JPH05104044A - Control of high viscosity material coating robot - Google Patents

Abstract

PURPOSE:To apply coating to a coating route in desired bead width and thickness, in the control of a high viscosity material coating robot constituted so as to control an emission amount corresponding to a moving speed by inclining the emission angle of a painting gun in a moving direction corresponding to the moving speed. CONSTITUTION:The emission pressure of a seal agent is controlled so that the emission amount thereof from a coating gun 1 becomes much as the moving speed of the coating gun 1 becomes faster in order to quantitatively apply coating to a coating route. Since the flow velocity of the seal agent at the time of the emission thereof from the nozzle of the coating gun 1 becomes fast when the emission amount increases, the energy of the emitted seal agent impinging against a coating position becomes large and the width of the seal agent becomes wider than predetermined bead width and a bead shape also becomes a cross-sectional shape whose central part is depressed. When the emission angle of the coating gun 1 is inclined when the emission amount is much, since emission energy is escaped in the direction opposite to the moving direction of the coating gun 1, the diffusion of the emitted seal agent is prevented and the coated bead shape becomes a desired cross-sectional shape.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a high-viscosity material coating robot for quantitatively applying a high-viscosity material such as a sealant or an adhesive along a predetermined path.

[0002]

2. Description of the Related Art A teaching / playback type industrial robot uses a designated point at the tip of the wrist of the robot as a reference point, and linearly or circularly interpolates a taught path to set a reference point at a designated speed. Each arm and wrist are actuated to move. For example, as shown in FIG. 5, the sealing robot 21 having the gun 24 for applying the sealant on the wrist 24 is moved along the sealing path from the teaching point A to the teaching point B of the work 22. The coating gun 23 accelerates the point A from zero speed until it reaches a constant speed, then approaches the point B, is decelerated, and stops at the point B. At this time, the angle of the wrist portion 24 changes as shown in the drawing, and the work 2 of the application gun 23 changes.
The posture with respect to 2 is kept constant as shown in FIG. FIG. 6 shows changes in the moving speed of the coating gun 23 at time t when moving from the point A to the point B, and the posture of the coating gun 23. By the way, in sealing work, for example, in order to obtain sealing quality and uniformity, the applied sealing material is required to have a constant bead width and height. In order to satisfy this requirement, the posture of the coating gun 23 is kept constant as described above, and the discharge pressure of the coating gun 23 is controlled so that the discharge amount of the sealing agent changes in proportion to the moving speed of the coating gun 23. . The same operation is performed when a high-viscosity material such as an adhesive agent is quantitatively applied in addition to the above-mentioned sealing agent.

[0003]

However, since the nozzle diameter of the coating gun is usually constant, if the discharge pressure is increased to increase the discharge amount, the flow rate of the high-viscosity material to be discharged becomes faster, and the high-viscosity material becomes a work piece. As a result of the increase in the energy when hitting, Figure 3 (b)
The bead width becomes larger than the intended bead width as shown in Fig. 3, and the bead shape also has a recessed central portion as shown in the drawing. That is, as shown in FIG. 4B, there arises a problem that a desired shape with a high center portion and a predetermined bead width cannot be obtained. In view of the above problems, it is an object of the present invention to provide a control method for a high-viscosity material coating robot that obtains a stable bead width and height in high-viscosity material coating that controls discharge amount in proportion to moving speed. .

[0004]

In order to achieve the above object, a method adopted by the present invention is to move an application gun mounted on a wrist of a robot onto an application path according to teaching data stored in a robot control panel. In a control method of a high-viscosity material coating robot in which the discharge amount of the high-viscosity material from the coating gun is controlled according to the moving speed, the discharge angle of the coating gun is inclined in the moving direction according to the moving speed. This is a method for controlling a high-viscosity material coating robot, characterized by:

[0005]

According to the present invention, in the control method of the high-viscosity material coating robot, the coating gun is controlled so that the discharge amount from the coating gun increases as the moving speed for moving the coating gun on the coating path increases. When the robot's wrist is controlled so that it tilts in the moving direction as the moving speed increases, the energy of the discharge flow velocity, which increases as the discharge amount increases, flows in the direction opposite to the movement of the coating gun. Does not spread around, and can be applied with a desired bead width and bead thickness on the application path.

[0006]

Embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. still,
The following examples are examples of embodying the present invention and do not limit the technical scope of the present invention. In this example,
The present invention is applied to a sealing robot that applies a sealant along a predetermined application path. FIG. 1 is an explanatory view of the operation of changing the coating gun to an inclination angle corresponding to the moving speed, and FIG. 2 is a configuration diagram showing the configuration of the sealing robot.
3 and 4 are explanatory views showing changes in the coating shape due to changes in the discharge angle of the coating gun. First, the configuration of the sealing robot will be described with reference to FIG. The robot 2 mounts the coating gun 1 on the wrist 2a at the tip of the arm and operates according to a robot control signal output from the robot control panel 3 to move the coating gun 1 to a predetermined coating path. The sealant 6 stored in the tank 5 is applied to the application gun 1 by the pressure pump 4
It has been sent by. Further, the coating gun 1 is connected to a coating gun control unit 7 which controls the coating gun 1 based on a discharge amount signal and an ON / OFF signal output from the robot control panel 3.

The robot control panel 3 includes a teaching data storage section 8 in which teaching data for controlling the operation of the robot 2 is stored,
A trajectory calculation unit 9 that calculates the trajectory of the robot arm by calculating the trajectory from the teaching data, a servo control unit 10 that creates a control signal for each joint axis of the robot 2 from the trajectory calculation value, and a servo amplifier that amplifies the control signal. 11, and outputs a robot control signal to the robot 2. Further, a discharge amount calculation unit 12 for generating a discharge amount signal for instructing a discharge amount based on the moving speed of the robot arm tip from the trajectory calculation unit 9, and a coating gun based on the data from the teaching data storage unit 8 Output command unit 1 for creating ON / OFF signal 1
3, and outputs the discharge amount signal and the on / off signal to the coating gun control unit 7. The sealing robot configured as described above operates the robot 2 in accordance with a robot control signal output from the robot control panel 3, and applies the coating gun control unit 7 according to the moving speed of the tip of the robot arm on which the coating gun 1 is mounted. The discharge amount of the sealant from the coating gun 1 is changed by the coating gun control signal output from the coating gun 1.
Further, the servo control unit 10 of the robot control panel 3 controls the drive of the wrist 2a in accordance with the moving speed of the tip of the robot arm, and the gun angle control for tilting the coating gun 1 in the moving direction in accordance with the moving speed. A signal is created and output from the servo amplifier 11 to the robot 2.

FIG. 1 shows changes in the moving speed when the coating gun 1 is moved from point A to point B in the coating path and changes in the discharge angle of the coating gun 1. The robot 2 operates in response to a robot control signal from the robot control panel 3, accelerates the application gun 1 attached to the wrist 2a from a speed of point A to zero, and eventually becomes a constant speed, and decelerates toward a point B. Stop at point B. At this time, the wrist 2a is controlled so as to incline the application gun 1 in the moving direction (arrow direction) according to the moving speed as shown in the figure. That is, the discharge angle of the sealant from the coating gun 1 is inclined in the direction opposite to the moving direction in proportion to the moving speed. The discharge pressure from the coating gun 1 is controlled so that the amount of discharge from the coating gun 1 increases as the moving speed of the coating gun 1 increases in order to perform quantitative coating on the coating path. Therefore, when the discharge amount is increased, the flow velocity at the time of discharging from the nozzle of the coating gun 1 is increased, so that the energy of the discharged sealing agent applied to the coating position is increased, and the sealing agent is coated as shown in FIG. 3B. The sealing agent becomes wider than a predetermined bead width, and the bead shape also has a cross-sectional shape with a depressed central portion as shown in the same figure. Therefore, when the discharge angle of the coating gun 1 when the discharge amount is large as in this embodiment is inclined, as shown in FIG.
As shown in (a), since the discharge energy is released in the direction opposite to the moving direction of the coating gun 1, the discharged sealing agent is prevented from diffusing, and the shape of the coated bead is as shown in FIG.
A desired cross-sectional shape is obtained as shown in (b). The discharge angle of the coating gun 1 is changed by changing the inclination angle according to the moving speed of the coating gun 1 as shown in FIG.
It is possible to deal with a change in the discharge flow rate that accompanies the discharge amount that changes according to the moving speed. Although the above description has been given of the embodiment in which the sealant is used as the high-viscosity material, it is needless to say that the same can be applied to a control method of a robot for coating a high-viscosity material such as an adhesive. Further, it is not necessary to make the controlled ejection angle completely proportional to the moving speed, and various modes such as stepwise control with respect to the moving speed are conceivable.

[0009]

As described above, according to the present invention, when the wrist portion is controlled so as to incline in the moving direction as the moving speed of the coating gun increases, the energy of the discharging flow velocity which increases with the increase of the discharging amount Since the coating gun moves in the opposite direction of movement, the high-viscosity material to be coated does not spread around, and can be coated with a desired bead width and bead thickness on the coating path.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of application gun discharge angle change control according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a sealing robot according to an embodiment.

FIG. 3 is an explanatory view showing a discharge state (a) and a bead shape (b) at a discharge angle of zero.

FIG. 4 is an explanatory view showing a discharge state (a) and a bead shape (b) when a discharge angle is set.

FIG. 5 is an explanatory view of wrist control of a conventional robot.

FIG. 6 is an explanatory diagram showing a relationship between a coating gun attitude and a change in moving speed in a conventional example.

[Explanation of symbols]

 1 ... Application gun 2 ... Robot 2a ... Wrist part 3 ... Robot control panel 7 ... Application gun controller

Claims (1)

[Claims] 1. A coating gun attached to a wrist of a robot is moved along a coating path according to teaching data stored in a robot control panel, and a discharge amount of a high-viscosity material from the coating gun is changed according to the moving speed. A method for controlling a high-viscosity material coating robot, comprising: controlling a discharge angle of the coating gun in a moving direction corresponding to a moving speed.