control unit 71 transmits the determination result of the coating defect to the management device 35.

If the management device 35 determines in step S104 that a coating defect has occurred, the control device 35 proceeds to step S105. On the other hand, when it is determined that no coating defect has occurred, the process of the flowchart of FIG. 10 is terminated.

Step S105: The painting head cleaning management device 35 instructs the nozzle cleaning device 36 and the painting robot 11 to start nozzle cleaning. In response to this, the main control unit 51 of the painting robot 11 drives the rotary arm 26, the first and second rotary arms 27, 28, and paints while detecting the position of the paint head unit 24 by the position sensor 61. The head unit 24 is moved to the cleaning position. Then, when the coating head unit 24 moves to the cleaning position, the nozzle cleaning device 36 operates to clean the nozzle forming surface 31 of the coating head 30. As a result, the clogging is cleared.

In step S105, instead of cleaning the nozzle forming surface 31 of the coating head 30, the coating head unit 24 may be replaced with a new coating head unit 24. When the painting head unit 24 is replaced, the painting head unit 24 that has been used up to now may be cleaned at a separate cleaning site.

Next, the process of determining coating defects in step S103 will be described with reference to the flowchart of FIG. The coating defect determination process in step S103 is executed by the computer 43 of the coating determination device 14.

Step S201: The image pickup management device 35 of the sample S instructs the coating determination device 14 to determine the coating using the sample S. In response to this, the main control unit 75 of the control unit 71 instructs the image pickup control unit 76 to take an image. At the same time, the main control unit 75 instructs the light emission control unit 77 to emit light from the light source 42. In response to this, the light emission control unit 77 turns on the light source 42. As a result, the sample S coated with the test pattern TP is illuminated. Further, the image pickup control unit 76 drives the image pickup unit 41 to take an image of the sample S illuminated by the light source 42. The image pickup data acquired by the image pickup unit 41 is output to the main control unit 75 of the control unit 71.

Step S202: Image processing for image pickup data The image processing unit 84 of the main control unit 75 performs processing such as noise reduction, distortion removal, and brightness adjustment, and image processing such as contour extraction processing on the image pickup data. Generate finished data.

Step S203: Extraction of unpainted checkline MCL
The extraction unit 85 of the main control unit 75 reads out the determination image data 81 stored in the memory 79. Then, the extraction unit 85 of the main control unit 75 extracts the unpainted check line MCL from the processed data generated in step S202 while referring to the read determination image data 81. Then, the extraction unit 85 of the main control unit 75 generates extraction data indicating the extraction result.

Step S204: Determining whether or not a coating defect has occurred The determination unit 86 of the main control unit 75 determines the presence or absence of an unpainted check line MCL based on the extraction data generated by the process of step S203. Judgment is made for each group. Then, when there is one or more groups in which, for example, three or more unpainted check lines MCL exist, it is determined that a coating defect has occurred. The number of groups in which, for example, three or more unpainted checkline MCLs are present is appropriately set. In this case, in step S105 described above, the nozzle forming surface 31 of the coating head 30 is cleaned.

According to this, it is possible to determine whether or not a coating defect has occurred by imaging the coated surface of the sample S coated with the test pattern TP and comparing it with the determination image. In addition to this, by determining the coating state of the check line MCL, the position of the nozzle 33 in which the clogging is generated can be specified.

In the above embodiment, it is determined whether or not a coating defect has occurred based on the presence or absence of the check line MCL on the coated surface of the sample S. For example, a three-dimensional displacement sensor is used to determine the thickness of the check line MCL. It is also possible to measure the coating state on the coated surface of the sample S such as the flying state of the paint and the thickness of the check line MCL (that is, the film thickness of the paint), and to grasp the clogging state of the nozzle 33 from the result of the measurement. It is possible.

The determination of the coating defect in the above-described embodiment is, for example, when the coating robot 11 paints a predetermined number of vehicle body FRs immediately before the vehicle body FR starts painting, or the painting robot 11 is installed in the painting chamber 17. Although it is carried out in any case when a certain period of time has passed since then, it is also possible to determine the above-mentioned coating defect based on the coating state of the coated surface of the object to be coated. Such a case will be described with reference to FIG.

As shown in FIG. 12, a plurality of image pickup units 91 that image the painted vehicle body FR from different positions are provided in the painting chamber 17. These image pickup units 91 are connected to the state determination device 92 and are driven and controlled by the state determination device 92. Here, the plurality of imaging units 91 are arranged at a plurality of different positions, and the plurality of imaging units 91 may be fixed or movable.

The state determination device 92 generates a three-dimensional image of the painted surface of the vehicle body FR from the image pickup data obtained by the plurality of imaging units 91, and determines the state of the painted surface of the vehicle body FR. The state determination device 92 includes a three-dimensional image generation unit 93 and a coating state determination unit 94. Here, the coating state determination unit 94 corresponds to the state determination means described in claim.

The three-dimensional image generation unit 93 uses the image pickup data obtained by the plurality of image pickup units 91 and the position data of the image pickup unit 91 when the image pickup data is obtained to generate three-dimensional image data on the painted surface of the vehicle body FR. Generate.

The coating state determination unit 94 calculates the thickness of the coating film coated on the vehicle body FR by using the three-dimensional image data generated by the three-dimensional image generation unit 93 and the three-dimensional data of the vehicle body FR. Then, when there is a portion where the thickness of the coating film is equal to or less than a predetermined value, the coating state by the coating determination device 14 described above is determined.

In this case, the state determination device 92 drives the image pickup unit 91 to perform imaging of the vehicle body FR, for example, in response to the completion of painting of the vehicle body FR by the painting robot 11. Then, the state determination device 92 generates three-dimensional data of the vehicle body FR obtained from the image pickup unit 91. Using the three-dimensional data of the vehicle body FR, for example, when there are a plurality of places where the thickness of the coating film is equal to or less than a predetermined value, the state determination device 92 instructs the management device 35 to paint the test pattern TP. In response to this, the management device 35 stops painting the vehicle body FR and instructs the sample S to be painted. Therefore, the management device 35 functions as the instruction means described in the claims.

As described above, when it is determined that the coating unevenness has occurred in the coating state of the coated vehicle body FR, the coating of the test pattern TP on the sample S is instructed. Therefore, by shortening the time when the painting line is stopped as much as possible, it is possible to maintain the operating rate of the vehicle body FR.

In the embodiment described above, the unpainted checkline MCL is extracted by using the determination image data 81 and the image-processed imaging data. However, depending on the state of clogging of the nozzle 33, the paint can be ejected from the nozzle 33. At this time, if the amount of droplets is smaller than the amount of paint droplets discharged from the nozzle when clogging is not occurring, the checkline MCL becomes thin. Further, in the case of the nozzle 33 in which the nozzle 33 is clogged, the droplets of the paint adhering to the painted surface have an abnormality in continuity. Therefore, the thickness of the check line to be painted and the continuity of the droplets of the paint adhering to the painted surface can also be taken into consideration in determining the presence or absence of clogging. Further, by considering these, it is possible not only to specify the presence or absence of clogging of the nozzle 33 corresponding to the target check line MCL, but also to determine the degree of clogging in the nozzle.

For example, when an event such as a thin check line or a bent check line occurs, it is determined that the corresponding nozzle 33 is in a half-clogging state. At this time, the nozzle 33 determined to be in a half-clogging state can be, for example, a nozzle that is not subjected to subsequent painting.

If it is determined that the nozzle is not to be painted after that, in the subsequent painting, interpolation processing may be performed by the nozzle arranged on the peripheral portion of the nozzle.

The coating determination device 14 described in the present embodiment has a plurality of nozzles 33 for ejecting paint, ejects paint from the plurality of nozzles 33 while moving the paint in one direction, and paints the sample S with the discharged paint. Whether the sample S is normally painted based on the image pickup unit 41 that acquires the image of the painted sample S and the image acquired by the image pickup unit 41 in the paint determination device 14 of the paint head unit 24. It has a determination unit 86 for determining whether or not it is present.

According to this, not only it is determined from the image of the painted sample S whether or not the sample S is normally painted, but also the state of the plurality of nozzles 33 of the painting head unit 24 (whether or not there is clogging, and the presence or absence of clogging, etc.). The degree of clogging etc.) can also be grasped. In addition, it is possible to reliably detect whether or not the sample S is normally painted in a short time. By grasping the state of the plurality of nozzles 33 of the painting head unit 24, it is possible to improve the painting quality for the vehicle body FR.

Further, it has an extraction unit 85 for extracting coating defects generated in the sample S from the image of the painted sample S, and the determination unit 86 paints when the extraction unit 85 extracts the coating defects generated in the sample S. Among the plurality of nozzles 33 included in the head unit 24, the nozzle 33 in which the paint ejection failure has occurred is specified.

From the image of the painted sample S, it is possible to identify the paint omission without the paint applied and the misalignment of the paint at the time of ejection. Therefore, among the nozzles 33 of the paint head unit 24, the nozzle 33 in which the paint is poorly ejected It is possible to easily identify the position of.

Further, the painting head unit 24 has a head control unit 54 that controls the ejection of paint from the plurality of nozzles 33 for each nozzle, and the head control unit 54 moves in one direction of the painting head unit 24. Using the plurality of nozzles 33 of the coating head unit 24, a test pattern TP for determining the presence or absence of paint ejection failure is applied to the sample S, and the determination unit 86 is the sample S coated with the test pattern TP. From the image, it is determined whether or not the coating of the sample S is normally performed.

For example, it is determined whether or not the painting of the painting head unit 24 is normally performed by using the image of the painted test pattern TP. Here, since the test pattern TP is for determining whether or not the nozzles 33 are clogged, it is possible to reliably detect (grasp) the degree of clogging of the plurality of nozzles 33.

Further, the coating head unit 24 arranges a plurality of nozzle rows 34a and 34b in which a predetermined number of nozzles 33 are arranged in a direction inclined with respect to one direction in a direction orthogonal to one direction, and the test pattern TP is two-dimensional. A plurality of check lines MCL arranged in a shape and extending in one direction are included, and the head control unit 54 has a predetermined number of nozzle rows 34a and 34b each of the plurality of nozzle rows 34a and 34b when the paint head 30 is moved in one direction. A plurality of check line MCLs are applied to the sample S by continuously ejecting the paint from any of the nozzles 33 on all the nozzles 33 while switching the nozzles 33.

In the present invention, the paint is ejected from each nozzle 33 while moving the paint head unit 24 in one direction to paint the work to be painted. Therefore, a painting head 30 is adopted in which a plurality of nozzle rows 34a and 34b in which a predetermined number of nozzles 33 are arranged in a direction inclined with respect to the moving direction of the painting head unit 24 are arranged in a direction orthogonal to the one direction. A plurality of check line MCLs corresponding to each of the nozzles 33 of the coating head 30 are used as the test pattern TP. Therefore, by specifying the painting state in each check line MCL, it becomes easy to easily determine the presence or absence of the nozzle 33 which causes painting failure, and at the same time, it becomes easy to grasp the painting state of the vehicle body FR.

Further, the determination unit 86 has a predetermined number or more of the check line MCL using any of the predetermined number of nozzles 33 of the same nozzle rows 34a and 34b in the image of the test pattern TP acquired by the image pickup unit 41. When the check line MCL of No. 1 has a coating defect, it is determined that the coating of the sample S using the coating head unit 24 is not normally performed.

For example, a state in which painting defects occur in a predetermined number or more of check lines MCL is a state in which the paint cannot be uniformly applied to the vehicle body FR. The vehicle body FR in such a painted state is treated as a poor painting and cannot be used. Therefore, by grasping the coating state of the sample S using the coating head unit 24, it is possible to prevent the occurrence of the vehicle body FR treated as a coating defect.

Further, three-dimensionally, the vehicle body FR painted by the painting head 30 using the captured images acquired by at least one image pickup unit 91 and one or more image pickup units 91 that image the vehicle body FR at a plurality of different positions. It also has a three-dimensional image generation unit 93 that generates an image, and a painting state determination unit 94 that determines the painting state of the vehicle body FR using the three-dimensional image of the vehicle body FR generated by the three-dimensional image generation unit 93. be.

According to this, by acquiring a three-dimensional image of the painted car body FR, it is possible to grasp the painted state on the painted surface of the painted car body FR, that is, to determine whether or not painting unevenness has occurred, for example. If the coating unevenness occurs, the nozzle 33 corresponding to the position where the coating unevenness has occurred can be specified among the plurality of nozzles 33 included in the coating head unit 24. Further, it is possible to grasp the degree of clogging of the corresponding nozzle 33 depending on the degree of coating unevenness.

Further, the coating state determination unit 94 determines whether or not the thickness of the paint coated with the sample S is equal to or less than a preset thickness by using the three-dimensional image, and the coating state determination unit 94 determines the thickness of the paint. Further includes a management device 35 for instructing the sample S to be coated with a test pattern TP for determining the presence or absence of paint ejection failure when it is determined that the thickness is equal to or less than a preset thickness.

According to this, when coating unevenness occurs on the painted surface of the vehicle body FR painted from the three-dimensional image, the test pattern TP is instructed to be painted on the sample S, so that the plurality of nozzles 33 possessed by the painting head 30 are 33. Of these, the nozzle 33 in which a ejection defect such as clogging can be appropriately detected can be appropriately detected.

Further, a painting head unit 24 having a plurality of nozzles 33, and a painting robot 11 arranged in the explosion-proof controlled painting chamber 17 and capable of moving the painting head unit 24 in one direction along the sample S. The coating determination device 14 described above has a coating determination device 14 and a nozzle cleaning device 36 for cleaning a plurality of nozzles 33 included in the coating head 30, and the nozzle cleaning device 36 normally paints the sample S by the coating determination device 14. When it is determined that the coating head 30 is not used, the plurality of nozzles 33 included in the coating head 30 are cleaned.

According to this, when it is determined by the coating determination device 14 that the coating on the sample S cannot be normally performed, the nozzles 33 are cleaned by cleaning the plurality of nozzles 33 of the coating head 30. The generated clogging can be eliminated, and the coating quality for the vehicle body FR can be maintained.

At this time, the work includes a sample S for test pattern painting used for determining whether or not the vehicle body FR is normally painted in the painting determination device 14, and the coating determination device 14 is the coating chamber 17. Further, it is provided with a transport device 13 that transports the sample S for test pattern painting, which is installed outside and painted by the paint head unit 24, to the paint determination device 14.

When the sample S for test pattern painting is painted, the painted sample S for test pattern painting is conveyed to the painting determination device 14, and at the same time, the vehicle body FR to be painted next is set at a predetermined position. .. At this time, for example, while setting the vehicle body FR to be painted next, the painting determination device 14 determines whether or not the coating is normally performed on the sample S of the conveyed coating head unit 24. If it can be determined that the painting is not performed normally, the painting head unit 24 is washed without painting the vehicle body FR. As a result, it is possible to prevent the occurrence of vehicle body FR, which causes poor painting. Further, by installing the coating determination device 14 outside the coating chamber 17, only the configuration for coating the sample S or the vehicle body FR is arranged in the coating chamber 17, and the configuration that causes ignition can be arranged from inside the coating chamber 17. Can be eliminated.

10 ... Painting system 11 ... Painting robot 12 ... Image processing device 13 ... Transfer device 14 ... Painting judgment device 24 ... Painting head unit 30 ... Painting head 31 ... Nozzle forming surface 32a, 32b ... Nozzle group 33 ... Nozzle 34a, 34b ... Nozzle Row 41 ... Imaging unit 42 ... Light source 43 ... Computer FR ... Body S ... Sample TP ... Test pattern

Claims (8)

A paint head paint determination device that has a plurality of nozzles for ejecting paint, ejects the paint from the plurality of nozzles while moving in one direction, and determines the paint of the paint head that paints the work with the discharged paint. In
An image acquisition means for acquiring an image of the painted work and
Based on the image acquired by the image acquisition means, a determination means for determining whether or not the work is normally painted, and a determination means.
Have,
The coating head has a control means for controlling the ejection of the paint in the plurality of nozzles for each nozzle.
The control means uses the plurality of nozzles of the coating head in accordance with the movement of the coating head in one direction to provide the work with a determination pattern for determining the presence or absence of defective ejection of the paint. Let me paint
The determination means determines whether or not the work is normally painted from the image of the work on which the determination pattern is painted.
In the coating head, a plurality of nozzle rows in which a predetermined number of nozzles are arranged in a direction inclined with respect to the one direction are arranged in a direction orthogonal to the one direction.
The determination pattern includes at least a plurality of check lines extending in one direction arranged in a two-dimensional manner.
The control means performs all operations of continuously ejecting the paint from any nozzle of a predetermined number of nozzles of each of the plurality of nozzle rows while switching the nozzles when the paint head is moved in one direction. By doing this with the nozzle of, the work is painted with the multiple check lines.
A painting judgment device for painting heads. In the coating determination device for the coating head according to claim 1,
It has an extraction means for extracting coating defects generated in the work from the image of the painted work.
The determination means is characterized in that when the extraction means extracts a coating defect that has occurred in the work, the nozzle in which the coating defect has occurred is specified from among the plurality of nozzles that the coating head has. Painting judgment device for painting heads. In the coating determination device for the coating head according to claim 1 or 2 .
The determination means paints a predetermined number or more of the check lines using any of the predetermined number of nozzles having the same nozzle row in the image of the determination pattern acquired by the image acquisition means. A coating head coating determination device for determining that the work is not normally coated using the coating head when a defect has occurred. In the coating determination device for the coating head according to any one of claims 1 to 3 .
One or more imaging means for imaging the work at a plurality of different positions, and
A three-dimensional image generation means for generating a three-dimensional image of the work painted by the painting head using the captured images acquired by the one or more imaging means.
Using the three-dimensional image of the work generated by the three-dimensional image generation means, a state determination means for determining the coating state of the work and a state determination means.
A coating determination device for a coating head, which further comprises. In the coating determination device for the coating head according to claim 4 ,
The state determining means uses the three-dimensional image to determine whether or not the thickness of the paint coated with the work is equal to or less than a preset thickness.
When the state determining means determines that the thickness of the paint is equal to or less than a preset thickness, the coating head indicates that the work is coated with a determination pattern for determining the presence or absence of defective ejection of the paint. A paint determination device for a paint head, which further comprises an instruction means for instructing the paint head. In the coating determination device for the coating head according to any one of claims 1 to 5.
The work is arranged at a position different from that of the first work conveyed along the painting line and the painting line, and a second pattern for determining whether or not the paint is poorly ejected is painted. Including the work of
The determination means determines whether or not the coating is normally performed based on the image of the determination pattern coated on the second work.
When the determination means determines that the coating is normally performed, the control means controls a plurality of the nozzles to coat the first work.
A painting judgment device for painting heads. With a paint head with multiple nozzles,
A means of transportation that is placed in an explosion-proof controlled painting room and can move the painting head in one direction along the work.
The coating determination device for the coating head according to any one of claims 1 to 6 .
A cleaning means for cleaning a plurality of nozzles of the coating head, and
Have,
The cleaning means is a coating system comprising cleaning a plurality of nozzles of the coating head when it is determined by the coating determination device of the coating head that the work is not normally coated. In the coating system according to claim 7 ,
The work includes a first work conveyed along the painting line and a second work arranged at a position different from the painting line and on which the determination pattern is painted .
The coating determination device for the coating head is installed outside the coating chamber.
A painting system further comprising a transport means for transporting the second work painted by the paint head to the paint determination device of the paint head.

Images