JPH04250969A - Working device for work - Google Patents

Abstract

PURPOSE:To provide a working device of a work capable of preventing input miss and saving a space. CONSTITUTION:In a working device to machine a work such as an automobile body, it is provided with a detecting means such as mark detecting cameras S1, S2, S3 to detect a part position to be processed such as a bad painted part position, a processing means such as grinding tools T1, T2, T3 to process the detected part position to be processed, a moving means such as robots R1, R2, R3 having a supporting part 8 to turnably support the detecting means and the processing means, and a turning drive means such as a turning drive motor to turn the detecting means and the processing means centering around the supporting part 8.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece processing apparatus that detects and processes a workpiece portion of a workpiece such as an automobile body.

0002

[Prior Art] Conventionally, in order to repair coating defects that occur on the painted surface of a workpiece such as an automobile body that has been undercoated or intermediate coated, a worker visually inspects the workpiece being transported. An automatic water grinding device has been proposed in which a water grinding device consisting of a robot or the like on the downstream side automatically grinds the water by inputting the defective parts and defective conditions found during the inspection using an indicating device. Publication No. 58-64517).

0003

[Problem to be solved by the invention] However, in JP-A-58
In the automatic water grinding device disclosed in Publication No. 64517, each time an operator discovers a defective part, it is necessary to input the position of the defective part and the defective state into the indicating device, which makes it easy for input errors to occur. It takes a relatively long time to
This becomes an obstacle to reducing the time required for correction water research. In addition, the indicating device and the water-sharpening device are installed at separate stations, which requires space for their installation.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a workpiece processing device that can prevent input errors and save space.

[0005]

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a workpiece processing device for processing a workpiece, which includes a detection means for detecting a processing region, and a processing device for processing the detected processing region. a moving means having a supporting part that rotatably supports the detecting means and the processing means; and a rotation driving means for rotating the detecting means and the processing means about the supporting part. .

Further, in claim 2, the workpiece is an object to be painted, the processing is water grinding, and the detection means is provided with a shielding member at least on the processing means side to prevent water sanding splashes from scattering. .

[0007]

[Operation] According to the workpiece processing apparatus of claim 1, when the detection means is moved by the moving means and the processing area on the processing surface is detected by the detection means, the detection means is moved from the detection means to the processing means by turning. The detected processing portion is processed by the processing means.

[0008] Furthermore, according to the processing apparatus of claim 2,
The shielding member prevents water grinding splashes and shavings from being applied to the detecting means when the processing portion detected by the detecting means is subjected to water grinding.

[0009]

Embodiment FIG. 2 shows an example of a processing line according to the present invention.

The processing line L includes an inspection marking process (station) L1, a polishing process (station) L2, and a water washing process (station) L from upstream along the conveyance line 2.
3, painting work such as undercoating and intermediate coating is performed upstream of the processing line L, and defective parts of the paint on the automobile body 1 transported by the transport line 2 are detected and corrected by water polishing. That's what I do.

A plurality of inspectors M1 and M2 are placed at positions corresponding to the inspection marking process L1, and visually inspect the painted surface of the automobile body 1. and,
When the inspectors M1 and M2 find a defective part of the coating such as a pinhole or adhesion of foreign matter, they mark the defective part with a stamp or the like in a specific pattern or color depending on the degree of processing.

Vehicle type detection sensors P1, P2, and P3 are provided upstream at a position corresponding to the polishing step L2, and robots R1, R2, and R3 are arranged downstream so as to face the left and right surfaces and the top surface of the automobile body 1, respectively. It is set up. At the tip of the arm 7 of each of the robots R1, R2, and R3, there is a
As shown in the figure, a support section 8 is provided. This support portion 8 is rotatably supported by the arm 7, and is driven to swing by a swing drive motor (not shown). Further, support members 9 and 10 are formed radially around the support part 8, and each support member 9 and 10 has a mark detection camera S1, S2, S3 and a polishing tool T1, T2,
T3 is fixed. In response to a switching signal from the control panel 5, the support part 8 is driven to rotate by the rotation drive motor, thereby switching between the mark detection cameras S1, S2, S3 and the polishing tools T1, T2, T3. There is.

Each mark detection camera S1, S2, S3 detects a mark attached to the automobile body 1 and outputs it as an image signal. Each polishing tool T1, T2, T3
A brush 11 is provided at the tip of the brush 11, and the machined part is water-polished by, for example, reciprocating the brush 11 at a polishing time and polishing intensity depending on the shape of the mark, etc.

A plurality of flushing showers 3 and flushing brushes 4, which are controlled by a flushing control panel 6, are provided at a position corresponding to the flushing step L3, and are used to rinse the automobile body 1 after the water polishing.

Next, the control system of the processing line L will be explained using FIG. 4.

The control panel 5 includes mark detection sections 51, 52, 53.
, a vehicle type detection section 54 , robot control sections 55 , 56 , 57 , and polishing tool control sections 58 , 59 , 60 . The mark detection units 51, 52, and 53 detect marks attached to the automobile body 1 from image signals from the mark detection cameras S1, S2, and S3, respectively, and send data indicating the detected mark positions to the robot control unit. 55, 56, 57
I am trying to output it to . Further, mark detection sections 51,5
2, 53 are polishing tool control units 58, 59, 6 that determine the degree of machining from the shape of the mark etc. and use it as polishing grade data.
I am trying to output it to 0.

The vehicle type detection section 54 includes vehicle type detection sensors P1, P.
2. The robot controller 55 detects the vehicle type such as the size and shape of the vehicle body 1 based on the detection signal from P3.
, 56, 57 as vehicle type data. The robot controllers 55, 56, 57 are mark detection cameras S.
The robots R1, R2, R are scanned along the painted surface of the automobile body 1 to detect marks.
3 respectively. When a mark is detected, the robot controllers 55, 56, and 57 bring the polishing tools T1, T2, and T3 into contact with the mark position.

The polishing tool control units 58, 59, and 60 control the polishing tools T1, T2, and T2 based on the polishing grade data.
These are for controlling T3 respectively.

Next, the operation of the polishing step L2 will be explained using the flowchart shown in FIG. car body 1
When paint defects are discovered by the inspectors M1 and M2 in the marking step L1, each of the discovered paint defects is marked. Thereafter, when the automobile body 1 is transported along the transport line 2 to the polishing step L2, the vehicle type is detected by the vehicle type detection sensors P1, P2, and P3, and the robots R1, R2, and R3 are activated (step S1 )
. Subsequently, the support section 8 rotates and the mark detection cameras S1,
After switching to S2, S3 (step S2), the robots R1, R2, R3 move to the painted surface of the car body 1 (step S3), and mark detection cameras S1, S2, S
3, mark detection is started (step S4).

After this, mark detection cameras S1, S2, S
3, the presence or absence of a mark is determined (step S5), and if no mark is detected (NO in step S5), the process returns to step S3. On the other hand, if there is a mark (step S5
(YES), the robots R1, R2, and R3 stop, and the polishing grade is determined from the shape of the mark, etc. (step S6). Subsequently, the support part 8 rotates and the polishing tools T1, T are removed from the mark detection cameras S1, S2, S3.
2 and T3 (step S7), the polishing tools T1, T2, and T3 are moved to the coordinates of the detected mark region, and the brush 11 is brought into contact with the mark region (step S8).

Next, a polishing control program is set based on the polishing grade data (step S9), and the brush 11 is driven in accordance with the polishing grade data to wet-polish the mark portion (step S10). .

[0022] When the detection of all mark parts is completed (YES in step S11), the robots R1 and R2
, R3 returns and the water grinding process is completed.

In this way, the mark detection cameras S1, S2
, S3 and polishing tools T1, T2, T3 are robot R1
, R2, and R3 so that they can rotate freely.
The robots R1, R2, R3 stop when the mark is detected by the mark detection cameras S1, S2, S3, and switch from the mark detection cameras S1, S2, S3 to the polishing tools T1, T2, T3 by turning. You can move directly to water research. Therefore, it is only necessary to teach the robots R1, R2, and R3 in accordance with mark detection, and the operation can be simplified. Furthermore, it is possible to prevent input errors that occur when inputting a processing part using an indicating device. In addition, since the mark detection cameras S1, S2, S3 and the polishing tools T1, T2, T3 are installed on the same robot R1, R2, R3,
The installation space can be reduced, and the mark detection cameras S1, S2, S3 and polishing tools T1, T2, T3
It is possible to prevent interference with

As shown in FIG. 3, a shielding member 12 may be provided around the rear of each mark detection camera S1, S2, S3 to cover it. In this case, the shielding member 12 connects the mark detection cameras S1, S2, S3 and the polishing tools T1, T2.
, T3 has the advantage that it is possible to prevent splashes, shavings, etc. generated during water grinding from being applied to the mark detection cameras S1, S2, and S3. Further, the shielding member 12 includes at least the polishing tools T1 and T2.
, T3 side, it is possible to prevent splashes, shavings, etc. generated during water grinding from being applied to the mark detection cameras S1, S2, and S3.

Further, in the above description, the modification water polishing process of the automobile body 1 as a painted object has been explained, but the workpiece may be other than the automobile body 1. Furthermore, the process is not limited to water polishing, and for example, the mark portion (processed portion) may be spray painted. Furthermore, in the above explanation, the mark detection cameras S1, S2, S3 and the polishing tools T1, T2, T3 are switched by rotating, but the mark detection cameras S1, S2, S3 and the polishing tools T1, T2, T3 are switched back and forth. The switching may be performed by driving.

[0026]

[Effects of the Invention] In the present invention, since the detection means and the processing means are rotatably supported with respect to the moving means, the moving means stops when the mark is detected by the detection means, and the moving means is rotated to move away from the detection means. By switching to the processing means, it is possible to proceed directly to processing. Therefore, it is only necessary to teach the moving means in accordance with mark detection, and the operation can be simplified. Furthermore, it is possible to prevent input errors that occur when inputting a processing part using an indicating device. Further, since the detection means and the processing means are disposed on the same moving means, the arrangement space can be reduced, and furthermore, interference between the detection means and the processing means can be prevented.

Furthermore, since the shielding member is provided between the detection means and the processing means, it is possible to prevent splashes and shavings from being applied to the detection means during water grinding, and it is possible to protect the detection means.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a robot, a mark detection camera, and a polishing tool according to the present invention.

FIG. 2 is a layout diagram showing an example of a processing line according to the present invention.

FIG. 3 is a sectional view of a main part showing an example of a shielding member according to the present invention.

FIG. 4 is a block configuration diagram showing an example of a control system for a polishing process according to the present invention.

FIG. 5 is a flowchart showing an example of the operation of a polishing process according to the present invention.

[Explanation of symbols]

1 Automobile body 2 Conveyance line 5 Control panel 7 Arm 8 Support part 9,10 Support member 11 Brush 12 Shielding member 51-53 Mark detection section 54 Vehicle type detection section 55-57 Robot control section 58-60 Polishing tool control section P1~P3 Vehicle type detection sensor R1~R3 Robot S1~S3 Mark detection camera T1~T3 Polishing tool

Claims (2)

[Claims] 1. A workpiece processing device for processing a workpiece, comprising: a detection means for detecting a processing region; a processing means for processing the detected processing region; and a rotatable support for the detection means and the processing means. A workpiece processing apparatus comprising: a moving means having a support part; and a rotation drive means for rotating the detection means and the processing means about the support part. 2. The workpiece processing apparatus according to claim 1, wherein the workpiece is an object to be painted, the processing is a water grinding process, and the detection means includes a sensor at least on the processing means side that detects water grinding splashes. A workpiece processing device characterized by being provided with a shielding member to prevent scattering.