JP7359628B2 - Paint film removal method and paint film removal device - Google Patents

Description

The present invention relates to a paint film removal method and a paint film removal device for removing paint films from objects by laser irradiation, and in particular to a paint film removal process suitable for performing paint film removal processing on small objects or objects with complex shapes. The present invention relates to a film removal method and a coating film removal device.

The surfaces of steel bridges, ships, tanks, etc. are coated with paint, but it is necessary to remove the paint film during repair or renovation work.

For example, various coatings such as painting, paving, lining, resin sheets, etc. are formed on the surface of steel structures such as bridges, depending on the purpose and function. Such coatings are often exposed to the elements and deteriorate over time. Even if you apply paint without thoroughly removing dirt and rust from the iron parts, the paint will not adhere properly, so it will peel off quickly, and you will not be able to achieve its original durability. Therefore, it is necessary to perform surface treatment to ensure that dirt and rust are removed, and to increase the surface area by roughening the surface to improve adhesion. Therefore, in structures having such coatings, removal operations such as cleaning and peeling are performed on a regular basis, and treatments such as repainting or replacing the coating are performed as necessary.

Conventionally, paint film removal treatments have been carried out using paint film stripping agents or shot blasting, but there have been problems in that the work environment and work efficiency are poor.

Since the coating film is attached to the surface of the metal material with an adhesive, it is difficult to remove it. However, by heating the metal plate under the coating film to, for example, 150 to 200 degrees C , it is possible to reduce the adhesion of the coating film to metal materials. In this state, the coating film can be easily removed by peeling it off from the metal material using a tool such as a scraper.

Therefore, in order to efficiently and quickly remove coating materials such as paint during maintenance and repainting of oil storage tank bottom plates, etc., a high-frequency The coating is applied to the surface of the steel plate by generating an alternating magnetic field with an induction heating coil, and generating Joule heat by the eddy current generated in the steel plate in the alternating magnetic field to instantaneously heat the surface of the steel plate. A high-frequency induction heating type coating material stripping device has been proposed in which the coating material in the molten state is removed by melting the coating material and immediately thereafter using an abrasive material ejected from a blast nozzle (see, for example, Patent Document 1). ).

In addition, as a high-frequency induction heating device, for example, an industrial robot is used as a means for moving one or both of the high-frequency induction heating coil and the heated object, and by teaching the industrial robot, the high-frequency induction heating coil and the heated object can be moved. By constantly maintaining the distance between the body part to be heated and the body to be heated at an appropriate distance without causing contact between the high-frequency induction heating coil and the body to be heated, this system eliminates the need for operator skill. , a device has been proposed that allows high-frequency induction heating to be performed appropriately regardless of the shape of the region to be heated of the object to be heated (see, for example, Patent Document 2).

In general, induction heating equipment requires a large high-frequency power supply and is installed as an installed type, so it is suitable for processing a large amount of material to be heated in a fixed shape at a fixed location, but it is small in size. It has been very difficult to process small amounts of individual objects individually.

In order to solve the above problem, the techniques disclosed in Patent Documents 1 and 2 above install an induction heating device on a trolley or a robot to heat objects that are difficult to heat.

In addition, conventional paint removal treatment using paint removers and shot blasting not only creates a poor work environment and work efficiency, but also has problems in collecting and disposing of a large amount of removed material. Peeling treatments have been proposed.

For example, a paint film removal method that can remove paint films without using chemicals, and a laser processing device suitable for removing paint films that focuses or diverges laser light and irradiates it onto the surface of the object to be treated. It has a lens, a lens support mechanism that supports the lens and can adjust the height from the surface of the object to be processed to the lens, and a gas jetting means that sprays gas onto the laser beam irradiated portion of the surface of the object to be processed. A laser processing apparatus has been proposed that can suppress an increase in the surface temperature of an object to be processed by spraying it (for example, see Patent Document 3).

Patent Document 3 describes that in such a laser processing apparatus, the laser irradiation head is attached to the tip of a manipulator arm, and the manipulator arm is controlled by the manipulator body to move the laser irradiation head to a desired position on the surface of the object to be processed. It is stated that it is supported.

In addition, as a laser irradiation device that can efficiently remove the paint film on the surface of a structure and collect the removed material by suction, the laser head is connected to the optical system that irradiates the laser beam and the irradiation point of the laser beam. The optical system consists of a suction means for suctioning the removed material that is generated, and an attachment configured to be able to come into contact with the surface of the structure. A laser coating film removal device has been proposed in which the irradiation point of the laser beam is operated so as to scan the locus of a first circle having a radius as the center (see, for example, Patent Document 4).

Japanese Patent Application Publication No. 9-131666 Japanese Patent Application Publication No. 2002-343544 Japanese Patent Application Publication No. 10-309899 Patent No. 5574354

By the way, a large amount of energy is required to remove the paint film, and the blasting equipment that has been used in the past becomes large in size, and a large amount of waste is produced after the treatment.

In the technique disclosed in Patent Document 1, in order to downsize the blasting device, the coating film is not removed only by blasting, but is blasted after being heated and melted in advance. That is, a mobile induction heating device and a downsized blasting device are installed on a moving truck, and the paint film on the target material can be removed efficiently and at low cost while moving the truck.

However, the technology disclosed in Patent Document 1 cannot be applied to small-sized and complex-shaped materials to be heated, and even though it is miniaturized, there are problems inherent to blasting, such as a bad working environment, waste disposal, and running costs. There is a problem that remains unsolved, and that it is difficult to use the induction heating device under optimal conditions such as the gap between the heating coil and the material to be heated.

Further, the technology disclosed in Patent Document 2 is to equip a robot with an induction heating device, teach the robot to maintain an appropriate distance between the material to be heated and the heating coil, and then make the robot work.

The technique disclosed in Patent Document 2 can be applied to a material to be heated that has a predetermined shape by robot teaching, but if the shape of the material to be heated changes or the position changes, it may take time. There is a problem that it is necessary to re-teach them.

In paint film removal treatment using laser irradiation, the paint film on the surface of the object to be treated can be removed by laser ablation without using chemicals.

However, in the laser irradiation device according to the technique disclosed in Patent Document 3, in order to fix the laser condensing lens at a predetermined focal length and maintain its height, the laser irradiation head is brought into contact with the surface of the object to be processed. A manipulator arm moves the laser irradiation head to a desired position on the surface of the object to be processed.

Therefore, with the technique disclosed in Patent Document 3, it is extremely difficult to work in complex shapes or in narrow spaces, and in particular, in the case of objects to be processed that have protrusions etc., it is impossible to perform peeling processing at the corners. There was a problem.

Furthermore, in the technology disclosed in Patent Document 4, structures are irradiated by laser irradiation from a laser irradiation device having a portable laser head for converging laser light output from a laser oscillator and irradiating the surface of the structure. This removes the paint film on the surface, and since the worker carries out the peeling process with a laser irradiation device, it is difficult to maintain a constant focal distance from the object to be treated, so a laser irradiation device is used. It was necessary to install an attachment on the tip of the material and perform the peeling process using laser irradiation while the attachment was in contact with the object to be processed.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional circumstances, an object of the present invention is to provide a paint film removal method and a paint film removal device that can reliably and efficiently remove paint films from objects of small size or complex shapes. Our goal is to provide the following.

Here, the small-sized or complex-shaped objects include the blades of a blower or fan, the inner surface of a container, and the like.

Another object of the present invention is to automate paint film removal to improve the working environment and to ensure the safety and health of workers.

Other objects of the present invention and specific advantages obtained by the present invention will become clearer from the following description of the embodiments.

In the present invention, a robot is equipped with an induction heating device and a laser irradiation device, and after preheating the area to be removed by induction heating to change the state of the coating or adhesive interface, the target area is heated by induction heating, and then the target area is heated by induction heating to change the state of the coating or adhesive interface. A robot automatically performs a series of paint film removal processes to remove paint films from objects.

Further, in the present invention, by initial teaching of the robot, the operating trajectory of the robot is initially set so that heating and laser irradiation can be performed at positions where heating efficiency and laser irradiation efficiency are high, respectively. Furthermore, a shape measuring device is installed at the tip of the robot arm to measure the three-dimensional shape of the object, and the initial robot teaching is automatically corrected based on the measurement results.

Furthermore, in the present invention, the work trajectory of the robot's paint film removal process is corrected based on the three-dimensional shape information of the target object obtained from the measurement results by the shape measuring device that measures the three-dimensional shape of the target object. By moving the heating device and laser irradiation device using a robot to follow the surface shape of an arbitrary-shaped object, the predetermined heating distance, laser focal length, and laser irradiation angle can be appropriately controlled, and the heating device can be moved from the normal direction. Performs paint film removal processing that removes paint films from objects by heating and laser irradiation.

That is, in the present invention, a heating device that heats a target object and a laser irradiation device that irradiates the target object with laser light are held by a manipulator and moved within a work area including a processing target area of the target object, The area to be treated of the object is heated in advance by the heating device to change the state of the coating film or adhesive interface of the area to be treated, and then the laser irradiation device irradiates the object with laser light. A paint film removal method that automatically performs a series of paint film removal operations for removing a paint film on an object, wherein the manipulator is a robot arm, and together with the heating device and the laser irradiation device, it is possible to remove the paint film from the object in three dimensions. A shape measuring device that measures the shape is held by the manipulator, and based on three-dimensional shape information of the object obtained from measurement results by the shape measuring device, a work area including a processing target area of the object of the manipulator. The present invention is characterized in that the series of paint film removal work operations within the machine is automatically corrected from a pre-stored initial setting state, and the paint film removal work operations are automatically performed.

In the case of induction heating, the object to be heated needs to be an electrical conductor, and after heating the metal that is the coating base material, the coating is heated by thermal conduction. In the case of infrared heating, a light source emits infrared rays to the object to be heated, and the energy absorbed by molecules of the object causes resonance motion and heats the object. Therefore, altering the state of the paint film or adhesive interface may mean heating and softening the paint film itself, or altering the adhesive interface between the paint film and the base material, thereby increasing the adhesive strength. It means to reduce or eliminate.

In addition, in the coating film removal method according to the present invention, the distance between the heating device and the laser irradiation device and the processing target area of the target is determined based on three-dimensional shape information of the target obtained from the measurement results by the shape measuring device. The operation of the manipulator may be controlled so as to maintain constant.

In addition, in the coating film removal method according to the present invention, based on the three-dimensional shape information of the object obtained from the measurement results by the shape measuring device, the normal direction at the heating position by the heating device in the processing target area of the object is determined. The distance to the heating position is determined, the operation of the manipulator is controlled to keep the distance between the heating device and the area to be processed on the object constant, and the object is heated. Based on the three-dimensional shape information of the target object, calculate the normal direction of the laser irradiation position and the distance to the laser irradiation position by the laser irradiation device in the processing target area of the target object, and calculate the distance between the heating device and the laser irradiation device and the target object to be processed. The operation of the manipulator may be controlled to irradiate the target object with the laser so as to keep the distance between the target area and the target area constant.

In addition, in the coating film removal method according to the present invention, based on the three-dimensional shape information of the target obtained from the measurement results by the shape measuring device, , shape tracing control may be performed so that the heating device heats the processing target region of the object.

In addition, in the coating film removal method according to the present invention, the optical axis of the laser beam irradiated by the laser irradiation device is determined based on the three-dimensional shape information of the target obtained from the measurement results by the shape measuring device. Shape tracing control may be performed to match the normal direction in .

Furthermore, in the coating film removal method according to the present invention, the heating device may be an induction heating device.

Furthermore, in the coating film removal method according to the present invention, the heating device may be an infrared heating device.

The present invention includes a heating device that heats an object , a laser irradiation device that irradiates the object with laser light, and a device that holds and moves the heating device and the laser irradiation device within a work area that includes the area to be processed on the object. A manipulator is used to heat the target area of the target object using a heating device to alter the condition of the coating film or adhesive interface in the target area, and then a laser irradiation device irradiates the target object with laser light. a control device that automatically performs a series of paint film removal work operations to remove a paint film, the manipulator is a robot arm, the heating device, the laser irradiation device and A shape measuring device that measures a three-dimensional shape of an object is held by the manipulator, and the control device controls the target object of the manipulator based on the three-dimensional shape information of the object obtained from the measurement result by the shape measuring device. The present invention is characterized in that a series of paint film removal work operations within a work area including an area to be treated of an object is automatically corrected from a pre-stored initial setting state, and the paint film removal work operations are automatically performed. .

Further, in the coating film removal apparatus according to the present invention, the control device is configured to control the heating position of the heating device in the processing target area of the object based on the three-dimensional shape information of the object obtained from the measurement result by the shape measuring device. Determine the normal direction and the distance to the heating position, keep the distance between the heating device and the target area of the object constant, and also calculate the normal direction and the laser irradiation position at the laser irradiation position by the laser irradiation device. The operation of the manipulator can be controlled by determining the distance to the position and keeping the distance between the heating device and the laser irradiation device and the region of the object to be processed constant.

Further, in the coating film removal apparatus according to the present invention, the control device is shaped such that the heating device heats the processing target region of the target object from the normal direction of the heating position of the heating device in the processing target region of the target object. It is possible to perform imitation control.

Further, in the paint film removal device according to the present invention, the control device controls the optical axis of the laser beam irradiated by the laser irradiation device to be targeted based on the three-dimensional shape information of the object obtained from the measurement results by the shape measuring device. Shape tracing control may be performed so as to match the normal direction at the surface position of the object.

Moreover, in the coating film removal apparatus according to the present invention, the heating device may be an induction heating device.

Furthermore, in the coating film removal apparatus according to the present invention, the heating device may be an infrared heating device.

In the present invention, a robot is equipped with an induction heating device and a laser irradiation device, and after preheating the area to be removed by induction heating to change the state of the coating or adhesive interface, the target area is heated by induction heating, and then the target area is heated by induction heating to change the state of the coating or adhesive interface. By automatically carrying out a series of paint film removal processes using robots, it is possible to improve the work environment and ensure the safety and health of workers.

In the case of induction heating, the object to be heated needs to be an electrical conductor, and after heating the metal that is the coating base material, the coating is heated by thermal conduction. In the case of infrared heating, a light source emits infrared rays to the object to be heated, and the energy absorbed by molecules of the object causes resonance motion and heats the object. Therefore, altering the state of the paint film or adhesive interface may mean heating and softening the paint film itself, or altering the adhesive interface between the paint film and the base material, thereby increasing the adhesive strength. It means to reduce or eliminate.

Furthermore, in the present invention, a shape measuring device that measures the three-dimensional shape of the object is installed at the tip of the robot arm, and the initial robot teaching is automatically corrected based on the measurement results, thereby making it possible to spend time on teaching again. It is possible to reliably and efficiently remove paint films from small and complex-shaped objects such as the blades of blowers and fans and the inner surfaces of containers.

In addition, in the present invention, the shape tracing control controls the work trajectory of the robot for paint film removal processing based on the three-dimensional shape information of the target obtained from the measurement results by a shape measuring device that measures the three-dimensional shape of the target. By modifying the heating device and laser irradiation device, the robot can move the heating device and laser irradiation device to follow the surface shape of the object of arbitrary shape, and the distance from the heating device to the surface of the object can be appropriately controlled. The predetermined focal length and laser irradiation angle can be appropriately controlled.

Furthermore, in the present invention, a paint film removal process is performed in which the paint film of the target object is removed by laser irradiation, with laser light irradiation conditions appropriately set according to the surface shape of the treatment target area, the quality of the paint film removal process, etc. be able to.

In addition, in the present invention, the induced magnetic field and radiation light emitted by the heating device are made to coincide with the normal direction at the surface position of the object, and the optical axis of the irradiated laser beam is set in the normal direction at the surface position of the object. By performing shape tracing control to match the shape of the object and performing paint film removal processing that removes the paint film of the object by laser irradiation from the normal direction, it is possible to remove objects with complex shapes or large area shapes. On the other hand, the coating film removal process can be performed reliably and efficiently by laser irradiation.

1 is a block diagram showing a configuration example of a coating film removal device to which the present invention is applied. In a paint film removal device, a laser scanning section installed in the laser head section continuously outputs a linear laser beam through one-dimensional scanning, and a robot manipulator continuously sends the laser head section in a direction perpendicular to the linear laser beam. 1 is a diagram used to explain the irradiation method in step 1, and (A) is a diagram for explaining the irradiation method of 1. Each time the robot manipulator moves the laser head part by unit length in the X-axis direction (right direction), the laser scanning part changes the irradiation position of the laser beam to It is a schematic diagram showing a state in which the coating film is removed in the treatment target area by scanning in the axial direction and repeating the coating film removal process in a vertical line shape. FIG. 3 is a schematic diagram showing a state in which the paint film is moved to the next processing target region in the Y-axis direction and the coating film of the processing target region divided into a plurality of regions in the Y-axis direction is sequentially removed. In the paint film removal equipment, a planar laser with a rectangular irradiation area is formed by two-dimensional scanning by a laser scanning unit, and after the laser irradiation of the irradiation area is completed, a robot manipulator is used to move the laser head to the next irradiation area. FIG. 4 is a diagram for explaining a second irradiation method in which laser irradiation is performed while moving the laser intermittently; FIG. (B) is a schematic diagram showing a state in which the laser head is moved to the next treatment target area in the Y-axis direction by a robot manipulator, and the coating film of the treatment target area divided into multiple areas in the Y-axis direction is sequentially removed. It is a diagram. FIG. 2 is a perspective view schematically showing the structure of a two-axis galvano mirror mechanism provided in the coating film removal device. It is a flowchart showing the procedure of paint film removal work performed by this paint film removal device.

Embodiments of the present invention will be described in detail below with reference to the drawings. Note that common components will be explained using common reference symbols in the drawings. Furthermore, it goes without saying that the present invention is not limited to the following examples, and can be modified as desired without departing from the gist of the present invention.

The present invention provides a laser coating film removal process in which a robot manipulator 20 is equipped with a laser irradiation device 10 configured as shown in the block diagram of FIG. Applies to device 100.

The laser coating removal device 100 includes a laser irradiation device 10, a robot manipulator 20, a heating device 30, a shape measuring device 40, a shape processing device 40A, a control device 50, and the like.

The laser irradiation device 10 includes a laser oscillation section 11 and a laser head section 13 connected to the laser oscillation section 11 via an optical fiber 12. The operation of this laser irradiation device 10 is controlled by a general control section 51 provided in a control device 50, and a laser oscillation section 11 generates a laser beam, which is emitted from a laser head section 13 to irradiate the target object 1. .

Further, the robot manipulator 20 includes a multi-joint robot arm 21, and a heating device 30 and a shape measuring device 40 are attached to the tip end 21A of the robot arm 21, together with the laser head section 13 of the laser irradiation device 10.

This robot manipulator 20 freely moves the tip end 21A of the robot arm 21 within a predetermined working range under the control of a robot control unit 53 provided in a control device 50, and moves it at a substantial solid angle in front of it. It can be turned in any direction.

That is, the laser head portion 13 of the laser irradiation device 10 attached to the tip portion 21A of the robot arm 21 can be moved at any position within the working range of the robot manipulator 20 at any arbitrary solid angle in front. It is now possible to irradiate a laser beam in a direction.

Further, the heating device 30 attached to the tip end 21A of the robot arm 21 together with the laser head section 13 of the laser irradiation device 10 is heated at any position within the working range of the robot manipulator 20, for example, by induction heating. This is a mobile induction heating device that heats the coating removal area of the object 1, and includes an induction heating coil 33 to which a high frequency current is supplied via an induction heating transformer 32 connected to a high frequency power supply 31.

Further, a shape measuring device 40 attached to the tip portion 21A of the robot arm 21 together with the laser head portion 13 of the laser irradiation device 10 is configured to measure the shape of the object 1 to be irradiated with laser light from the laser head portion 13 of the laser irradiation device 10. Measure the three-dimensional shape of the surface.

The shape measuring device 40 includes a stereo imaging device, a three-dimensional distance measuring device, etc., and measures the three-dimensional shape of the surface of the object 1 and supplies the measurement results to the shape processing device 40A. .

The shape processing device 40A determines the normal line at the laser irradiation position by the laser irradiation device 10 in the processing target area of the object 1 based on the three-dimensional shape information of the surface of the object 1 obtained from the measurement results by the shape measurement device 40. Performs calculation processing to determine the direction and distance to the laser irradiation position. The information on the normal direction at the laser irradiation position and the distance to the laser irradiation position by the laser irradiation device 10 in the processing target area of the object 1 obtained by the shape processing device 40A is obtained by a shape copying device provided in the control device 50. The signal is supplied to the control section 52.

The control device 50 includes an overall control section 51, a shape copying control section 52, and a robot control section 53. By controlling the operation of the heating device 30, a series of paint film removal operations performed by the laser paint film removal device 100 is automatically controlled.

That is, the overall control unit 51 in this control device 50 controls the induction heating coil 33 of the heating device 30 attached to the tip 21A of the robot arm 21 and the robot manipulator 20 set in advance by the laser head unit 13 of the laser irradiation device 10. The robot controller 53 is controlled so that the laser coating removal device 100 passes through the coating film removal work trajectory, and the operations of the laser irradiation device 10 and the heating device 30 are controlled so that the laser coating removal device 100 can perform a series of coating film removal operations. Automatically control operations as follows.

That is, in this laser coating film removal apparatus 100, the heating device 30 that heats the object 1 and the laser irradiation device 10 that irradiates the object 1 with laser light are held by the robot manipulator 20, and the object 1 to be processed is The target area of the object 1 is heated in advance by the heating device 30 to alter the state of the coating film or adhesive interface in the area to be treated, and then the laser irradiation device 10 A series of paint film removal operations for removing the paint film on the object 1 by irradiating laser light is automatically performed.

Then, in automatically controlling the operation of the heating device 30, the overall control unit 51 in this control device 50 controls the method at the heating position by the heating device 30 in the processing target area of the object 1 obtained by the shape processing device 40A. Based on the information on the line direction and the distance to the heating position, the shape tracing control unit 52 is controlled to generate correction control information for correcting the initially set trajectory of the heating treatment work by the robot manipulator 20.

Further, in automatically controlling a series of paint film removal operation operations by this laser paint film removal device 100, the overall control unit 51 in this control device 50 controls the processing target area of the object 1 obtained by the shape processing device 40A. The shape is configured to generate correction control information for correcting the originally set trajectory of the coating film removal work by the robot manipulator 20 based on information on the normal direction at the laser irradiation position by the laser irradiation device 10 and the distance to the laser irradiation position. Controls the copy control section 52.

The shape copying control unit 52 controls the overall control unit 51 based on the information on the normal direction at the heating position by the heating device 30 in the processing target area of the object 1 and the distance to the heating position, which is supplied from the shape processing device 40A. According to the control by Shape tracing control is performed so that the heating device 30 is held at a distance position where efficient heating can be performed by heating from the normal direction to the surface of the region to be processed.

Further, the shape copying control section 52 controls the control by the central control section 51 based on the information on the normal direction at the laser irradiation position by the laser irradiation device 10 and the distance to the laser irradiation position supplied from the shape processing device 40A. Therefore, by generating correction control information for correcting the originally set trajectory of the paint film removal work by the robot manipulator 20 and supplying it to the robot control unit 53, the laser irradiation device 10 can perform the correction control information on the corrected paint film removal work trajectory by the robot manipulator 20. The optical axis of the laser beam to be irradiated is made to coincide with the normal direction at the surface position of the object 1, and the surface position of the processing target area of the object 1 is the focal point of the laser beam irradiated by the laser irradiation device 10. Shape tracing control is performed to ensure the correct position.

The control device 50 in this laser paint film removal apparatus 100 performs initial teaching on the operation of the robot manipulator 20 based on the shape of the object 1 and registers it in the robot control unit 53 when performing the paint film removal work by the shape-copying control described above. .

At this time, distance information between the heating device 30 and the laser irradiation device 10 and the target object 1 is transmitted from the central control section 51 to the robot control section 53 and set.

At the same time, the heating output and heating time (robot movement speed) for efficient induction heating by the heating device 30 and the conditions for appropriate laser irradiation (laser output, laser feed speed) are sent to the central control unit 51. are calculated, and are transmitted and set to the high frequency power supply device 31, the laser oscillation unit 11, and the laser irradiation device 10, respectively.

Note that in order to increase work efficiency, it is possible to increase the heating output and increase the moving speed of the robot, but since the heating device 30 becomes larger, the method of moving the heating device 30 by the robot is to increase the heating output. Appropriate heating time must be set from the standpoint of both energy (heating equipment specifications) and work time reduction.

Here, the laser light generated by the laser oscillation unit 11 of the laser irradiation device 10 can be either continuous light or pulsed light as long as it has the power necessary to remove the coating film on the object 1 by laser ablation. The general control unit 51 of the control device 50 may cause the target object to be irradiated with laser light with the laser light irradiation conditions appropriately set according to the surface shape of the area to be treated of the target object 1, the quality of paint film removal, etc. A coating film removal operation can be performed to remove the coating film of No. 1.

Here, as a laser irradiation method in which a continuous laser beam with higher power is generated by the laser oscillation unit 11 and the laser head unit 13 mounted on the robot manipulator 20 is used, for example, a laser beam provided in the laser head unit 13 is used. A first irradiation method in which the robot manipulator 20 continuously outputs the linear laser by one-dimensional scanning by the laser scanning unit and continuously sends the laser head unit 13 in a direction perpendicular to the linear laser; By two-dimensional scanning, a planar laser having, for example, a rectangular irradiation range is formed, and after the laser irradiation of the irradiation range is completed, the laser head unit 13 is intermittently moved to the next irradiation range by the robot manipulator 20. Any one of the second irradiation methods is adopted.

(A) and (B) of FIG. 2 are diagrams for explaining the first irradiation method, and (A) is a diagram in which the laser head section 13 is moved by the robot manipulator 20 by unit length in the X-axis direction (rightward direction). 2 is a schematic diagram illustrating a state in which the laser beam irradiation position is scanned in the Y-axis direction by a laser scanning unit and the paint film removal process is repeated in a vertical line shape to remove the paint film in the treatment target area, (B) is a schematic diagram showing a state in which the robot manipulator 20 moves the laser head unit 13 to the next processing target area in the Y-axis direction, and sequentially removes the coating film from the processing target area divided into multiple areas in the Y-axis direction. It is a diagram.

(A) and (B) of FIG. 3 are diagrams for explaining the second irradiation method, and (A) is a schematic diagram showing a state in which a coating film in a treatment target area is removed by two-dimensional scanning by a laser scanning unit. (B) is a state in which the robot manipulator 20 moves the laser head unit 13 to the next processing target area in the Y-axis direction, and sequentially removes the coating film of the processing target area divided into multiple areas in the Y-axis direction. FIG.

In the first irradiation method in which laser irradiation is performed in a linear manner, as shown in FIG. While scanning, the laser head section 13 is moved in the X-axis direction by the robot manipulator 20.

In this first irradiation method, as shown in FIG. 2B, the robot manipulator 20 moves the laser head 13 from the upper left end point (1, 1) by a predetermined unit length in the X-axis direction (right direction). Each time it is moved, the laser scanning unit scans the laser beam irradiation position in the Y-axis direction, and repeatedly removes the coating film in a vertical line on the processing target area AR ₁ until it reaches the point (1, n). Then, the robot manipulator 20 moves the laser beam irradiation position downward in the Y direction to point (2, n), and moves leftward in the X axis direction (left direction) from point (2, n) to point (2, 1). Each time the robot manipulator 20 moves by unit length, the laser scanning unit scans the laser beam irradiation position in the Y-axis direction, and performs coating film removal processing in a vertical line shape for the next processing target area AR ₂ . Then, while repeatedly one-dimensionally scanning a predetermined scanning range in the Y-axis direction with the laser scanning unit, the laser head unit 13 is moved in the X-axis direction with the robot manipulator 20, and the coating film removal process is repeated for all processing target areas. implement.

In the first irradiation method, while the laser scanning unit repeatedly scans a predetermined scanning range in the Y-axis direction, the robot manipulator 20 causes the laser head unit 13 to move in the Y-axis direction. It is also possible to repeat the coating film removal treatment linearly.

In the second irradiation method, as shown in FIGS. 3A and 3B, the irradiation position of the laser beam is controlled by, for example, a biaxial galvano mirror mechanism provided as a laser scanning section in the laser head section 13. By two-dimensional scanning that scans in the Y-axis direction while reciprocating in the X-axis direction from the upper left end point (1, 1), a planar laser having a rectangular irradiation range AR ₁₁ is formed, and the laser irradiation in the irradiation range AR ₁₁ is performed. After this is completed, the robot moves the laser beam irradiation position to the next irradiation range AR ₁₂ , and a two-axis galvano mirror mechanism performs two-dimensional scanning from the upper left end point (1, 2) of the irradiation range AR ₁₂ . The coating film removal process is repeatedly performed for each two-dimensional scanning range by the two-axis galvano mirror mechanism by intermittently moving the two-dimensional scanning range, that is, the laser beam irradiation range, using the two-axis galvano mirror mechanism. do.

Here, the heating device 30 heats the object 1 prior to laser irradiation. Since the heating device 30 has a predetermined position where heating efficiency is high, basically heating and laser irradiation cannot be performed at the same time.

Therefore, in this laser coating removal apparatus 100, when laser irradiation is performed using the linear laser shown in FIG. After changing the state, it is irradiated with laser. In addition, when irradiating with a planar laser shown in FIG. 3, the irradiated surface is heated to change the state of the coating film or the adhesive interface, and then the laser irradiation is performed.

In the first and second irradiation methods, if the area of the processing target area of the object 1 is larger than the working range of the robot arm 21 of the robot manipulator 20, the robot manipulator 20 itself may be moved in the X-axis direction or the Y-axis direction. It is necessary to use a feeding device to move the

In the laser coating removal device 100, the laser head section 13 of the laser irradiation device 10 has two motors 131X, 131Y and two mirrors 132X, 132Y as a laser scanning section, as shown in FIG. A two-axis galvanometer mirror mechanism 130 may be provided.

This two-axis galvano mirror mechanism 130 can scan the laser beam L supplied from the laser oscillation unit 11 via the optical fiber 12 by changing the reflection angle of the laser independently in the X-axis direction and the Y-axis direction. It is now possible to do so.

That is, the mirror 132X scans the laser beam L irradiated onto the object 1 in the X-axis direction by rotating around the Z-axis by the motor 131X.

Further, the mirror 132Y scans the laser beam L irradiated onto the object 1 in the Y-axis direction by rotating around the X-axis by the motor 131Y.

Note that the two mirrors 132X and 132Y in the two-axis galvano mirror mechanism 130 can be replaced with polygon mirrors, respectively.

That is, a predetermined range can be irradiated while the position of the laser head section 13 of the laser irradiation device 10 is fixed.

In addition, in scanning by a galvano mirror or a polygon mirror, the optical axis coincides with the normal direction at only one point, and the focal position of the laser beam is located in an arc shape, so this two-axis galvano mirror mechanism 130 The object 1 is irradiated with laser light through a telecentric f-theta lens (or a telecentric optical system having optical characteristics equivalent to the telecentric f-theta lens) 133. In other words, in laser irradiation by carbano mirror scanning, the focal length changes up to the object 1, so it is necessary to restrict the laser irradiation range so that the laser beam irradiation position is scanned within a range where the decrease in laser processing performance is small. be.

The control device 50 in the laser coating removal apparatus 100 controls the laser irradiation device 10, the robot manipulator 20, and the heating device 30 according to the procedure shown in the flowchart shown in FIG. 5 to control the coating removal process.

That is, when this laser coating removal device 100 starts operating, first, the overall control section 51 of the control device 50 performs initial setting processing (ST1).

In the initial setting process (ST1), the distance between the induction heating coil 33 and the object 1 is determined based on the conditions of the paint film removal process given in advance for the object 1, such as information such as the type and thickness of the paint film. At the same time, the angle of the laser head 13 of the laser irradiation device 10 is calculated so that the laser beam is irradiated in a direction perpendicular to the surface shape of the object 1. The focal distance between the object 1 and the object 1 is calculated, and the calculation results are transmitted from the integrated control section 51 to the mouthbot control section 53.

Next, the robot control unit 53 performs initial teaching processing (ST2).

In the initial teaching process (ST2), the robot control unit 53 sets an initial teaching trajectory based on the three-dimensional CAD data of the object 1, etc., so as to satisfy the heating gap and laser focal length given as the calculation results by the general control unit 51. Initialize.

Next, the robot control unit 53 performs three-dimensional shape information acquisition processing (ST3).

In the three-dimensional shape information acquisition process (ST3), the robot control unit 53 operates the robot manipulator 20 on a predetermined trajectory to measure the shape of the object 1, and uses the shape measuring device 40 to measure the object in the work range. The three-dimensional shape of the region to be processed on the surface of 1 is measured, and the three-dimensional shape information obtained as a result of the measurement is transmitted to the shape processing device 40A.

Next, the shape processing device 40A performs a shape copying control setting process (ST4).

In the shape tracing control setting process (ST4), the shape processing device 40A determines the shape of each point on the trajectory of the paint film removal work based on the three-dimensional shape information of the object 1 obtained as a measurement result by the shape measuring device 40. Then, the normal direction at the laser irradiation position and the distance to the laser irradiation position by the laser irradiation device 10 in the processing target area of the object 1 are calculated, and the calculation result is output to the shape tracing control unit 52, and the tertiary The deviation between the initial teaching trajectory and the object 1 is calculated from the original shape information and the three-dimensional CAD data of the object 1, and the correction amount information obtained as a result of the calculation is output to the robot control section 53.

Next, the robot control unit 53 performs shape copying control A (ST5).

In shape copying control A (ST5), the robot control unit 53 corrects the initially set initial teaching trajectory of the robot manipulator 20 based on the correction amount information provided by the shape processing device 40A, and adjusts the corrected final operating trajectory. The robot manipulator 20 is controlled based on the following.

In this shape tracing control A (ST5), on the corrected final motion trajectory, the induced magnetic field by the heating coil 33 is directed to the surface of the processing target area of the object 1 heated by the heating device 30, so that the normal line at the surface position The robot control unit 53 controls the robot manipulator 20 so as to match the directions and maintain the distance between the induction heating coil 33 and the object 1 at a distance (heating gap) that allows efficient heating.

Next, the overall control unit 51 performs coating film heat treatment control (ST6).

In the coating heat treatment control (ST6), while performing shape tracing control by the robot control unit 53, the robot manipulator 20 moves the induction heating coil 33 to control the portion of the object 1 from which the coating is to be removed. By supplying a high frequency current from the power supply device 31 to the induction heating coil 33 via the induction heating transformer 32, the part of the object 1 from which the coating film is to be removed is heated by induction. Due to this induction heating, the condition of the coating film to be removed or the adhesive interface at the coating film removal portion of the object 1 is altered.

Next, the robot control unit 53 performs shape copying control B (ST7).

In shape copying control B (ST7), on the corrected final motion trajectory, the optical axis of the laser beam irradiated by the laser irradiation device 10 is made to coincide with the normal direction at the surface position of the processing target area of the object 1. At the same time, the robot manipulator 20 is controlled by the robot control unit 53 so that the surface position of the processing target area of the object 1 becomes the focal position of the laser beam irradiated by the laser irradiation device 10.

Next, the overall control unit 51 performs coating film removal processing control (ST8).

In the paint film removal processing control (ST8), the robot controller 53 performs shape tracing control so that the optical axis of the laser beam irradiated by the laser irradiation device 10 coincides with the normal direction at the surface position of the object 1. , the laser head section 13 of the laser irradiation device 10 is moved to the coating film removal site where the state of the coating film or adhesive interface has been altered in advance by the induction heating, and the coating film removal site is removed from the laser head section 13. Laser ablation is used to remove the paint film or adhesive interface that has been altered in quality by irradiating it with laser light.

Then, the overall control unit 51 performs a work completion determination process (ST9).

In the work completion determination process (ST9), the overall control unit 51 confirms whether the coating process has been completed for all the target areas of the object 1, and if the determination result is "NO", the shape copying control is performed. Returning to A (ST5), repeat the work completion determination process (ST9) from shape copying control A (ST5) until the determination result becomes "YES", and complete the paint film removal process on the processing target area of object 1. Once completed, the series of paint film removal process control ends.

In this laser coating film removal apparatus 100, a heating device 30 that heats the object 1 and a laser irradiation device 10 that irradiates the object 1 with laser light are held by a robot manipulator 20, and the processing target area of the object 1 is controlled by a robot manipulator 20. The processing area of the object 1 is heated in advance by the heating device 30 to alter the state of the coating film or adhesive interface in the processing area, and then the laser irradiation device 10 applies laser light. It is possible to implement a paint film removal method that automatically performs a series of paint film removal work operations in which the paint film on object 1 is removed by irradiating the object with Safety and health can be ensured.

In addition, in this laser coating film removal apparatus 100, shape tracing control is performed so that the optical axis of the laser beam to be irradiated matches the normal direction at the surface position of the object 1, and the object is irradiated with the laser from the normal direction. By performing coating film removal work to remove the coating film 1, laser irradiation can be used to reliably and efficiently target objects 1 such as small materials and complex-shaped materials such as the blades of blowers and fans, and the inner surfaces of containers. Can remove paint film well.

Furthermore, the shape tracing control in this laser coating removal device 100 is performed by the robot manipulator 20 based on the three-dimensional shape information of the object 1 obtained from the measurement results by the shape measuring device 40 that measures the three-dimensional shape of the object 1. By correcting the paint film removal work trajectory, the laser irradiation device 10 is moved by the robot manipulator 20 following the surface shape of an arbitrarily shaped object, thereby appropriately controlling the predetermined focal length and laser irradiation angle. be able to.

In addition, in this laser paint film removal apparatus 100, the distance between the induction heating coil 33 and the object 1 that allows efficient heating (heating gap) is calculated, and the robot control unit 53 Since the robot manipulator 20 is controlled by the robot manipulator 20, the induction heating process can be performed efficiently.

Furthermore, this laser coating removal device 100 automatically corrects the initial robot teaching based on the three-dimensional shape information of the object 1 obtained by the shape measuring device 40 mounted on the robot manipulator 20, thereby saving time again. Since there is no need for teaching work, the paint film removal process can be performed efficiently and reliably.

Here, since this laser coating film removal device 100 uses a high frequency induction heating device as the heating device 30, it removes the coating film formed on the surface of the iron object 1 that can be heated by high frequency induction. However, by mounting a heating device 30 of another heating method, such as an infrared heating device, on the robot manipulator 20 instead of the high-frequency induction heating device, the coating film of the object to be processed, which is made of a material that cannot be heated by induction, can be removed. be able to.

In addition, this laser paint film removal device 100 can cause rust to occur on the surface again if the surface of the object 1 after the paint film is removed is exposed to the outside air and left for a long time with the paint film removed. , the performance of the next treatment may be significantly reduced, so in order to prevent rust from occurring on the target material after the paint film is removed, a gas to block oxygen in the air is applied at the same time as the laser irradiation. A spraying device (not shown) such as a spray or a nozzle may be mounted on the robot manipulator 20 to perform gas spraying on the area where the coating removal work by laser irradiation has been completed on the object.

1 object, 10 laser irradiation device, 11 laser oscillation unit, 12 optical fiber, 13 laser head unit, 20 robot manipulator, 21 robot arm, 21A tip, 30 heating device, 40 shape measuring device, 40A shape processing device, 50 control Device, 51 General control section, 52 Shape copying control section, 53 Robot control section, 100 Laser coating removal device, 130 Galvano mirror mechanism, 131X, 131Y motor, 132X, 132Y Mirror, 133 Telecentric f-theta lens

Claims (13)

A heating device that heats the object and a laser irradiation device that irradiates the object with laser light are held by a manipulator and moved within a work area that includes the processing target area of the object, and the heating device heats the object. The area to be treated of the object is heated in advance to alter the state of the coating film or adhesive interface of the area to be treated, and then the laser irradiation device irradiates the object with laser light to remove the coating film of the object. A paint film removal method that automatically performs a series of paint film removal operations,
the manipulator is a robot arm,
holding a shape measuring device that measures the three-dimensional shape of the object together with the heating device and the laser irradiation device by the manipulator;
Based on the three-dimensional shape information of the object obtained from the measurement result by the shape measuring device, a series of paint film removal operations of the manipulator in a work area including the processing target area of the object is stored in advance. A method for removing a paint film, characterized in that the paint film removal operation is automatically performed by automatically correcting an initial setting state . Based on the three-dimensional shape information of the object obtained from the measurement results by the shape measuring device, the distance between the heating device and the laser irradiation device and the processing target area of the object is kept constant; The coating film removal method according to claim 1, further comprising controlling the operation of the manipulator. Based on the three-dimensional shape information of the object obtained from the measurement results by the shape measuring device, determine the distance between the normal direction at the heating position by the heating device and the distance to the heating position in the processing target area of the object. ,
controlling the operation of the manipulator to heat the target object so as to maintain a constant distance between the heating device and the heating device and a processing target area of the target object;
Next, based on the three-dimensional shape information of the object, find the normal direction at the laser irradiation position by the laser irradiation device in the processing target area of the object and the distance to the laser irradiation position,
1 . The target object is irradiated with the laser by controlling the operation of the manipulator so as to maintain a constant distance between the heating device and the laser irradiation device and a region to be treated of the target object. Or the coating film removal method according to claim 2 . Based on the three-dimensional shape information of the object obtained from the measurement result by the shape measuring device, the heating device measures the object from the normal direction at the heating position of the heating device in the processing target area of the object. 4. The coating film removal method according to claim 2, further comprising performing shape tracing control to heat a region to be treated. Based on the three-dimensional shape information of the object obtained from the measurement result by the shape measuring device, the optical axis of the laser beam irradiated by the laser irradiation device is aligned with the normal direction at the surface position of the object. The coating film removal method according to claim 2 or 3, characterized in that shape-following control is performed. The coating film removal method according to any one of claims 1 to 5, wherein the heating device is an induction heating device. The coating film removal method according to any one of claims 1 to 5, wherein the heating device is an infrared heating device. a heating device that heats an object ; a laser irradiation device that irradiates the object with laser light; and a device that holds and moves the heating device and the laser irradiation device within a work area that includes a processing target area of the object. irradiating the target object with a laser beam using the laser irradiation device in a state where the treatment target area of the object is preheated by the heating device and the state of the coating film or adhesive interface of the treatment target area is altered; A paint film removal device comprising: a control device that automatically performs a series of paint film removal operations for removing the paint film of the object;
the manipulator is a robot arm,
holding a shape measuring device that measures the three-dimensional shape of the object together with the heating device and the laser irradiation device by the manipulator;
The control device performs a series of paint film removal operations within a work area of the manipulator that includes a processing target area of the object, based on three-dimensional shape information of the object obtained from measurement results by the shape measuring device. A paint film removal device characterized in that the paint film removal operation is automatically performed by automatically correcting the operation from a pre-stored initial setting state. The control device determines a normal direction at a heating position by the heating device in a processing target area of the object and the heating position based on three-dimensional shape information of the object obtained from measurement results by the shape measuring device. The distance between the heating device and the processing target area of the object is kept constant, and the distance between the normal direction at the laser irradiation position by the laser irradiation device and the laser irradiation position is determined. According to claim 8 , the operation of the manipulator is controlled by determining a distance between the heating device, the laser irradiation device, and the processing target area of the object to maintain a constant distance. The coating film removal device described. The control device performs shape tracing control so that the heating device heats the processing target region of the object from a normal direction to a heating position of the heating device in the processing target region of the target object. The coating film removal device according to claim 9 . The control device determines whether the optical axis of the laser beam irradiated by the laser irradiation device is a normal to the surface position of the object, based on three-dimensional shape information of the object obtained from the measurement result by the shape measuring device. 10. The coating film removing device according to claim 9, wherein the coating film removing device performs shape tracing control so as to match the direction. The coating film removal device according to any one of claims 8 to 11, wherein the heating device is an induction heating device. The coating film removal device according to any one of claims 8 to 11, wherein the heating device is an infrared heating device.