JP7203258B1 - 車体塗装用ロボット - Google Patents
車体塗装用ロボット Download PDFInfo
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- JP7203258B1 JP7203258B1 JP2022052328A JP2022052328A JP7203258B1 JP 7203258 B1 JP7203258 B1 JP 7203258B1 JP 2022052328 A JP2022052328 A JP 2022052328A JP 2022052328 A JP2022052328 A JP 2022052328A JP 7203258 B1 JP7203258 B1 JP 7203258B1
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- 239000003973 paint Substances 0.000 claims abstract description 266
- 239000011248 coating agent Substances 0.000 claims abstract description 234
- 238000000576 coating method Methods 0.000 claims abstract description 234
- 230000033001 locomotion Effects 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 abstract description 13
- 230000006866 deterioration Effects 0.000 abstract description 7
- 238000007599 discharging Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 18
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- 238000007872 degassing Methods 0.000 description 9
- 230000036544 posture Effects 0.000 description 9
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- 238000011144 upstream manufacturing Methods 0.000 description 7
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- 238000000034 method Methods 0.000 description 4
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- 230000006870 function Effects 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 238000010894 electron beam technology Methods 0.000 description 1
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- 239000007789 gas Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 239000011347 resin Substances 0.000 description 1
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- 238000005245 sintering Methods 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/58—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter preventing deposits, drying-out or blockage by recirculating the fluid to be sprayed from upstream of the discharge opening back to the supplying means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/0423—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material for supplying liquid or other fluent material to several spraying apparatus
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45013—Spraying, coating, painting
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Spray Control Apparatus (AREA)
- Coating Apparatus (AREA)
- Manipulator (AREA)
Abstract
Description
本発明の車体塗装用ロボット10は、車体FRに向けて塗料を吐出する塗装ヘッド56と、塗料を貯留する塗料タンク55と塗装ヘッド56との間で塗料を循環させる供給路57及び戻り流路58を有し、前記供給路57及び戻り流路58からなる循環路を流れる前記塗料の圧力を制御することが可能な塗料循環装置51と、塗装ヘッド56及び塗料循環装置51を有するロボットアーム15と、を有し、ロボットアーム15の動作により塗装ヘッド56を主走査方向に移動させながら車体FRの塗装を行うものであり、ロボットアーム15の動作を制御するアーム制御部102を有し、塗装ヘッド56は、アーム制御部によるロボットアーム15の動作により、車体FRの塗装を開始する塗装開始位置(位置P4)に向けて第1の速度で移動し、塗装開始位置までの移動経路内に設けた特定の位置(位置P2)に到達すると、第1の速度とは異なる第2の速度で移動するものである。
15…ロボットアーム
21…基台(基部)
22…第1回動アーム
23…第2回動アーム
51…塗料循環装置(供給装置)
55…塗料タンク(貯留部)
56…塗装ヘッド
57…供給路
58…戻り流路(還流路)
62…ギヤポンプ(送出手段)
69…圧力計(第1の検出手段)
79…圧力計(第2の検出手段)
80…ギヤポンプ(引込み手段)
102…アーム制御部(制御手段)
103…塗料供給制御部(圧力制御手段)
Claims (7)
- 車体に向けて塗料を吐出する塗装ヘッドと、
前記塗料を貯留する貯留部と前記塗装ヘッドとの間で前記塗料を循環させる循環路を有し、前記循環路を流れる前記塗料の圧力を制御することが可能な供給装置と、
前記塗装ヘッド及び前記供給装置を有するアームと、
を有し、
前記アームの動作により前記塗装ヘッドを主走査方向に移動させながら前記車体の塗装を行う車体塗装用ロボットであって、
前記アームの動作を制御する制御手段を有し、
前記塗装ヘッドは、
前記制御手段による前記アームの動作により、前記車体の塗装を開始する塗装開始位置に向けての所定距離を一定速度である第1の速度で移動し、
前記塗装開始位置までの移動経路内に設けた特定の位置に到達すると、前記第1の速度から、前記第1の速度とは異なる一定速度である第2の速度に速度変化し、
前記塗装開始位置に到達すると、前記第2の速度を保ったまま前記車体の塗装を開始し、
前記特定の位置から前記塗装開始位置までの距離は、
前記塗装ヘッドが前記特定の位置に到達したときの速度変化に伴う塗料の圧力変化を収束させることが可能な距離であることを特徴とする車体塗装用ロボット。 - 請求項1に記載の車体塗装用ロボットにおいて、
前記第2の速度は、前記第1の速度未満に設定されることを特徴とする車体塗装用ロボット。 - 請求項1に記載の車体塗装用ロボットにおいて、
前記第1の速度は、前記第2の速度未満に設定されることを特徴とする車体塗装用ロボット。 - 請求項1に記載の車体塗装用ロボットにおいて、
前記塗装ヘッドは、前記主走査方向に複数回往復動するとともに、前記主走査方向における往復動の切り替えの際に、前記主走査方向に直交する副走査方向に所定量移動し、
前記塗装開始位置は、前記主走査方向の往復動における往路及び復路の各々に設けられることを特徴とする車体塗装用ロボット。 - 請求項4に記載の車体塗装用ロボットにおいて、
前記塗装ヘッドは、前記副走査方向に所定量移動する際に前記第2の速度よりも低速である第3の速度で移動することを特徴とする車体塗装用ロボット。 - 請求項1に記載の車体塗装用ロボットにおいて、
前記塗装ヘッドは、前記車体の塗装を行ってないときに初期位置に保持され、
前記制御手段は、前記車体への塗装開始を受けて、前記アームの動作を制御して、前記塗装ヘッドを前記初期位置から前記塗装開始位置へと移動させることを特徴とする車体塗装用ロボット。 - 請求項1に記載の車体塗装用ロボットにおいて、
前記循環路は、前記貯留部に貯留された前記塗料を前記塗装ヘッドに供給する供給路と、前記塗装ヘッドにより使用されなかった前記塗料を前記貯留部に還流する還流路と、を有し、
前記供給装置は、
前記貯留部に貯留された前記塗料を前記供給路に送り出す送出手段と、
前記塗装ヘッドから前記塗料を前記還流路に引き込む引込み手段と、
前記供給路に送り込まれた前記塗料の圧力を検出する第1の検出手段と、
前記還流路に引き込まれた前記塗料の圧力を検出する第2の検出手段と、
前記第1の検出手段による検出結果に基づいて前記送出手段による前記塗料の送り出し量を制御するとともに、前記第2の検出手段による検出結果に基づいて前記引込み手段による前記塗料の引き込み量を制御する圧力制御手段と、
を有することを特徴とする車体塗装用ロボット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022052328A JP7203258B1 (ja) | 2022-03-28 | 2022-03-28 | 車体塗装用ロボット |
JP2022137116A JP7267493B1 (ja) | 2022-03-28 | 2022-08-30 | 車体塗装用ロボット |
EP23161555.0A EP4252919A1 (en) | 2022-03-28 | 2023-03-13 | A robot for coating a vehicle body |
CN202310249451.8A CN116809283A (zh) | 2022-03-28 | 2023-03-15 | 车身涂装用机器人 |
US18/185,161 US20230321838A1 (en) | 2022-03-28 | 2023-03-16 | Robot for coating vehicle body |
Applications Claiming Priority (1)
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JP2022052328A JP7203258B1 (ja) | 2022-03-28 | 2022-03-28 | 車体塗装用ロボット |
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JP2022137116A Division JP7267493B1 (ja) | 2022-03-28 | 2022-08-30 | 車体塗装用ロボット |
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JP7203258B1 true JP7203258B1 (ja) | 2023-01-12 |
JP2023145057A JP2023145057A (ja) | 2023-10-11 |
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JP2022052328A Active JP7203258B1 (ja) | 2022-03-28 | 2022-03-28 | 車体塗装用ロボット |
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US (1) | US20230321838A1 (ja) |
EP (1) | EP4252919A1 (ja) |
JP (1) | JP7203258B1 (ja) |
CN (1) | CN116809283A (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016172379A (ja) | 2015-03-17 | 2016-09-29 | 株式会社リコー | 画像形成装置 |
JP6948482B1 (ja) | 2021-03-25 | 2021-10-13 | アーベーベー・シュバイツ・アーゲーABB Schweiz AG | 塗装ロボットシステムおよび塗装方法 |
WO2021205537A1 (ja) | 2020-04-07 | 2021-10-14 | アーベーベー・シュバイツ・アーゲー | インクジェット方式の車両用塗装機および車両塗装方法 |
WO2021255896A1 (ja) | 2020-06-18 | 2021-12-23 | アーベーベー・シュバイツ・アーゲー | 塗装ロボットおよび塗装ロボットを用いた塗装方法 |
WO2022049718A1 (ja) | 2020-09-04 | 2022-03-10 | アーベーベー・シュバイツ・アーゲー | 塗装ロボット |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3626808B2 (ja) * | 1996-01-29 | 2005-03-09 | 三菱重工業株式会社 | 塗装用ロボットの制御方法及び制御装置 |
DE102005027236A1 (de) * | 2005-06-13 | 2006-12-21 | Dürr Systems GmbH | Applikationsroboter mit mehreren Applikationsgeräten |
-
2022
- 2022-03-28 JP JP2022052328A patent/JP7203258B1/ja active Active
-
2023
- 2023-03-13 EP EP23161555.0A patent/EP4252919A1/en active Pending
- 2023-03-15 CN CN202310249451.8A patent/CN116809283A/zh active Pending
- 2023-03-16 US US18/185,161 patent/US20230321838A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016172379A (ja) | 2015-03-17 | 2016-09-29 | 株式会社リコー | 画像形成装置 |
WO2021205537A1 (ja) | 2020-04-07 | 2021-10-14 | アーベーベー・シュバイツ・アーゲー | インクジェット方式の車両用塗装機および車両塗装方法 |
WO2021255896A1 (ja) | 2020-06-18 | 2021-12-23 | アーベーベー・シュバイツ・アーゲー | 塗装ロボットおよび塗装ロボットを用いた塗装方法 |
WO2022049718A1 (ja) | 2020-09-04 | 2022-03-10 | アーベーベー・シュバイツ・アーゲー | 塗装ロボット |
JP6948482B1 (ja) | 2021-03-25 | 2021-10-13 | アーベーベー・シュバイツ・アーゲーABB Schweiz AG | 塗装ロボットシステムおよび塗装方法 |
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EP4252919A1 (en) | 2023-10-04 |
US20230321838A1 (en) | 2023-10-12 |
JP2023145057A (ja) | 2023-10-11 |
CN116809283A (zh) | 2023-09-29 |
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