JP7091161B2 - Spray information creation method and painting simulation method for virtual painting - Google Patents

Description

The present invention relates to a method for creating spray information necessary for reproducing the painting of a work in a virtual space and a painting simulation method using the created spray information. More specifically, the present invention relates to paint particles in actual painting. We used a spray information creation method for virtual painting, which is characterized by calculating virtual spray information that takes into account the spray information of the above, and creating a database, and a virtual spray information database created by that method. Regarding the painting simulation method.

In recent years, in the field of painting, a method of automatically painting using a painting robot has been adopted in the case of painting a large amount of an object to be painted (hereinafter referred to as "work"). When painting is automatically performed using such a painting robot, it is necessary to keep the distance and angle between the injection port of the painting gun and the work constant in order to make the coating film thickness uniform. ..

Therefore, in painting using such a painting robot, it is necessary to set the trajectory data of the spray gun in the painting robot in advance based on the external dimensions of the work and to store this trajectory data in the painting robot. This work is generally called "teaching".

Then, by this teaching, the painting robot can move the spray gun based on the taught trajectory data, which enables the work to be painted automatically. Therefore, in painting using such a painting robot, it is possible to reduce labor costs and other costs, especially when painting a plurality of workpieces, and the same coating is applied to all the workpieces. Has the advantage of being able to do.

Here, the conventional teaching will be described with reference to FIG. 6. In FIG. 6, 31 is a painting robot, 32 is a work, 33 is a robot controller for controlling the operation of the painting robot, and 34 is a teaching pendant. Is. The teaching is generally performed using the teaching pendant 34. That is, the teaching pendant 34 is like a remote controller and is connected to the robot controller 33. Then, when teaching, the painting robot 31 is operated via the robot controller 33 using the teaching pendant 34 in the vicinity of the painting robot 31, and the positions of the desired spray guns are sequentially registered in the robot controller 33. However, a method of storing the trajectory of the spray gun in the robot controller 33 by this method is common.

Japanese Unexamined Patent Publication No. 2013-184280 Japanese Unexamined Patent Publication No. 2006-315157 Japanese Unexamined Patent Publication No. 2005-238902 Japanese Unexamined Patent Publication No. 2004-114246 Japanese Unexamined Patent Publication No. 2000-288432 Japanese Unexamined Patent Publication No. 10-264060 Japanese Unexamined Patent Publication No. 10-264059 Japanese Unexamined Patent Publication No. 6-31233

By the way, after the teaching as described above, it is necessary to verify whether or not the workpiece can be accurately painted by the taught trajectory data, and this verification is generally called a simulation. Conventionally, in this simulation, a painting robot and a work are placed in a painting booth, and the paint is actually sprayed from a spray gun to paint the work, and then the surface that needs to be painted is painted with a uniform film thickness. I went by checking if it was done. In this way, in the conventional simulation, it is necessary to actually paint the work, so paint must be used for verification, and air conditioning equipment is used to collect the paint mist generated in the painting booth. Had to run, and it was costly.

In addition, as a result of the simulation, if the painting is not accurate, the teaching data is corrected, and based on the corrected data, the paint is actually sprayed from the spray gun again to paint, and the result is simulated. More paint and air conditioning energy was wasted because it had to be done.

At this time, in the conventional teaching, the distance between the spray gun and the work and the aim of the work of the spray gun are currently determined by the worker while looking at the actual work up close and relying on experience and intuition. Yes, in that method, the distance between the spray gun and the work is adjusted to the actual product, and the aim of the spray gun needs to be confirmed using a scale or a special tool, so be careful not to hit the work with the special tool. The work had to be done, which made the work complicated and time-consuming, and the distance between the work and the spray gun was determined visually, so it had to be ambiguous, and it was necessary to correct the orbital data by verification. Not a few.

In this regard, a method of reproducing and simulating the paint particles that are sprayed from the spray gun toward the work and applied to the work by fluid analysis using a computer can be considered on the display unit, and this method should be used. Since it is possible to visually check the painting state based on the taught trajectory data without spraying the paint on the work using an actual painting robot and the work, the paint is not wasted. In addition, it is possible to easily verify and correct the taught orbital data without using air conditioning energy.

However, the particle velocity and particle size distribution of the paint particles sprayed from the spray gun toward the work differ depending on the paint spray conditions such as the type of paint, atomization pressure, pattern pressure, and discharge rate, so the painting simulation is accurate. In order to reproduce the paint condition, it is necessary to quantify the actual spray condition corresponding to the spray condition and incorporate it into the fluid analysis.

At this time, generally in a painting robot, the spray gun atomizes the paint with compressed air, but it is immediately released to the atmosphere from the tip of the spray gun, and if this phenomenon is analyzed, a huge amount of time will be required. Therefore, it is not realistic to analyze individual spray conditions at the same time when simulating painting.

On the other hand, if a typical fixed value is input without considering the spray conditions, the simulation is executed in a short time, but in this case, it becomes impossible to perform an accurate painting simulation.

Therefore, an object of the present invention is to make it possible to perform a simulation in a short time in consideration of actual paint spray conditions when simulating painting by a painting robot in a virtual space.

The method for creating spray information for virtual painting of the present invention is to apply the actual painting in which the paint sprayed from the spray gun of the painting robot is applied to the work, and the basic data such as the outer shape, mechanism and dimensions of the painting robot. In a computer that has previously captured teaching data such as basic data such as the outer shape and dimensions of the work, position information between the painting robot and the work, distance information between the spray gun and the work, and trajectory data of the spray gun set by teaching. , A method of creating spray information for virtual painting necessary to reproduce in a virtual space by fluid analysis.
By spraying paint from a spray gun while different spray conditions, and by measuring spray information including at least particle velocity, particle size distribution, and spray pattern of the sprayed paint particles, spraying for each spray condition. Create a lot of information, create a database of real spray information,
Next, while referring to the actual spray information stored in the database, the particle velocity, particle size distribution, and particle size distribution of the sprayed paint particles as virtual spray information necessary for reproducing the actual painting in a virtual space. By calculating the spray pattern, a lot of virtual spray information for each spray condition is created, and a database of virtual spray information is created.
The virtual spray information for each spray condition created above is the actual painting in which the paint sprayed from the spray gun is applied to the work by performing fluid analysis using the virtual spray information for each spray condition. Is for reproducing in a virtual space,
The spray conditions are at least the pressure of atomized air for atomizing the paint, the pressure of the pattern air for forming the pattern of the atomized paint, the discharge amount of the paint, the viscosity of the paint, the components contained in the paint and the spray. The distance between the gun and the work
In the measurement of the spray information of the paint sprayed from the spray gun, the paint sprayed from the spray gun is photographed many times with a high-speed camera at each position while shifting the position of the spray gun up and down, left and right, and back and forth.
Using the paint particle data obtained by shooting,
It is characterized by measuring spray information including at least particle velocity, particle size distribution and spray pattern of the sprayed paint particles.

Further, the painting simulation method of the present invention is a painting simulation method that reproduces the painting of a work in a virtual space by using a database of virtual spray information created by the above method.
Using the processing device and the display unit controlled by the processing device,
Set the spray conditions corresponding to the actual spray information,
Call the virtual spray information corresponding to the set spray condition from the virtual spray information database,
It is characterized by reproducing the painting of the work on the display part using the called virtual spray information.

In the spray information creation method for virtual painting of the present invention, a large number of particle velocities and particle size distributions of paint particles sprayed from an actual spray gun are measured for each spray condition, and the actual spray information for each spray condition is obtained. Create a database, and then calculate the virtual spray information required to reproduce this database of actual spray information in a virtual space to create virtual spray information for each spray condition. By creating a large number and creating a database of virtual spray information for each spray condition, spray information for virtual painting will be created. Then, when simulating painting, spray conditions are set, spray information corresponding to the set spray conditions is called from the virtual spray information database, and fluid analysis is performed using the called spray information. The painting of the work is reproduced in a virtual space and the simulation is performed.

Therefore, according to the present invention, it is possible to shorten the coating simulation time, unlike the case where individual spray conditions are analyzed at the same time when the coating simulation is performed.

Further, in the present invention, in order to simulate painting using a virtual spray information database created by measuring a large number of particle velocities and particle size distributions of paint particles actually sprayed from a spray gun for each spray condition. , Unlike the case where a typical fixed value is input without considering the spray conditions, it is possible to perform accurate painting simulation.

It is a flowchart for demonstrating the Example of the spray information creation method for virtual painting of this invention. It is an image diagram for demonstrating the measurement method of the spray information in the Example of the spray information creation method for virtual painting of this invention. It is a flowchart for demonstrating the Example of the coating simulation method of this invention. It is a figure for demonstrating the screen display in an Example of the coating simulation method of this invention. It is a block diagram for demonstrating the system for carrying out the example of the spray information creation method and the coating simulation method for virtual coating of this invention. It is a block diagram for demonstrating a conventional teaching method.

In the spray information creation method for virtual painting of the present invention, first, the pressure of atomized air for atomizing the paint, the pressure of the pattern air for forming the pattern of the paint atomized by the atomized air, The paint is sprayed from the actual spray gun many times while different spraying conditions such as the amount of paint discharged, the viscosity of the paint, the components contained in the paint, and the distance between the spray gun and the work.

Then, for the sprayed paint particles, spray information including at least the particle velocity, particle size distribution, and spray pattern is measured, thereby creating a large amount of spray information for each spray condition, and the actual spray corresponding to the spray condition. Create a database of information.

Next, for the actual spray information stored in the database, the virtual spray information required to reproduce the spray information in a virtual space is calculated, and a large number of virtual spray information for each spray condition is created. Then, a database of virtual spray information corresponding to the spray conditions is created, and the spray information stored in this virtual spray information database is used as spray information for virtual painting.

Next, in the coating simulation method of the present invention, a processing device and a display unit controlled by the processing device are used to display paint particles that are sprayed from a spray gun toward the work and applied to the work. When performing this painting simulation, first, the spray conditions are set.

Then, the virtual spray information corresponding to the set painting conditions is called from the virtual spray information database.

Then, using the called virtual spray information, fluid analysis is performed to reproduce the painting of the work on the display unit.

Here, when reproducing the painting of the work on the display using the virtual spray information called from the virtual spray information database, the preset 3D data of the painting robot and the work and the trajectory of the taught spray gun. It is good to use the data to display all or part of the painting robot and the work on the display, and reproduce the state where the paint is sprayed from the spray gun toward the work and is applied to the work. It is possible to simulate a situation close to reality.

In addition, when reproducing the painting of the work on the display using the virtual spray information called from the virtual spray information database, the air flow in the painting booth and when the work is rotated, it occurs with the rotation. It is advisable to add the airflow to be applied, which makes it possible to realize a more accurate coating condition.

An embodiment of the spray information creating method for virtual painting of the present invention will be described with reference to the flowchart of FIG. 1. In the spray information creating method for virtual painting of the present embodiment, paint is sprayed from a spray gun. The method is to create the spray information necessary to reproduce the actual state of painting toward the work in a virtual space such as the display of a computer. Further, the spray gun in this embodiment is an atomization type spray gun that atomizes the paint discharged from the discharge port and sprays the paint in a predetermined pattern.

Then, in the spray information creation method for virtual painting of this embodiment, first, the spray conditions are set in step 1, and then the paint is actually sprayed from the spray gun according to the set spray conditions in step 2.

Here, the spray conditions will be described. The spray conditions in this embodiment include the type of spray gun, the amount of paint discharged, the pressure of atomized air for atomizing the paint, and a predetermined pattern of the sprayed paint. The pressure of the air to be sprayed, the type of paint to be sprayed, that is, the type of paint depending on the components contained in metal, pearl, etc., the color of the paint, the viscosity of the paint, the distance between the spray gun and the work, etc.

Then, after actually spraying the paint according to the set spray conditions, the spray information is measured for the sprayed paint in step 3. Then, in this embodiment, the spray of the paint from the spray gun in step 2 is performed many times while changing the spray conditions, and at the same time, the spray information about the sprayed paint in step 3 is performed each time. Is measured, and a large amount of spray information is created for each spray condition. Then, in step 4, the created actual spray information for each spray condition is stored in a storage means such as a hard disk or a USB memory, thereby creating a database of the actual spray information.

In this example, the spray information is the particle velocity, particle size distribution, and spray pattern of the sprayed paint particles. In this example, as described above, the spray is actually sprayed while different spray conditions. For the paint sprayed from the gun, these spray information is measured and made into a database.

Here, the method of measuring the spray information will be described. In this embodiment, the paint sprayed from the spray gun is photographed many times with a high-speed camera, and the photographed data is used to spray the paint particles by the measurement software. The particle velocity, particle size distribution, and spray pattern of the above are to be calculated.

Explaining this method in detail, in the present embodiment, the paint particles sprayed from the spray gun are pointed at a high-speed camera from a direction orthogonal to the spray direction, and a 1 mm square range is photographed by the high-speed camera. There is.

Then, in this shooting method, with the shutter open, the laser beam is irradiated from the opposite side toward the shutter side at a rate of about once every 7 nanoseconds, and the shooting data of the high-speed camera is used by the measurement software. Therefore, the particle velocity, particle size distribution, and spray pattern of each paint particle are calculated, and the shooting is continued until the calculation for about 3,000 paint particles is completed.

That is, the particle velocity and the particle size distribution are calculated for each of about 3,000 paint particles. FIG. 2 is a diagram showing an image of paint particles sprayed from a spray gun taken by a high-speed camera, in which 8 is a spray gun, 9 is a high-speed camera, 10 is a laser device, and 11. The part is the range to be shot with a high-speed camera.

Then, the high-speed camera 9 is connected to a processing device such as a CPU, and measurement software for calculating spray information using the shooting data of the high-speed camera is installed in the processing device, thereby taking a picture with the high-speed camera 9. It is possible to measure the spray information of the paint particles sprayed from the spray gun using the shooting data.

Further, in this embodiment, when taking a picture with a high-speed camera, the spray information of the sprayed paint particles is calculated three-dimensionally by taking pictures at a plurality of places by shifting the position of the spray gun up and down, left and right, and back and forth. It is possible to do.

As the measurement software for measuring the spray information of the paint particles sprayed by the spray gun using the shooting data taken by the high-speed camera 9, a commercially available measurement software is used, and detailed description thereof will be omitted.

Next, in the spray information creation method for virtual painting of this embodiment, as described above, after the database of the actual spray information is created in step 4, the spray information equivalent to the actual spray information is created in step 5. Calculates the virtual spray information required to reproduce in virtual space. That is, the initial velocity, particle velocity, particle size distribution, and spray pattern of the particles sprayed from the spray gun, which are necessary for reproducing the actual painting in a virtual space, are calculated with reference to the actual spray information. Then, this calculation is performed for each actual spray information corresponding to the spray condition, thereby creating a large number of virtual spray information for each spray condition. Then, in step 6, a large number of virtual spray information created is created in a database as virtual spray information for virtual painting, thereby creating spray information for virtual painting. The calculation for calculating the virtual spray information using the actual spray information is performed by using the analysis software and importing the data of the actual spray information into the analysis software, which is a commercially available calculation for analysis. Since the software is used, the detailed calculation method is omitted.

Next, an embodiment of the coating simulation method of the present invention will be described with reference to the flowchart of FIG. 3. The coating simulation method of the present embodiment uses the spray information for virtual coating created as described above. This is a method of performing a painting simulation that reproduces painting on a display unit that is a virtual space using a computer.

Then, in the painting simulation method of this embodiment, first, in step 11, 3D information of the painting robot and the work is taken into the computer in advance, and further, in step 12, the trajectory data of the spray gun set by teaching is taken into the computer. take in. That is, in teaching, teaching data such as the position of the painting robot, the position of the work, and the trajectory data of the spray gun set by teaching are stored in the robot controller, but in the painting simulation of this embodiment, the teaching data is stored. In steps 11 and 12, the teaching data stored in the robot controller or the like by teaching is taken into the computer. The destination for importing the 3D data of the painting robot and the work and the trajectory data of the spray gun is not particularly limited, but any of the internal hard disk, the external hard disk, the USB memory, etc. of the computer for carrying out the simulation may be used.

Next, in step 13, spray conditions for simulating painting are set. Then, in step 14, the virtual spray information created under the spray conditions matching the set spray conditions is called from the virtual spray information database.

Then, in step 15, fluid analysis is performed using the called spray information, and data for reproducing the state in which the spray paint is applied to the work is created.

Then, in step 16, painting, that is, a state in which paint is sprayed from a spray gun and the sprayed paint particles are applied to the work is reproduced, and a simulation is displayed. That is, the work and the spray gun are displayed on the display unit of the computer by using the 3D data of the painting robot and the work and the trajectory data of the spray gun captured in steps 11 and 12. That is, the teaching data set by teaching is used to generate 3D display data of the spray gun and the work, and at least the spray gun and the work are displayed in 3D on the display unit based on these 3D display data.

At the same time, using the data of the result of the fluid analysis, the state in which the paint is sprayed from the spray gun and the sprayed paint particles are applied to the work is displayed together with the spray gun and the work displayed on the display unit. As a result, the paint is reproduced on the display unit, and the paint simulation is displayed.

At this time, in the painting simulation method of this embodiment, the work of the display unit is rotated, the spray gun is moved according to the orbital data, and the sprayed paint particles are moved toward the work. That is, using the 3D data of the painting robot or work captured in the computer, the trajectory data of the spray gun, and the result of the fluid analysis of the virtual spray information, a simulation equivalent to the actual painting is displayed on the display unit.

FIG. 4 is a diagram showing a part of this simulation as a still image. In FIG. 4, the work 12, the spray gun 8, and the work sprayed from the spray gun 8 toward the work 12 are sprayed onto the display unit of the computer. It is a figure which shows the paint particle which is coated on.

That is, in the figure, 8 is a spray gun. In the orbital data simulation method of this embodiment, the spray gun 8 is displayed on the display unit 3, and in the simulation, the spray gun 8 displayed on the display unit 3 is displayed. It is moved according to the taught orbital data.

Further, in FIG. 4, a plurality of the work 12s are radially attached to the upper part of the rotatable column 14 via a jig 15, and in the simulation, the column 14 and the jig are as shown by arrows. It is moved clockwise by 15 rotations. However, the work does not necessarily have to be rotated, and painting may be performed with the work stationary. Further, the number of works is not particularly limited.

Next, the spray gun 8 sprays the paint toward the work 12 while moving according to the orbital data. Then, in FIG. 4, the work 12 moves clockwise, the spray gun 8 moves according to the orbital data while spraying the paint, and the paint particles 13 sprayed from the spray gun 8 are directed toward the work 12. A still image shows the process of moving and coating on the work 12. Although only the spray gun 8 is displayed in FIG. 4, not only the spray gun 8 but also the entire painting robot including the spray gun or a part of the painting robot including the spray gun is displayed. May be good.

In addition, in order to collect the paint mist that did not adhere to the work in the painting booth, the airflow in the painting booth is flowing in a certain direction, and the paint sprayed from the spray gun is affected by this airflow. In the example, when the fluid analysis of the paint particles is performed using the virtual spray information, the airflow in the paint booth is taken into consideration.

Further, in the present embodiment, as described above, a plurality of the workpieces are radially attached via a rotatable jig, and the workpieces are rotated during painting, and the workpieces are rotated. In this embodiment, the airflow generated by the rotation of the work is also taken into consideration in the spray condition because the airflow is generated in the painting booth. However, as described above, in the painting simulation of the present invention, it is not always necessary to rotate the work. Therefore, when painting is performed without rotating the work, of course, there is no airflow generated by the rotation of the work, so it is not necessary to take into consideration the spray conditions.

As described above, in the orbital data simulation method of this embodiment, it is possible to confirm on the display unit 3 how the paint is actually sprayed, moves toward the work, and is applied to the work 12. Since it is possible, when verifying the taught orbital data, it is not necessary to actually spray the paint on the work, so there is no need to waste the paint at the time of verification and it is not necessary to use air conditioning energy. , It is possible to significantly reduce the cost.

At this time, in the painting simulation method of this embodiment, a large number of spray information of the paint particles actually sprayed from the spray gun is created for each spray condition and made into a database as actual spray information, and the spray information of this database is stored. Using this, the virtual spray information required to reproduce the spray information equivalent to the actual spray information in the virtual space is calculated and created into a database, and when performing the simulation, this setting is made according to the set spray conditions. It is possible to perform accurate painting simulation in order to perform fluid analysis of spray paint using virtual spray information corresponding to the spray conditions.

When performing the painting simulation in this embodiment, the fluid analysis of the spray paint is performed using the virtual spray information corresponding to the set spray conditions, and this fluid analysis is performed using the fluid analysis software. .. Since there are various fluid analysis methods, details such as specific calculation methods are omitted, but as an example, the space in which the paint particles move is divided into a large number of elements, and the space between them is calculated. , A method of realizing the movement of paint particles as a virtual so as to correspond to the called virtual spray information can be considered. Further, in this embodiment, the display of the painting simulation is performed by using the painting software using the teaching data and the result of the fluid analysis.

Next, an example of a system for carrying out an example of the spray information creation method for virtual painting and a painting simulation method described above will be described. FIG. 5 is a block diagram showing the system of this embodiment.

In the figure, reference numeral 1 denotes a computer for performing the entire processing, and in the present embodiment, the computer 1 has a CPU 2 as a processing device having a control device and an arithmetic unit. A display unit 3, an input means 4 such as a keyboard and a mouse, a storage means 5 such as a RAM and a ROM, and a power supply 6 are connected to the CPU 2.

Further, in the present embodiment, the computer 1 is connected to a high-speed camera 9 and a laser device 10 for measuring the actual spray information of the paint particles sprayed from the spray gun, and the CPU 2 is a high-speed camera 9 and a laser device. The operation of the 10 is controlled, and the shooting data of the high-speed camera 9 is analyzed to measure the actual spray information.

Further, in the present embodiment, a memory means such as a robot controller 7 that stores teaching data by teaching or a USB that stores teaching data stored in the robot controller 7 by teaching is connected to the CPU 2 by wire or wirelessly. This makes it possible to capture the teaching data into the CPU.

Here, the storage means 5 will be described. In the present embodiment, the storage means 5 measures the actual spray information of the paint particles sprayed from the spray gun by using the shooting data taken by the high-speed camera. To perform fluid analysis using measurement software, calculation software for calculating virtual spray information using actual spray information, and virtual spray information and teaching data, and to simulate painting on the display unit. The fluid analysis software for creating the data of, and the painting software for displaying the painting simulation using the data created by the fluid analysis software are installed, and the spray information for virtual painting is created by this. , Enables painting simulation.

Further, in the present embodiment, the storage means 5 has a teaching data area, and the teaching data area is stored with teaching data taken in from a storage means such as a robot controller 7 or USB. The data taken into the teaching data area includes information stored in the robot controller in the initial setting at the time of teaching and various information stored in the robot controller by teaching.

The information stored in the robot controller in the initial setting at the time of teaching includes basic data such as the outer shape, mechanism, and dimensions of the painting robot, basic data such as the outer shape and dimensions of the work, and the painting robot and the work. There is position information and distance information between the spray gun and the work.

Further, the information stored in the robot controller by teaching includes the trajectory data of the spray gun, the distance data between the work and the spray gun, and the like.

Next, the storage means 5 has a database of actual spray information that stores actual spray information measured by the measurement software, and the database of the actual spray information is based on the spray conditions and the spray conditions. A large number of corresponding spray information is stored. The actual spray information database does not necessarily have to be built in the computer 1, and may be created in a storage means such as an external hard disk or a USB memory.

Further, the storage means 5 has a database of virtual spray information that stores virtual spray information calculated by calculation software, and the database of the virtual spray information is equivalent to the actual spray information. A large number of virtual spray information required to reproduce the spray information in the virtual space are stored according to the spray conditions. The virtual spray information database 7 does not necessarily have to be built in the computer 1, and may be created in a storage means such as an external hard disk or a USB memory.

Further, the storage means 5 also stores the data of the result of the fluid analysis performed by the fluid analysis software at the time of the painting simulation, and in the case of the fluid analysis in which the spray conditions and the teaching data are stored at the time of newly performing the painting simulation. In the same case as, it is possible to use the stored data of the fluid analysis result without newly performing the fluid analysis by the fluid analysis software.

In the system of the present embodiment configured as described above, when measuring the actual spray information, the CPU 2 controls the operation of the high-speed camera 9 and the laser device 10, and the measurement software is used to control the operation of the high-speed camera 9. The shooting data is analyzed, the actual spray information is measured, and the measurement data is stored in the database of the actual spray information of the storage means.

Further, when calculating the virtual spray information, the CPU 2 uses the actual spray information to calculate the virtual spray information necessary for reproducing the spray information equivalent to the actual spray information in the virtual space. , The data of the calculation result is stored in the virtual spray information database of the storage means.

Then, when performing the painting simulation, the CPU 2 calls the virtual spray information corresponding to the set spray conditions from the database, and the called virtual spray information and the teaching data and the robot stored in the storage means 5 are used. Fluid analysis is performed using teaching data captured from a storage means such as a controller or USB, data is created to reproduce the coating corresponding to the set spray conditions on the display unit, and the data of this analysis result is further used. The painting is reproduced on the display and a painting simulation is performed.

In this way, by using the system of this embodiment, a large number of spray information of the paint particles actually sprayed from the spray gun is created for each spray condition and made into a database as actual spray information, and the spray information of this database is created. Is used to calculate the virtual spray information required to reproduce the spray information equivalent to the actual spray information in the virtual space and create a database, and when performing the painting simulation, the virtual according to the set spray conditions. Since the spray information of can be used, it is possible to perform an accurate painting simulation.

In the above description, one computer 1 is used to measure and create a database of actual spray information, calculate and create a database of virtual spray information, create data for painting simulation, and display. Although the case of performing the painting simulation has been described, the system for carrying out the spray information creating method and the painting simulation method of the present invention does not necessarily have to be one computer.

Therefore, for example, a computer that measures actual spray information, a computer that calculates virtual spray information and creates a database, and performs fluid analysis for painting simulation, and a painting simulation on the display unit using the data of the fluid analysis results. A separate computer may be provided to perform the above.

In this case, the computer that measures the actual spray information is a computer that measures the actual spray information using the measurement software, calculates the virtual spray information, creates a database, and creates data for painting simulation. Is a computer that calculates virtual spray information using actual spray information using calculation software, creates data for painting simulation using fluid analysis software, and performs painting simulation on the display unit. , Display the simulation of painting using the result of fluid analysis by painting software.

Alternatively, measurement and database creation of actual spray information, calculation and database creation of virtual spray information, creation of data for painting simulation, and painting simulation on the display unit are distributed on any multiple computers. You may go there.

Since the present invention can perform a painting simulation based on actual spray information corresponding to the spray conditions, it can be applied to all painting simulations.

1 computer 2 CPU
3 Display 4 Input means 5 Storage means 6 Power supply 7 Robot controller 8 Spray gun 9 High-speed camera 10 Laser device 11 Shooting range 12 Work 13 Paint particles 14 Strut 15 Jig

Claims (4)

The actual painting in which the paint sprayed from the spray gun of the painting robot is applied to the work, basic data such as outer shape, mechanism and dimensions related to the painting robot, basic data such as outer shape and dimensions related to the work, painting robot and work It is necessary to reproduce in a virtual space by fluid analysis on a computer that has previously captured teaching data such as the position information of the paint gun, the distance information between the spray gun and the work, and the trajectory data of the spray gun set by teaching. It is a method of creating spray information for virtual painting .
By spraying paint from a spray gun while different spray conditions, and by measuring spray information including at least particle velocity, particle size distribution, and spray pattern of the sprayed paint particles, spraying for each spray condition. Create a lot of information, create a database of real spray information,
Next, while referring to the actual spray information stored in the database, the particle velocity, particle size distribution, and particle size distribution of the sprayed paint particles as virtual spray information necessary for reproducing the actual painting in a virtual space. By calculating the spray pattern, a lot of virtual spray information for each spray condition is created, and a database of virtual spray information is created.
The virtual spray information for each spray condition created above is the actual painting in which the paint sprayed from the spray gun is applied to the work by performing fluid analysis using the virtual spray information for each spray condition. Is for reproducing in a virtual space,
The spray conditions are at least the pressure of atomized air for atomizing the paint, the pressure of the pattern air for forming the pattern of the atomized paint, the discharge amount of the paint, the viscosity of the paint, the components contained in the paint and the spray. The distance between the gun and the work
In the measurement of the spray information of the paint sprayed from the spray gun, the paint sprayed from the spray gun is photographed many times with a high-speed camera at each position while shifting the position of the spray gun up and down, left and right, and back and forth.
Using the paint particle data obtained by shooting,
A method for creating spray information for virtual painting, which is performed by measuring spray information including at least particle velocity, particle size distribution, and spray pattern of the sprayed paint particles. A painting simulation method for reproducing the painting of a work in a virtual space using a database of virtual spray information created by the spray information creating method for virtual painting according to claim 1.
Using the processing device (2) and the display unit (3) controlled by the processing device (2),
Set the spray conditions corresponding to the actual spray information,
Call the virtual spray information corresponding to the set spray condition from the virtual spray information database,
A painting simulation method characterized in that the painting of a work is reproduced on the display unit (3) by using the called virtual spray information. When reproducing the painting of the work on the display unit (3) using the virtual spray information called from the virtual spray information database, along with the virtual spray information called from the database, the preset painting robot and work 3D The coating simulation method according to claim 2, wherein the coating of the work is reproduced by using the data and the trajectory data of the spray gun for moving the spray gun. 2 . The painting simulation method described in.

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