JP7399737B2 - Paint supply device, robot, discharge control system, discharge control method, and discharge control program - Google Patents

Description

One aspect of the present disclosure relates to a paint supply device, a robot, a discharge control system, a discharge control method, and a discharge control program.

Patent Document 1 describes a coating device for coating a sealant. This coating device includes a nozzle that applies a coating material to an object, a bracket that holds the sensor device and the nozzle, and a robot that moves the bracket over a coating section under the control of a control device.

Japanese Patent Application Publication No. 2018-167253

It is desired to stabilize the bead width in coating processing by robots.

A paint supply device according to one aspect of the present disclosure includes a tank installed on a robot and, in response to the start of application to a workpiece, in addition to primary paint supplied from a primary paint supply source, and a discharge mechanism that supplies the additional paint to the discharge section of the robot.

A discharge control system according to one aspect of the present disclosure supplies, in addition to the primary paint supplied from the primary paint supply source, additional paint in a tank installed on a robot toward a discharge section of the robot. It includes a supply control section that controls the discharge mechanism. The supply control section controls the discharge mechanism in response to the start of application to the workpiece, and supplies additional paint toward the discharge section.

A discharge control method according to one aspect of the present disclosure is executed by a discharge control system including at least one processor. The discharge control method is a supply control method that controls a discharge mechanism that supplies additional paint in a tank installed on the robot toward the discharge section of the robot in addition to the primary paint supplied from the primary paint supply source. Contains steps. In the supply control step, the discharge mechanism is controlled in response to the start of coating on the workpiece to supply additional paint toward the discharge section.

The discharge control program according to one aspect of the present disclosure supplies, in addition to the primary paint supplied from the primary paint supply source, additional paint in a tank installed on the robot toward the discharge section of the robot. causing the computer to perform a supply control step to control the ejection mechanism; In the supply control step, the discharge mechanism is controlled in response to the start of coating on the workpiece to supply additional paint toward the discharge section.

According to one aspect of the present disclosure, it is possible to stabilize the bead width in coating processing using a robot.

FIG. 1 is a diagram showing an example of the overall configuration of a coating system. FIG. 1 is a diagram showing an example of a detailed configuration of a coating system. It is a figure which shows the example of the state of the paint applied to the workpiece. It is a diagram showing an example of a functional configuration of a discharge control system. 1 is a diagram showing an example of a hardware configuration of a discharge control system. It is a flowchart which shows an example of operation of a discharge control system.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description will be omitted.

[Coating system configuration]
FIG. 1 is a diagram showing an example of the overall configuration of a coating system 1 according to an embodiment. FIG. 2 is a diagram showing an example of a detailed configuration of the coating system 1. As shown in FIG. The coating system 1 is a robot system that automatically performs at least part of coating a paint onto a workpiece W, which is an object to be coated. The work W is not limited, and the coating system 1 may coat any object. For example, the workpiece W may be a part of the body of an automobile, and more specifically may be a floor panel, a roof panel, a door panel, etc. The paint is not limited either, and the coating system 1 may use any paint. For example, the paint may be a sealing material or a damping material (a soundproofing member) for suppressing vibrations. The damping material may include a material (resin) having viscosity and elasticity. For example, the damping material may include a material that has enough viscosity to maintain the applied shape without dripping at room temperature until it solidifies.

In one example, the application system 1 includes a robot 10, a primary supply system 100, and a robot controller 200. The robot 10 is a machine that applies paint to a work W. A discharge unit 104 that functions as a gun that discharges paint is attached to the robot 10. The primary supply system 100 is a control system that supplies the paint to the robot 10. In this disclosure, the paint applied from the primary supply system 100 is also referred to as "primary paint." Primary supply system 100 is an example of a primary paint supply source. The robot controller 200 is a device that controls the operation of the robot 10.

The coating system 1 applies the primary paint to the workpiece W. When only the primary paint is used, the width of the bead, which is a line formed by the paint applied on the workpiece W (in this disclosure, this is referred to as the "bead width") in a short period of time immediately after the start of application. ) may become unstable. In order to stabilize the bead width from the start of coating, the coating system 1 further comprises an auxiliary feeding system 300. In the present disclosure, "stabilizing the bead width" refers to achieving a desired bead width, for example, making the bead width constant. The coating system 1 uses an auxiliary supply system 300 in addition to the primary supply system 100, and also uses the paint from the auxiliary supply system 300 to coat the workpiece W. In this disclosure, the paint supplied from the auxiliary supply system 300 is also referred to as "additional paint."

(robot)
In one example, the robot 10 is a 6-axis vertically articulated robot, which includes a base 11, a rotating section 12, a first arm 13, a second arm 14, a wrist section 15, and actuators 31, 32, 33, 34, 35, 36. has.

The base 11 is fixed to a support such as a floor or a pedestal having a linear motion mechanism. The pivoting portion 12 is provided on the base portion 11 and is pivotable around a vertical axis Ax1. That is, the robot 10 has a joint portion 21 that allows the rotating portion 12 to rotate around the axis Ax1.

The first arm 13 extends from the rotating portion 12 and is swingable around an axis Ax2 that intersects (eg, perpendicularly intersects) the axis Ax1. That is, the robot 10 has a joint portion 22 that allows the first arm 13 to swing around the axis Ax2. In the present disclosure, the term "intersection" refers to a concept that includes a state in which two axes are in a twisted relationship with each other, such as a so-called three-dimensional intersection.

The second arm 14 extends from the tip of the first arm 13 and is swingable around an axis Ax3 that intersects (for example, is orthogonal to) the axis Ax1. That is, the robot 10 has a joint portion 23 that allows the second arm 14 to swing around the axis Ax3. The axis Ax3 may be parallel to the axis Ax2.

The tip of the second arm 14 is pivotable about an axis Ax4 that intersects (for example, perpendicularly intersects) the axis Ax3 along the extending direction of the second arm 14. That is, the robot 10 has a joint portion 24 that allows the tip of the second arm 14 to pivot around the axis Ax4.

The wrist portion 15 extends from the tip of the second arm 14 and is swingable around an axis Ax5 that intersects (for example, is orthogonal to) the axis Ax4. That is, the robot 10 has a joint portion 25 that allows the wrist portion 15 to swing around the axis Ax5.

A member for working is provided at the tip of the wrist portion 15. This member is pivotable about an axis Ax6 that intersects (for example, perpendicularly intersects) the axis Ax5 along the extending direction of the wrist portion 15. That is, the robot 10 has a joint portion 26 that allows its members to rotate around the axis Ax6. In this embodiment, that member is a discharge section 104 that functions as a gun that discharges paint.

Actuators 31, 32, 33, 34, 35, and 36 drive joints 21, 22, 23, 24, 25, and 26, respectively. For example, the actuator 31 swings the rotating part 12 around the axis Ax1, the actuator 32 swings the first arm 13 around the axis Ax2, the actuator 33 swings the second arm 14 around the axis Ax3, and the actuator 34 swings the first arm 13 around the axis Ax2. The tip of the second arm 14 is pivoted around the axis Ax4, the actuator 35 swings the wrist portion 15 about the axis Ax5, and the actuator 36 pivots the member to be operated about the axis Ax6.

The specific configuration of the robot 10 is not limited as long as the positions and postures of the members can be changed within a desired range. For example, the robot 10 may be a seven-axis vertically articulated robot in which one redundant axis is added to the six axes described above.

(Primary supply system)
In one example, the primary supply system 100 includes a liquid source 101 , a pump 102 , a supply tube 103 , a discharge section 104 , and a return tube 105 . Liquid source 101 is a paint source. The pump 102 is a device that sends out the paint in the liquid source 101 toward the discharge section 104 . The supply pipe 103 is a pipe that guides the paint to the discharge section 104, and connects the pump 102 and the discharge section 104. The supply pipe 103 constitutes at least a part of the primary paint flow path. The discharge part 104 is a part that discharges paint. As described above, the discharge section 104 is attached to the robot 10, and more specifically, it is provided at the tip of the wrist section 15. Therefore, the position and orientation of the discharge unit 104 change depending on the operation of the robot 10, and as a result, the position and direction of the paint to be discharged changes. In the present disclosure, the discharge section attached to the robot is also referred to as the "robot discharge section." The return pipe 105 is a pipe for returning the paint sent out from the pump 102 to the liquid source 101. The specific configuration of the primary supply system 100 is not limited, and may be designed according to any policy. For example, the specific structures of each of the liquid source 101, pump 102, supply pipe 103, discharge section 104, and return pipe 105 are not limited. In one example, a servo booster pump (SBP) may be used as pump 102.

Primary supply system 100 typically further includes various components such as valves, pressure sensors, temperature sensors, etc.

A valve is a device that controls the direction, pressure, or flow rate of paint flow. For example, an air operated valve is used. Typically, valves are installed at multiple locations, for example at multiple locations along the pipe (supply pipe 103 and return pipe 105) along the direction in which the pipe extends (in other words, the direction in which the paint flows). Ru. In one example, the primary supply system 100 includes a delivery valve 111 located close to the pump 102, a discharge valve 112 located on the outlet 104, and a circulation valve 113 located on the return pipe 105. Each valve may have a function of outputting an electrical signal indicating the open/closed state of the valve.

The pressure sensor is a device that measures the pressure of the paint within the primary supply system 100. Typically, pressure sensors are installed at a plurality of locations, for example, at multiple locations on the supply pipe 103 along the direction in which the supply pipe 103 extends. In one example, primary supply system 100 includes a pressure sensor 121 located close to pump 102 and a pressure sensor 122 located closest to discharge portion 104 .

The temperature sensor is a device that measures the temperature of the paint within the primary supply system 100. Typically, temperature sensors are installed at a plurality of locations, for example, at multiple locations on the supply pipe 103 along the direction in which the supply pipe 103 extends. In one example, primary supply system 100 includes a temperature sensor 131 located close to pump 102 and a temperature sensor 132 located closest to discharge portion 104 .

The primary supply system 100 further includes a coating control device 140 . Application control device 140 is a device that controls at least one component within primary supply system 100 . Specifically, the application control device 140 causes the state within the primary supply system 100 to follow a predetermined target value while the primary paint is being discharged from the discharge section 104. Specific examples of information indicating the state within the primary supply system 100 include the driving state of the pump 102 (for example, the rotational position, rotational speed, and torque value (driving force) of the motor), and the information measured by the pressure sensors 121 and 122. Examples include pressure measured by temperature sensors 131 and 132, and temperature measured by temperature sensors 131 and 132. The primary paint discharge state includes, for example, a state in which the primary paint is being discharged, a state in which preparations are being made for the discharge of the primary paint, and a state in which the primary paint is being circulated. The coating control device 140 may adjust the state of the primary paint discharged from the discharge section 104 based on the pressure within the primary supply system 100 while the primary paint is being discharged. For example, the coating control device 140 may control the pump 102 according to the measured value of either the pressure sensor 121 or the pressure sensor 122 so that the pressure value follows a target value. Alternatively, the coating control device 140 may control the pump 102 so as to maintain the flow rate of the primary paint to be discharged substantially constant.

(robot control device)
The robot controller 200 is a device that controls the robot 10 according to an operation program generated in advance. The robot controller 200 controls the robot 10 to apply paint supplied from the primary supply system 100 or the auxiliary supply system 300 to the workpiece W. Specifically, in order to apply the paint to the workpiece W, the robot controller 200 changes the position and orientation of the robot 10, thereby changing the position and orientation of the discharge unit 104. The robot controller 200 changes the position and orientation of the discharge unit 104, for example, so that the adhesion position of the paint discharged from the discharge unit 104 to the workpiece W moves along a predetermined path. In this disclosure, the route is also referred to as the "application route." In one example, the robot controller 200 calculates target angles of the actuators 31 to 36 by inverse kinematic calculation based on the target position and target posture of the discharge unit 104, and controls the actuators 31 to 36 to follow the target angles. . The robot controller 200 may acquire information indicating the driving state of each of the actuators 31 to 36 in order to adjust the position and orientation of the discharge unit 104 to the target position and orientation. An example of information indicating the driving state of the actuators 31 to 36 is the rotational position and rotational speed of the motor.

(auxiliary supply system)
Auxiliary supply system 300 is a control system that supplies additional paint. In one example, the auxiliary feed system 300 functions to stabilize the bead width for a short period of time immediately after application begins. Its functions will be explained with reference to FIG. FIG. 3 is a diagram showing an example of the state of paint applied to the workpiece W.

Example (a) of FIG. 3 shows a bead 410 formed when only the primary paint is used, and arrow A in this example indicates the application route (in other words, the process of application). The bead width is the length of the bead in a direction perpendicular to its application path. Typically, at the start of coating, a constriction 411 occurs in the bead 410, which is a portion where the bead width is smaller than the desired value. One of the reasons for this constriction 411 is that the pressure of the primary paint is not constant within the flow path of the primary paint at the time of starting application.

Depending on the configuration of the primary supply system 100, the pressure of the primary paint can be adjusted by appropriately setting the pressurization, thereby making it possible to stabilize the bead width from the start of coating. For example, the primary supply system 100 with SBP allows such adjustment. However, since SBP is generally expensive, the cost of constructing the coating system 1 increases. In addition, the adjustment has to be made taking into account the length and expansion and contraction of the hoses forming the flow path, and therefore has to be made for each individual application system or individual robot.

In the present disclosure, the instability of the bead width at the start of coating is referred to as "transient characteristics," and the subsequent stabilization of the bead width is referred to as "steady-state characteristics." Typically, in one bead, the effects of contraction of the supply pipe 103, pressure fluctuations inside the flow path, etc. occur during a short period of time immediately after the start of coating when the discharge valve 112 is opened (i.e., near the starting point of the coating path). A transient characteristic occurs, and then a steady-state characteristic occurs. The auxiliary feed system 300 uses additional paint to compensate for its transient characteristics, thereby stabilizing the bead width from the beginning to the end of the bead. "Compensating for transient characteristics" refers to a process in which additional paint is used to achieve a desired bead width that cannot be achieved with the primary paint alone. In other words, compensation of transient characteristics refers to a process that stabilizes the bead width by eliminating or reducing unstable coating such as waist 411. Example (b) of FIG. 3 shows a desired bead 420 that can be formed by using an additional paint in addition to the primary paint (i.e., a bead 420 obtained by compensating for transients), which in this example also Arrow A is shown similarly to (a).

The auxiliary feeding system 300 includes an additional feeding device 310 and a discharge control system 320. The additional supply device 310 is an example of a paint supply device according to the present disclosure, and the discharge control system 320 is an example of a discharge control system according to the present disclosure. Additional supply device 310 and discharge control system 320 are electrically or communicatively connected.

The additional supply device 310 is a device that supplies the stored additional paint toward the discharge section 104 and is installed on the robot 10. “The additional supply device 310 (paint supply device) is installed on the robot” means that the additional supply device 310 (paint supply device) is installed on the robot 10. In other words, the robot 10 includes an additional supply device 310 (paint supply device). The position of the robot 10 where the additional supply device 310 is installed is not limited. For example, the additional supply device 310 may be installed on any of the base 11, the pivoting portion 12, the first arm 13, the second arm 14, and the wrist portion 15, or may be installed on any of the joints 21 to 26. You can. That is, the additional supply device 310 may be installed on the arm of the robot 10 or at the joint of the robot 10. In the example of FIG. 1, the additional feeding device 310 is installed on the joint 23.

The additional supply device 310 includes a tank 311 that is a container that can contain additional paint, and a discharge mechanism 312 that is a mechanism that supplies the additional paint toward the discharge section 104. The additional supply device 310 communicates with the supply pipe 103 so that additional paint can be supplied to the outlet 104 via the supply pipe 103 . In one example, the additional supply device 310 can also suck the primary paint in the supply pipe 103 and replenish the tank 311 with the primary paint as an additional paint.

Since the additional supply device 310 is attached to the robot 10, the tank 311 is installed on the robot 10. If the additional supply device 310 is attached to the arm of the robot 10, the tank 311 is installed on the arm. If the additional supply device 310 is attached to a joint of the robot 10, the tank 311 is installed on the joint. In the example of FIG. 1, the tank 311 is installed on the joint 23.

In one example, tank 311 is installed near pressure sensor 122 closest to discharge portion 104 . Here, "the pressure sensor closest to the discharge part" means the pressure sensor located at the most downstream side of the primary paint flow path, that is, the most downstream side of the supply pipe 103, among the plurality of pressure sensors. do. The tank 311 may be located downstream of the pressure sensor 122, or in other words, may be provided between the pressure sensor 122 and the discharge section 104. In this case, a pipe extending from tank 311 is connected to supply pipe 103 between its pressure sensor 122 and discharge section 104 . Alternatively, the tank 311 may be provided upstream of the pressure sensor 122 thereof. In this case, the pipe extending from the tank 311 is connected to the supply pipe 103 at a position upstream of the pressure sensor 122 thereof.

In addition to the primary paint supplied from the primary supply system 100, the discharge mechanism 312 supplies additional paint in the tank 311 toward the discharge section 104. In one example, the discharge mechanism 312 discharges additional paint in the tank 311 toward the discharge portion 104 or replenishes the tank 311 with additional paint according to an instruction signal sent from the discharge control system 320. The specific configuration of the ejection mechanism is not limited, and may be designed according to any policy. In one example, the ejection mechanism 312 is connected to wiring mounted on the robot 10 and is operated by energy supplied from the wiring. The wiring may be an electric wire, in which case the ejection mechanism 312 is operated by power supplied through the electric wire. The wiring may be an air tube, in which case the evacuation mechanism 312 is operated by air pressure supplied through the air tube. In one example, the evacuation mechanism 312 includes a regulating valve that is pneumatically actuated.

The discharge control system 320 is a device that controls the additional supply device 310. In this embodiment, the ejection control system 320 is implemented on the robot controller 200. However, the method for realizing the discharge control system is not limited to this, and may be designed according to any desired policy. For example, the dispensing control system 320 may be incorporated into the primary supply system 100 or may be constructed independently of both the primary supply system 100 and the robot controller 200.

FIG. 4 is a diagram showing an example of the functional configuration of the discharge control system 320. The discharge control system 320 includes a supply control section 321 as a functional element. The supply control unit 321 is a functional module that controls the discharge mechanism 312 of the additional supply device 310. The supply control unit 321 includes an acquisition unit 322, a determination unit 323, and an instruction unit 324. The acquisition unit 322 is a functional module that acquires data or signals used to control the ejection mechanism 312. The determining unit 323 is a functional module that determines the control of the ejection mechanism 312 based on the data or signals. The instruction unit 324 is a functional module that outputs an instruction signal, which is an electric signal, to the discharge control system 320 for causing the discharge mechanism 312 to perform the determined control.

FIG. 5 is a diagram showing an example of the hardware configuration of the discharge control system 320. For example, dispense control system 320 includes circuitry 210 implemented within robot controller 200. Circuit 210 includes at least one processor 211 , memory 212 , storage 213 , communication port 214 , and input/output port 215 . The storage 213 is a computer-readable nonvolatile storage medium, and is realized by, for example, a flash memory. Storage 213 stores programs and data for controlling ejection mechanism 312. The memory 212 temporarily stores programs loaded from the storage 213, calculation results by the processor 211, and the like. The processor 211 configures each functional module of the discharge control system 320 by cooperating with the memory 212 and executing its programs. Communication port 214 performs data communication with primary supply system 100 via wireless or preferred communication network N, for example, in response to instructions from processor 211. The input/output port 215 inputs and outputs electrical signals to and from the additional supply device 310, for example, in accordance with commands from the processor 211.

[Coating control method]
As an example of the coating control method according to the present disclosure, an example of a series of processing procedures executed by the auxiliary supply system 300 will be described with reference to FIG. FIG. 6 is a flowchart showing an example of the operation of the auxiliary supply system 300 as a processing flow S1. That is, the auxiliary supply system 300 executes the processing flow S1.

In step S11, the supply control unit 321 controls the discharge mechanism 312 to replenish the tank 311 with additional paint. The supply control unit 321 executes this replenishment at any time before the application to the workpiece W is started. In one example, the acquisition unit 322 acquires data or a signal that serves as a trigger for replenishment. For example, the acquisition unit 322 receives from the primary supply system 100 a completion signal indicating that coating on the previous workpiece W has been completed. The determining unit 323 determines to replenish the tank 311 with additional paint in response to the acquired data or signal. The instruction unit 324 generates a replenishment signal based on the determination, and outputs this replenishment signal to the additional supply device 310. The replenishment signal is an instruction signal for causing the discharge mechanism 312 to replenish additional paint. To replenish the tank 311, the discharge mechanism 312 of the additional supply device 310 operates according to the replenishment signal to replenish the tank 311 with additional paint. In one example, the discharge mechanism 312 applies negative pressure to the tank 311 to suck the primary paint in the supply pipe 103 and replenish the tank 311 with the primary paint as an additional paint.

In step S12, the supply control unit 321 detects the start of coating the workpiece W. In one example, the primary supply system 100 outputs a start signal, which is an electrical signal indicating the start of coating onto the workpiece W, to the discharge control system 320. For example, the start signal may be output from any one of the delivery valve 111, the delivery valve 112, and the application control device 140 to the delivery control system 320. The acquisition unit 322 receives the start signal, and thereby the supply control unit 321 detects that application to the workpiece W has started.

In step S13, the supply control unit 321 acquires the pressure of the primary paint. The timing of acquiring this pressure is not limited. For example, the supply control unit 321 may acquire the pressure of the primary paint after detecting the start of coating, before detecting the start of coating, or simultaneously with detecting the start of coating. That is, the order of execution of steps S12 and S13 is not limited. In one example, the acquisition unit 322 acquires the pressure measured by the pressure sensor 122 closest to the discharge unit 104. Alternatively, the acquisition unit 322 may acquire the pressure measured by another pressure sensor such as the pressure sensor 121.

In step S14, the supply control unit 321 determines parameters related to the supply of additional paint. Specifically, the determining unit 323 determines the parameter based on the pressure acquired in step S13. The parameters determined by the determining unit 323 are not limited. In one example, the determining unit 323 may determine at least one of the pressure of the additional paint in the flow path, the amount of additional paint supplied, and the time for supplying the additional paint. The pressure of the additional paint in the flow path refers to the pressure applied to the additional paint when outputting the additional paint from the tank 311 toward the supply pipe 103 (the pressure output by the discharge mechanism 312). The amount of additional paint supplied refers to the total amount of additional paint output from the tank 311 toward the supply pipe 103. The additional paint supply time refers to the length of time during which the additional paint continues to be output from the tank 311 to the supply pipe 103. In one example, the determining unit 323 calculates parameters from the acquired pressure using an algorithm for determining parameters from the pressure of the primary paint. The algorithm is not limited at all, and may include, for example, a correspondence table between pressure and parameters, or a calculation formula for determining parameters from pressure.

In step S15, the supply control unit 321 controls the discharge mechanism 312 based on the determined parameters to supply the additional paint in the tank 311 toward the discharge unit 104. Specifically, the instruction unit 324 generates an actuation signal based on the parameters, and outputs this actuation signal to the ejection mechanism 312. The actuation signal is an instruction signal for realizing the determined parameters, and in one example includes data for realizing at least one of pressure, supply amount, and supply time of additional paint. In the additional supply device 310, the discharge mechanism 312 operates according to the activation signal, and supplies the additional paint in the tank 311 toward the discharge section 104. Thus, in one example, the supply controller 321 controls the evacuation mechanism 312 based on the pressure of the primary paint in the flow path to adjust parameters related to the supply of additional paint.

Step S15 is executed in response to step S12. That is, the supply control unit 321 controls the discharge mechanism 312 in response to the start of coating on the workpiece W, and directs additional paint to the discharge unit 104 in addition to the primary paint supplied from the primary supply system 100. supply In other words, the discharge mechanism 312 supplies additional paint to the discharge section 104 in addition to the primary paint supplied from the primary supply system 100 in response to the start of coating the workpiece W. In one example, the evacuation mechanism 312 supplies additional paint based on the pressure of the primary paint as measured by a pressure sensor (eg, pressure sensor 122).

The supply control unit 321 controls the discharge mechanism 312 in response to the start of coating the workpiece W, first applies negative pressure to the tank 311, and then supplies additional paint toward the discharge unit 104. good. By applying negative pressure to the tank 311, the pressure of the primary paint in the flow path is reduced at the time of starting coating, so it can be expected to prevent or reduce the situation where the bead width at the starting point of the coating path exceeds a desired value. . In one example, the supply control unit 321 controls the discharge mechanism 312 to instantaneously generate the negative pressure, and then supplies additional paint toward the discharge unit 104 . The negative pressure time may be set according to any policy.

In step S16, the supply control unit 321 stops the discharge mechanism and stops the supply of additional paint. This stop is done in order not to disturb the steady state characteristics of the bead. Specifically, the determining unit 323 determines to stop the discharge mechanism 312 in response to completion of supplying the required amount of additional paint derived from the actuation signal. The determining unit 323 may determine to stop the ejection mechanism 312 in response to the acquisition unit 322 acquiring a status signal indicating that the required amount of supply has been completed from the additional supply device 310. Alternatively, the determining unit 323 may determine to stop the discharging mechanism 312 at a timing when it is estimated that the discharging mechanism 312 has supplied the necessary amount of additional paint toward the discharging unit 104. In one example, the "required amount of additional paint" may be all of the additional paint in tank 311. In any case, in accordance with the decision to stop the ejection mechanism 312, the instruction unit 324 generates a stop signal for stopping the ejection mechanism 312, and outputs this stop signal to the ejection mechanism 312. In this manner, the supply control unit 321 stops the discharge mechanism 312 in response to completion of supplying the required amount of additional paint. For example, the supply control unit 321 may stop the discharge mechanism 312 in response to the completion of the operation of the discharge mechanism 312 for supplying all of the additional paint in the tank 311 toward the discharge unit 104.

In step S17, the supply control unit 321 detects the end of coating the workpiece W. In one example, the primary supply system 100 outputs an end signal, which is an electrical signal indicating the end of application to the workpiece W, to the discharge control system 320. For example, the end signal may be output from any one of the delivery valve 111, the delivery valve 112, and the application control device 140 to the delivery control system 320. The acquisition unit 322 receives the end signal, and thereby the supply control unit 321 detects that the application to the workpiece W has been completed.

In step S18, the supply control unit 321 determines whether to perform the next application. If the next coating is to be performed (YES in step S18), the process returns to step S11. As described above, in step S11, the determination unit 323 determines to replenish the tank 311 with additional paint, the instruction unit 324 generates and outputs a replenishment signal based on the determination, and the discharge mechanism 312 replenishes the tank 311 in accordance with the replenishment signal. Refill with additional paint inside. That is, the supply control unit 321 controls the discharge mechanism 312 in response to the completion of coating the work W to replenish the tank 311 with the next additional paint to be used in the next coating. On the other hand, if the next application is not to be performed (NO in step S18), the process flow S1 ends.

[program]
Each functional module of the discharge control system 320 is realized by loading a discharge control program onto the processor 211 or the memory 212 and having the processor 211 execute the program. The discharge control program includes codes for implementing each functional module of the discharge control system 320. The processor 211 operates at least one of the communication port 214 and the input/output port 215 according to the ejection control program, and reads and writes data in the memory 212 or the storage 213. Through such processing, each functional module of the discharge control system 320 is realized.

The ejection control program may be provided after being permanently recorded on a non-temporary recording medium such as a CD-ROM, DVD-ROM, or semiconductor memory. Alternatively, the ejection control program may be provided via a communication network as a data signal superimposed on a carrier wave.

[effect]
As described above, a paint supply device according to one aspect of the present disclosure includes a tank installed on a robot, and a primary paint supplied from a primary paint supply source in response to the start of application to a workpiece. In addition, it includes a discharge mechanism that supplies additional paint in the tank toward the discharge section of the robot.

A robot according to one aspect of the present invention includes the above-mentioned paint supply device.

A discharge control system according to one aspect of the present disclosure supplies, in addition to the primary paint supplied from the primary paint supply source, additional paint in a tank installed on a robot toward a discharge section of the robot. It includes a supply control section that controls the discharge mechanism. The supply control section controls the discharge mechanism in response to the start of application to the workpiece, and supplies additional paint toward the discharge section.

A discharge control method according to one aspect of the present disclosure is executed by a discharge control system including at least one processor. The discharge control method is a supply control method that controls a discharge mechanism that supplies additional paint in a tank installed on the robot toward the discharge section of the robot in addition to the primary paint supplied from the primary paint supply source. Contains steps. In the supply control step, the discharge mechanism is controlled in response to the start of coating on the workpiece to supply additional paint toward the discharge section.

The discharge control program according to one aspect of the present disclosure supplies, in addition to the primary paint supplied from the primary paint supply source, additional paint in a tank installed on the robot toward the discharge section of the robot. causing the computer to perform a supply control step to control the ejection mechanism; In the supply control step, the discharge mechanism is controlled in response to the start of coating on the workpiece to supply additional paint toward the discharge section.

In this aspect, a tank is provided near the discharge section, and additional paint is supplied from the tank to the discharge section at the start of coating when it is difficult to stabilize the supply of the primary paint. Since the transient properties of the primary paint are compensated for by the additional paint, the bead width can be stabilized during the robotic application process.

In a paint supply device according to another aspect, the tank may be installed on the arm or joint of the robot. By providing the tank closer to the discharge section, additional paint can be quickly supplied to the discharge section at the start of coating, making it possible to stabilize the bead width.

In the paint supply device according to another aspect, the tank may be installed near the pressure sensor closest to the discharge section. This pressure sensor indicates the pressure of the paint at the discharge part with the highest accuracy. Therefore, by providing a tank near the pressure sensor, it is possible to supply an appropriate amount of additional paint to the discharge section to stabilize the bead width.

In a paint supply device according to another aspect, the discharge mechanism may supply additional paint based on the pressure of the primary paint measured by a pressure sensor. By referring to the pressure of the primary paint, the paint for stabilizing the bead width can be supplied with higher accuracy.

In the paint supply device according to another aspect, the discharge mechanism may be connected to wiring mounted on the robot and operated by energy supplied from the wiring. In this case, the paint supply device can be operated using the robot's existing wiring.

In a paint supply device according to another aspect, the discharge mechanism may include a pneumatically actuated regulating valve. By employing such a regulating valve as the discharge mechanism, the manufacturing cost of the paint supply device can be reduced.

In the discharge control system according to another aspect, the supply control unit controls the discharge mechanism in response to the completion of coating on the workpiece, and replenishes the tank with the next additional paint to be used in the next coating. You can. By refilling the tank with the next additional paint at this timing, the next application can be started smoothly.

In the discharge control system according to another aspect, the supply control section controls the discharge mechanism based on the pressure of the primary paint in the flow path toward the discharge section to adjust parameters related to the supply of additional paint. You can. By adjusting the supply of additional paint with reference to the pressure of the primary paint, paint for stabilizing the bead width can be supplied with higher accuracy.

In the discharge control system according to another aspect, the parameter may include at least one of the pressure of the additional paint in the flow path, the amount of the additional paint supplied, and the supply time of the additional paint. By considering these specific parameters, the bead width can be made more stable.

In the discharge control system according to another aspect, the supply control section may control the discharge mechanism based on the pressure measured by the pressure sensor closest to the discharge section. This pressure sensor indicates the pressure of the paint at the discharge part with the highest accuracy. Therefore, by referring to the pressure measured by the pressure sensor, paint for stabilizing the bead width can be supplied with higher accuracy.

In the discharge control system according to another aspect, the supply control section stops the discharge mechanism in response to completion of operation of the discharge mechanism for supplying all additional paint in the tank toward the discharge section. Good too. By controlling the discharge mechanism in this manner, coating can be performed without disturbing the steady-state characteristics of coating, so that the bead width can be further stabilized. Furthermore, since no control is required to leave additional paint in the tank, the discharge mechanism can be easily controlled.

In another aspect of the discharge control system, the supply control section controls the discharge mechanism in response to the start of application to the workpiece to apply a negative pressure to the tank and subsequently supply additional paint toward the discharge section. You may. This process eliminates or reduces the situation where more primary paint is ejected than expected at the start of ejection, so the bead width can be further stabilized.

[Modified example]
The detailed description has been made above based on the embodiments of the present disclosure. However, the present disclosure is not limited to the above embodiments. The present disclosure can be modified in various ways without departing from the gist thereof.

In the embodiment described above, the ejection control system 320 includes the supply control section 321, the acquisition section 322, the determination section 323, and the instruction section 324, but the functional configuration of the ejection control system is not limited to this. As long as the application control method according to the present disclosure can be executed, its functional configuration may be designed according to any desired policy.

Although the coating control device 140 is shown as one component of the primary supply system 100 in the above embodiment, the method of constructing the coating control device is not limited. For example, the application control device may be under control of a dispensing control system. The coating control device may be under the control of the robot controller or may exist independently of the robot controller.

The hardware configuration of the discharge control system is not limited to a mode in which each functional module is realized by executing a program. For example, at least a portion of the supply control section 321, the acquisition section 322, the determination section 323, and the instruction section 324 may be configured with logic circuits specialized for their functions, or an ASIC (ASIC) that integrates the logic circuits. Application Specific Integrated Circuit).

The processing steps of the method executed by at least one processor are not limited to the examples in the above embodiments. For example, some of the steps (processes) described above may be omitted, or each step may be executed in a different order. Furthermore, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to each of the above steps.

When comparing the magnitude of two numerical values within a computer system or computer, either of the two criteria of "greater than or equal to" and "greater than" may be used, and the two criteria of "less than or equal to" and "less than" may be used. Either of the criteria may be used. Selection of such criteria does not change the technical significance of the process of comparing the magnitude relationship between two numerical values.

DESCRIPTION OF SYMBOLS 1... Application system, 10... Robot, 100... Primary supply system, 101... Liquid source, 102... Pump, 103... Supply pipe, 104... Discharge part, 105... Return pipe, 111... Delivery valve, 112... Discharge valve, 113... Circulation valve, 121, 122... Pressure sensor, 131, 132... Temperature sensor, 140... Application control device, 200... Robot controller, 300... Auxiliary supply system, 310... Additional supply device, 311... Tank, 312... Discharge mechanism , 320... Discharge control system, 321... Supply control section, 322... Acquisition section, 323... Determining section, 324... Instruction section, 410, 420... Bead, W... Work.

Claims (14)

A tank installed on the robot,
In response to the start of application to a workpiece, in addition to the primary paint supplied from the primary paint supply source, additional paint in the tank is supplied toward the discharge part of the robot under control by the supply control part. Equipped with a discharge mechanism to
The supply control section includes:
Obtaining the pressure of the primary paint in the flow path toward the discharge part, measured by a pressure sensor closest to the discharge part after the application has started;
determining parameters related to the supply of additional paint based on the obtained pressure;
The discharge mechanism supplies the additional paint toward the discharge section based on the determined parameters.
Paint supply device. The tank is installed on the arm or joint of the robot,
The paint supply device according to claim 1. The tank is installed near the pressure sensor,
The paint supply device according to claim 1 or 2. The ejection mechanism is connected to wiring mounted on the robot and is operated by energy supplied from the wiring.
The paint supply device according to any one of claims 1 to 3 . The discharge mechanism has a regulating valve operated by pneumatic pressure.
The paint supply device according to any one of claims 1 to 4 . The supply control unit controls the discharge mechanism in response to the start of application to the workpiece, applies negative pressure to the tank, and subsequently supplies the additional paint toward the discharge unit.
The paint supply device according to any one of claims 1 to 5. A robot comprising the paint supply device according to any one of claims 1 to 6. a supply control unit that controls a discharge mechanism that supplies additional paint in a tank installed on the robot toward a discharge section of the robot in addition to the primary paint supplied from the primary paint supply source;
The supply control section includes:
Obtaining the pressure of the primary paint in the flow path toward the discharge part, which is measured by a pressure sensor closest to the discharge part after application to the workpiece is started;
determining parameters related to the supply of additional paint based on the obtained pressure;
controlling the discharge mechanism based on the determined parameters to supply the additional paint toward the discharge section;
Discharge control system. The supply control unit controls the discharge mechanism in response to completion of application to the workpiece, and replenishes the tank with the next additional paint to be used in the next application.
The discharge control system according to claim 8 . The parameter includes at least one of the pressure of the additional paint in the flow path, the supply amount of the additional paint, and the supply time of the additional paint.
The discharge control system according to claim 8 or 9 . The supply control unit stops the discharge mechanism in response to completion of the operation of the discharge mechanism for supplying all of the additional paint in the tank toward the discharge unit.
The discharge control system according to any one of claims 8 to 10 . The supply control unit controls the discharge mechanism in response to the start of application to the workpiece, applies negative pressure to the tank, and subsequently supplies the additional paint toward the discharge unit.
The discharge control system according to any one of claims 8 to 11 . A discharge control method performed by a discharge control system comprising at least one processor, the method comprising:
a supply control step for controlling a discharge mechanism for supplying additional paint in a tank installed on the robot toward a discharge portion of the robot in addition to the primary paint supplied from the primary paint supply source;
In the supply control step,
Obtaining the pressure of the primary paint in the flow path toward the discharge part, which is measured by a pressure sensor closest to the discharge part after application to the workpiece is started;
determining parameters related to the supply of additional paint based on the obtained pressure;
controlling the discharge mechanism based on the determined parameters to supply the additional paint toward the discharge section;
Discharge control method. performing a supply control step on the computer to control a discharge mechanism for supplying additional paint in a tank installed on the robot toward a discharge section of the robot in addition to the primary paint supplied from the primary paint supply source; let me,
In the supply control step,
Obtaining the pressure of the primary paint in the flow path toward the discharge part, which is measured by a pressure sensor closest to the discharge part after application to the workpiece is started;
determining parameters related to the supply of additional paint based on the obtained pressure;
controlling the discharge mechanism based on the determined parameters to supply the additional paint toward the discharge section;
Discharge control program.

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