JPH04322986A - Coating application robot system - Google Patents

Abstract

PURPOSE:To enable automatic judgement to continue a coating motion if a work stopping position with the stop of a conveyor system is an applicable position, in a coating application robot system. CONSTITUTION:A robot controller 18 controls a coating robot 3 so as to perform the coating motion subjected to teaching at a time when a work 1 is conveyed by a conveyor system 2 and detected by a work detecting switch 19. A control circuit 18A finds a work stopping position with a pulse number outputted out of a pulse generator 2B at a time when the conveyor system 2 is stopped during the coating operation. Then, only when the stopping position of the work 1 is a coating appliable position of the coating robot 3, the coating application operation of the robot 3 is continued.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot system, and more particularly to a painting robot system in which a painting robot is configured to paint a workpiece conveyed by a conveyance device.

0002

[Prior Art] In a painting line where workpieces (objects to be painted) are continuously transported by a transport device, when the workpieces arrive at a painting booth, a painting robot performs a painting operation while following the transported workpieces. system is installed. This painting robot system executes a painting operation according to the shape of the workpiece while the workpiece passes through the painting operation range according to a control signal output from a robot control device in which teaching data is registered.

[0003] Furthermore, the conveying device for conveying the workpiece is controlled by a coating line control device to convey the workpiece at a speed that is easy to coat.

[0004] In the painting robot system configured as described above, if the conveyance device stops due to some abnormality or end time during the painting operation of the painting robot, the painting robot stops because the workpiece stops at that position. If the operation continues as it is, the painting operation will be performed without corresponding to the position of the workpiece.

[0005] Furthermore, if the painting robot is stopped at the same time as the workpiece is stopped, uneven coating will occur and the workpiece being painted at that time will be defective.

[0006] Therefore, in the conventional painting robot system, when the conveyance of the workpiece stops during the painting operation, the painting robot is stopped at the next painting-off point in the painting program. The coating robot was then controlled to remain stopped at that position and wait for the workpiece conveyance to be resumed.

[0007]

[Problem to be Solved by the Invention] However, in conventional systems, the painting robot stops no matter where the workpiece stops. Even if the painting robot is in a possible position, the painting robot will stop and the painting operation will be delayed when workpiece transport is resumed.

[0008] Another idea is to detect the stop position of the work when the workpiece transportation stops, correct the operating position of the painting robot to match the workpiece stop position, and continue painting the stopped workpiece. It is being

However, depending on the stop position of the workpiece,
The workpiece may stop outside the robot's painting range, and in that case, the painting robot cannot continue painting unless it moves outside the painting range, so even if you try to paint a part of the workpiece that is within the painting range. It will come to a halt at the boundary of the operating range.

[0010] As described above, even if the operating position of the painting robot is corrected in accordance with the work stop position, the painting robot cannot move beyond the painting operation range.
A problem arises in that the workpiece becomes poorly coated.

[0011] Therefore, an object of the present invention is to provide a painting robot system that solves the above problems.

00
12]

[Means for Solving the Problems] The present invention provides a painting robot system that controls a painting robot to perform a painting operation on a workpiece transported by a transporting device.
a detection means for detecting a conveyance position of the workpiece; and a determination for determining whether or not the stop position of the workpiece detected by the detection means is at a painting possible position of the painting robot when the conveyance device stops. and a painting continuation means for continuing the painting operation of the painting robot only when it is determined by the determining means that the workpiece is stopped at a position where the painting robot can paint.

[0013]

[Operation] When the conveyance device stops during the painting operation of the painting robot, it is determined whether the stopping position of the workpiece is at the painting possible position of the painting robot. Then, the painting operation on the workpiece is continued only when the workpiece has stopped at a position where the painting robot can paint. As a result, when workpiece transport is resumed, the workpiece can be efficiently painted.

[0014]

Embodiment FIGS. 1 and 2 show an embodiment of the painting robot system according to the present invention.

In both figures, in a painting line where a workpiece 1 as an object to be painted is suspended from a conveyor device (transport device) 2 and transported in the direction of arrow X, a painting robot 3 is installed near the conveyor device 2. has been done.

The conveyor device 2 is controlled by a line control device 2A to convey the workpiece 1 at a speed that makes it easy to paint. Further, the conveyor device 2 is provided with a pulse generator 2B for detecting the conveyance position of the workpiece 1. This pulse generator 2B is a detection means for detecting the position of the workpiece 1, and outputs the number of pulses corresponding to the movement of the workpiece 1 to a robot control device 18, which will be described later.

The painting robot 3 is controlled by a robot control device 18.
Each movable part is driven and controlled by the control device 18, and while the workpiece 1 passes through the painting operation range L, a predetermined painting operation taught in advance is executed. The coating operation range L is a range in which the coating gun 16 can coat the surface of the workpiece 1 in the vertical direction without any hindrance.

In FIG. 1, the painting robot 3 is provided with a swing drive section 5 on a base 4. As shown in FIG. Swing drive unit 5
A swing base 6 that rotates around an axis A fixed to the base 4 is provided above. A bracket 6a on the swing base 6 is provided with a support 7 that rotates around an axis B that is perpendicular to the axis A of the swing base 6. Further, a support column driving section 8 is provided on the bracket 6a on the swing base 6.

An arm 9 is rotatably provided at the upper end of the column 7 and pivots about an axis C parallel to the axis B of the column 7. An arm drive section 10 is provided at a continuous portion of the arm 9 and the support column 7. Also,
A wrist drive section 11 is provided at the rear of the arm 9.

Further, at the tip of the arm 9, a wrist mechanism 1 is provided.
2 is provided. The wrist mechanism 12 includes a case 13,
14 and a mounting shaft 15 are provided. Case 13 is
It is designed to rotate about an axis D parallel to the axis C of the arm 9. The case 14 is configured to rotate around an axis E that is orthogonal to the axis D of the case 13. The mounting shaft 15 is a mounting portion for the coating gun 16, and is configured to rotate about an axis F perpendicular to the axis E of the case 14.

As shown in FIG. 3, the painting gun 16 is connected to the arm 9.
It is supported by a mounting shaft 15 at the tip and rotates together with this mounting shaft 15. At the tip of the paint gun 16 is a paint supply unit (
a paint outlet 16a that sprays paint from (not shown);
A pair of protrusions 16b and 16c are provided that protrude forward from both sides of the paint outlet 16a. Furthermore, air outlets 16b1 and 16c1 for pattern air are opened in the pair of protrusions 16b and 16c so as to face each other.

Therefore, the paint outlet 16a of the paint gun 16
The paint sprayed in a more atomized form spreads and moves forward, but the air outlets 16 arranged on both sides of the paint outlet 16a
The compressed air blown from b1 and 16c1 restricts the spray pattern 17 to a substantially elliptical shape. As shown in FIG. 4, in this spray pattern 17, the direction in which pattern air is blown and the pattern is regulated is the short axis a, and the direction perpendicular to this short axis a is the long axis b, which is not regulated by the pattern air. . When the mounting shaft 15 supporting the painting gun 16 rotates, for example, 90 degrees around the axis F, the spray pattern 17 changes from a horizontally long pattern shown by a solid line in FIG. 3 to a vertically long pattern shown by a dashed line in FIG. .

A robot control device 18 stores teaching data and controls the operation of the painting robot 3 in conjunction with the conveyance of the workpiece 1. Therefore, in the painting robot 3, each driving part is driven by the command from the control device 18, and the rotating base 6, the support 7, the arm 9, and the wrist mechanism 12 are driven.
Each movable part operates. Then, the coating gun 16 provided at the tip of the arm 9 paints the workpiece 1 by moving to each point A, B, C, . . . , J as shown in FIG. 4, for example.

In FIG. 2, the robot control device 18 includes a control circuit 18A that controls each driving section so that the painting robot 3 configured as described above performs a predetermined painting operation based on teaching data inputted in advance. , a motor drive circuit 18B that outputs drive signals to each drive section of the painting robot 3 according to instructions from the control circuit 18A, and a motor drive circuit 18B that outputs drive signals to each drive unit of the painting robot 3 according to instructions from the control circuit 18A
It has a teaching data input device 18C for inputting teaching data such as the operating angle and operating speed of the movable part, and a memory 18D for storing the teaching data and the like.

The control circuit 18A also includes a conveyor device 2.
When the workpiece 1 stops, a determination means 18E determines whether the stop position of the workpiece 1 detected by the pulse generator 2B is at a position where the painting robot 3 can paint, and the determination means 18E determines whether the workpiece 1 is in a painting operation. A painting continuation means 18F continues the painting operation only when it is determined that the workpiece 1 is stopped at a painting possible position within the range L, and a painting continuation means 18F that continues the painting operation only when it is determined that the workpiece 1 is stopped at a painting possible position within the range L; A coating stop means 18G is provided for stopping the coating operation of the coating robot 3 at the point where the coating is turned off.

19 is a work detection switch that detects that the work 1 has arrived at the start position of the painting operation range;
It is installed near the conveyor device 2 on the upstream side of the painting robot 3. When the control circuit 18A receives the detection signal from the workpiece detection switch 19, the memory 18A
Each drive unit of the painting robot 3 is controlled so that the painting robot 3 performs a painting operation on the workpiece 1 based on the teaching data stored in D.

The painting robot having the above configuration is a playback type that repeats painting operations taught in advance, and the teaching method is, for example, PTP (POINT
TO POINT) Teaching method is adopted. Therefore, when teaching the painting operation for the workpiece 1, the paint gun 16 should always spray the paint from a direction perpendicular to the surface of the workpiece 1 to be painted, and at any point on the movement trajectory in FIG. Position A, B, C
,...Teach only J.

During playback, the control circuit 18A subdivides and performs linear interpolation between the taught points, so that each movable part of the painting robot 3 is moved by the painting gun 16 at each point A. , B, ...J so as to move smoothly and continuously. Furthermore, during the teaching operation, not only the movement of the painting robot 3 described above but also the painting ON/OFF position on the movement locus between each point is taught.

Specifically, in FIG. 4, when the workpiece 1 is rectangular, painting is taught to be on while the painting gun 16 is moving in the horizontal direction, and painting is being taught to be off while the painting gun 16 is moving in the vertical direction. taught. i.e. horizontal point AB
Painting is on between the vertical lines, between CD, between EF, between GH, and between IJ, and painting is off between vertical lines BC, DE, FG, and HI.

Next, in the robot control device 18,
The process executed by the teaching operation when the work is stopped will be explained.

The control circuit 18A executes the process shown in FIG. 5 when the teaching mode is set.

The workpiece 1 is conveyed by the conveyor device 2, passes through the workpiece detection switch 19, and is transferred to the painting robot 3.
The painting operation range L is reached. Then, the conveyor device 2 is stopped so that the workpiece 1 comes to rest at a position in front of the robot that is easy to perform teaching operations in the painting operation range L.

In the figure, in step S1 (hereinafter steps will be omitted), a detection signal from the workpiece detection means switch 19 is checked, and the workpiece 1 is conveyed to the conveyor device 2 and passes through the workpiece detection switch 19. As a result, when a detection signal is output from the switch 19, the process moves to S2.

In S2, a counter that counts the pulses output from the pulse generator 2B is set to zero. Note that once the counter is cleared, as shown in FIG. 6, from then on, when the pulse generator 2B outputs a pulse synchronized with the conveyance of the conveyor device 2 in S21, the counter adds the pulse in S22 and the workpiece 1 is Obtain a count value according to the transport position.

Returning to FIG. 5, in S3, each point A to J of the painting operation according to the shape of the workpiece is determined as shown in FIG.
teach. That is, the painting gun 16 of the painting robot 3 is instructed to pass through points A to J and perform a series of painting operations.

In the next S4, when the teaching operation described above is completed, the process moves to S5, and the teaching data for each point A to J and the counter value for each point are stored in the memory 18D. In this way, the teaching of the painting operation for the workpiece 1 is completed.

Next, a description will be given of a process executed by the control circuit 18A to determine whether to continue the painting operation or temporarily stop the painting operation in accordance with the normal painting operation and the work stop position.

In FIG. 7, in S31, the allowable value a corresponding to the painting operation range L of the painting robot 3 described above is input, and in S32, the number of pulses b in the program for the painting operation is stored. In this case, the allowable value a serves as a criterion for determining whether or not to continue the painting operation to the position where the workpiece 1 has stopped within the above-mentioned paintable operation range L until the end of the program.

Next, conveyance of the work 1 is started by the conveyor device 2, and when the work 1 is detected by the work detection switch 19, the process moves to S34 and the counter is set to zero.

From then on, the counter counts the pulses associated with the conveyance of the workpiece 1.

In the next S35, it is monitored whether the conveyor device 2 is stopped, and if the conveyor device 2 is in operation, the process moves to S36, and each point A to J stored by the above-mentioned teaching operation is Play.

Thereby, the painting robot 3 operates so that the painting gun 16 passes through each point A to J and paints.

[0043] In S37, it is checked whether the final point J has been reached, and if the operation is still at an intermediate point, the process returns to S35 again and it is confirmed that the conveyor device 2 is in operation. Note that if the conveyor device 2 is in operation, the processes of S36 and S37 are repeated.

In S37, when the final point has been painted, the process returns to S33 and waits until the workpiece detection switch 19 outputs a detection signal, and the processes of S33 to S37 are executed by detecting the workpiece.

However, if there is some abnormality in the painting robot 3 or the paint supply unit, a line stop request is made to the line control device 2B, and the conveyor device 2 may be stopped.

[0046] When the conveyor device 2 is stopped in this manner, the control circuit 18A confirms that the work has stopped in S35, and proceeds to S38. In S38, the counter value c is read, the stop position of the workpiece 1 is detected, and the pulse number b of the program is determined.
The count value c is subtracted from the count value c, and this value is compared with the allowable value a. The position where workpiece 1 can be painted, that is, the painting operation range L
When the workpiece 1 is stopped within the range, the value of b-c is smaller than or equal to the tolerance value a, and the workpiece 1 is stopped at a position where the painting operation can be completed to the end. To detect. In this case, the process moves to S39, where the coating position of the coating gun 16 is corrected to match the stop position of the workpiece 1, and the coating operation on the workpiece 1 is continued until the final point. After the painting is completed, the process returns to S33 and waits until the conveyor device 2 is restarted and the workpiece detection switch 19 is turned on.

Furthermore, in S38, if the workpiece 1 is not in a position where it can be painted, b-c>a, and even if it is detected by the workpiece detection switch 19, it is partially outside the painting operation range L, so that the workpiece 1 is not in a position where it can be painted. Cannot be painted.

In that case, the process moves to S40, and the position of the coating gun 16 is corrected in accordance with the stop position of the workpiece 1, and the operation is continued until the next coating-off point. Then, the coating robot 3 is temporarily stopped at this coating-off point, and waits for the conveyor device 2 to be restarted in S41.

Incidentally, when the above-described abnormality is resolved, the line control device 2A restarts the conveyor device 2. Therefore, when workpiece conveyance is restarted in S41, S3
3, and the normal processes S33 to S37 are executed again.

Therefore, when the workpiece 1 has stopped at a position where it can be painted up to the final point, the painting robot 3 continues the painting operation, and the workpiece 1 is painted up to the last point in the program. As a result, when the conveyance of the workpiece is restarted, the next workpiece 1 will be coated, and the efficiency of the painting operation when the conveyor is stopped can be improved.

Furthermore, when the workpiece 1 stops outside the paintable position, that is, at a position where it cannot be painted to the final point, the painting operation is stopped at the next painting-off point. Therefore, it is possible to prevent the workpiece 1 from becoming defective in coating.

[0052] Therefore, the conveyor device 2 can be stopped regardless of the workpiece position.

FIGS. 8 and 9 show a modification of the present invention.

In both figures, in a painting line for painting the body 21 of an automobile, the body 21 to be painted is placed on a conveyor device 22 and conveyed in the X direction. The aforementioned painting robot 3 is installed on both sides of the conveyor device 22. The painting robot 3 has a moving device 23 installed so as to extend parallel to the conveyor device 22.
It is provided on the upper carriage 24.

Therefore, the painting robot 3 has a body 21
The body 21 is painted while moving in the X direction together with the trolley 24 while passing through a painting operation range where the body 21 can be painted.

Since the painting robot 3 can be moved by the moving device 23, the painting operation range L in this case is
It is determined by the stroke of movement of the No. 3 trolley 24.

Therefore, when the conveyor device 22 stops, if the body 21 is stopped at a paintable position within the painting operation range L, the painting robot 3 moves the cart 24 and performs the taught painting operation. Continue and run to the end of the program.

However, if the front side of the body 21 is within the painting operation range but the rear part of the body 21 is outside the painting operation range, the painting operation of the painting robot 3 is stopped at the next painting off point, and the trolley is stopped. 24 is stopped at that position.

[0059] At the same time as the conveyor device 24 is restarted, the painting robot 3 and the trolley 24 operate.

[0060]

Effects of the Invention As described above, in the painting robot system of the present invention, even if the conveyance device stops while the painting robot is in the process of painting, as long as the stopping position of the work is the position where the painting robot can paint. , the painting robot can continue the painting operation and perform a series of painting operations on the workpiece, and when the transport device is restarted, it is only necessary to paint from the next workpiece, which improves work efficiency. have

[Brief explanation of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a painting robot system according to the present invention.

FIG. 2 is a perspective view of a painting robot.

FIG. 3 is a diagram showing a coating pattern of a coating gun.

FIG. 4 is a diagram showing the points of a painting operation on a workpiece.

FIG. 5 is a flowchart for explaining processing executed by the control circuit during a teaching operation.

FIG. 6 is a flowchart when a counter counts pulses from a pulse generator.

FIG. 7 is a flowchart for explaining processing executed by a control circuit during a painting operation.

FIG. 8 is a plan view showing a modification of the present invention.

FIG. 9 is a front view of a modification of the present invention.

[Explanation of symbols]

1 Workpieces 2, 22 Conveyor device 3 Painting robot 16 Painting gun 18 Robot control device 18A Control circuit 18B Motor drive circuit 18C Teaching data input device 18D Memory 18E Comparison means 18F Painting continuation means 18G Painting stop means 19 Workpiece detection switch 23 Movement device 24 Trolley

Claims (1)

[Claims] 1. A painting robot system that controls a painting robot to perform a painting operation on a workpiece transported by a transporting device, comprising: a detection means for detecting a transporting position of the workpiece; and a detection means for detecting a transporting position of the workpiece; a determining means for determining whether or not the stop position of the workpiece detected by the detecting means is at a paintable position of the painting robot; A painting robot system comprising: a painting continuation means for continuing the painting work of the painting robot only when it is determined that the painting robot has stopped.