JPH05138108A - Teaching method for caoting robot - Google Patents

Abstract

PURPOSE:To improve the exactness and efficiency of operations in the operation of teaching to store the moving route of a coating gun in a coating robot. CONSTITUTION:A pattern shape 7 exposed on the surface 6 to be coated of a material 2 to be coated by the projection of visible light 5 for pattern display indicates the range where a coating material is actually applied. An operator moves a coating gun 1 while visually observing this pattern shape 7. Then, the moving route of the coating gun 1 optimum for executing good coating is determined not by the operator's perception but in accordance with the pattern shape 7 on the surface 6 to be coated by the projection of the visible light 5 for pattern display and, therefore, the operation is exactly and efficiently carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating robot in which a coating gun is automatically moved along a pre-stored route to spray a coating onto an object to be coated. TECHNICAL FIELD The present invention relates to a teaching method for memorizing a trajectory of a coating gun manually moved as a movement path of the coating gun when painting, particularly, relying on the intuition of the operator to move the coating gun by the operator. Accurately and without
The present invention relates to a teaching method for a coating robot that can be efficiently performed.

[0002]

2. Description of the Related Art Work is performed on a coating robot in which a coating gun is automatically moved along a pre-stored route while spraying paint toward an object to be coated. As an example of a teaching method in which the locus of a coating gun manually moved by a worker is stored as a movement path of the coating gun during painting, conventionally, an operator moves the coating gun by his / her own intuition. To temporarily memorize the route, then spray the paint onto the object to be coated while moving the coating gun according to the memorized route, and check whether the route memorized from the coating state is proper. If the coating is not performed well, the operator manually re-does the work of moving the coating gun.

In such means, the operator is required to have a high degree of skill in order to make the trajectory of the moved coating gun proper, and when an unskilled person performs the work, it is manually performed. There was a fear that the work of moving the coating gun and the work of coating the coating would be repeated many times.

In order to solve such a problem, as another teaching method, an elongated elastic index body projecting to the front of the coating gun is attached so as to be integrally movable,
While maintaining the condition that the tip of the elastic index body slides on the coated surface of the object to be coated without bending, the operator should follow the position of the tip of the elastic index body as a guide and move the coating gun in a proper trajectory. The means to move it is also adopted.

However, according to such means, when there is a small protruding portion on the surface of the object to be coated, the elastic index body hits the protruding portion and bends, so that the tip of the elastic index body moves in the movement path of the coating gun. Since it cannot be used as a guide, the operator must rely on the intuition to move the coating gun while the elastic index body is bent. Therefore, even in this method, there is a case where the work must be performed depending on the intuition of the operator.

The present invention was devised in view of the above-mentioned circumstances, and the work of manually moving the coating gun by an operator is performed accurately and efficiently without depending on the intuition of the operator. It is intended to provide a teaching method capable of performing the above.

[0007]

In order to solve the above-mentioned problems, according to a first aspect of the present invention, as described in claim 1, a pattern in which a coating gun has the same cross-sectional shape and spread angle as the spray pattern of the paint. A light source that emits visible light for display is attached, and the operator manually moves the coating gun while observing the pattern shape that appears on the surface of the object to be coated by projecting the visible light for pattern display, and the movement path Was made to be remembered in the painting robot.

According to a second aspect of the present invention, as described in claim 2, two light sources are attached to the coating gun, and two visible rays emitted from the two light sources are sprayed in the coating spray direction of the coating gun. At a reference point that is a predetermined distance away from the exit, the operator manually moves the coating gun while maintaining the state where the reference point is located on the surface of the object to be coated,
The moving route is stored in the painting robot.

[0009]

The first aspect of the present invention has the above-mentioned structure, and the pattern shape that appears on the coated surface of the coated object by the projection of visible light for pattern display is that the coating material is actually applied to the coated surface. It indicates the range of Therefore, while moving the coating gun, it is possible to easily and accurately determine the optimum movement route for performing good coating by observing the size of the pattern shape and the movement method. .. In this way, the movement path of the coating gun stored in the coating robot can surely obtain a good coating result when the coating gun is automatically moved along the path.

As described above, the first aspect of the invention does not rely on the intuition of the operator to determine the moving route to be stored,
The pattern movement is performed based on the pattern shape that appears on the surface of the object to be coated and can be visually observed by projecting the visible light for pattern display.Therefore, the optimal movement path can be reliably obtained by performing only one manual movement of the coating gun. Work accurately, and
There is an effect that it can be performed efficiently.

Further, in the second aspect of the invention, the reference point where the two visible rays intersect serves as a guide for knowing the distance from the paint ejection port and the position of the paint ejection pattern shape. Therefore, while moving the coating gun while keeping this reference point on the surface to be coated, check the movement of the reference point, etc. to find the optimal movement path for good coating. Can be accurately determined.

During this time, even if the reference point passes through a small protruding portion on the surface of the object to be coated, the reference point appears on the surface of the object to be coated immediately after passing through the protruding portion, so that a long distance is required. There is no need to move it by the intuition of another person.

The moving route stored in the coating robot in this manner can surely obtain a good coating result when the coating gun is automatically moved according to the moving route.

As described above, the second aspect of the invention does not rely on the intuition of the operator to determine the moving route to be stored,
Since it is performed based on a reference point that is visible when two visible rays intersect on the surface to be coated of the object to be coated, the optimal movement path can be reliably obtained by performing only one manual movement of the coating gun. Work accurately and
There is an effect that it can be performed efficiently.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first invention will be described below with reference to FIG. In FIG. 1, reference numeral 1 denotes a coating gun which is adapted to eject paint toward an object to be coated 2 while automatically moving along a route stored in advance by the operation of a coating robot.

A visible light emitter for pattern display (corresponding to a light source which is a constituent element of the first invention) 3 is provided at the tip of the coating gun 1 in place of a nozzle (not shown) having a paint outlet.
Is installed. This visible light emitter 3 for pattern display
Is a light emitting point at a position corresponding to the paint jet when the nozzle is attached to the coating gun 1, and has the same elliptical cross-sectional shape as the paint jet pattern and spreads at the same angle as the paint jet pattern. The pattern display visible light 5 is emitted. Laser light is preferably used as the visible light 5 for pattern display.

When performing the teaching work for storing the movement path of the coating gun 1 in the coating robot, the visible light 5 for pattern display is emitted from the visible light emitter 3 for pattern display of the coating gun 1. In such a state, the article to be coated 2 is transported in the same manner as when it is actually coated.

The operator grips the coating gun 1 and manually moves it, or operates the coating gun 1 by a manual remote control operation, whereby the object 2 to be coated approaching the coating position is covered. The visible light 5 for pattern display is applied to a predetermined position on the coated surface 6 so that the pattern shape 7 having a predetermined size appears.

When the object 2 to be coated reaches the coating application start position, an operator manually moves the coating gun 1 in a path to be taken when the coating material is ejected while corresponding to the movement of the object 2 to be coated. At the same time it started, its painting gun 1
The operation for memorizing the movement route of the item in the painting robot is started. Then, when the operation of moving the coating gun 1 is completed, the operation for storing the moving path of the coating gun 1 in the coating robot is stopped.

While the movement path of the coating gun 1 is being stored in the coating robot, the operator visually observes the pattern shape 7 appearing on the surface 6 to be coated of the object 2 by projecting the visible light 5 for pattern display. While moving the coating gun 1. Since the pattern shape 7 indicates the range to which the paint is applied when the paint is actually ejected from the coating gun 1, the operator needs to rely on the intuition to judge the movement path of the coating gun 1. Instead, by looking at the size of the pattern shape 7 and the manner of movement, even an unskilled person can easily and accurately determine the optimal movement route for performing good coating.

With the above, the teaching work is completed. In this way, when the coating gun 1 is moved along the movement route stored in the coating robot and the coating material is jetted toward the object to be coated 2, the surface to be coated 6 is sagged,
Good coating without unevenness is surely applied.

Next, an embodiment of the second invention will be described with reference to FIG. In FIG. 2, reference numeral 11 indicates a coating gun which is adapted to spray paint toward the article to be coated 12 while automatically moving along a prestored route by the operation of the coating robot.

In the nozzle 13 at the tip of the coating gun 11,
Two visible light emitters (corresponding to a light source which is a constituent element of the second invention) 14, 14 are arranged and attached to both sides of a paint ejection port 15 in the center of the nozzle 13. The two visible light emitters 14 and 14 emit visible light rays 17 and 17 which intersect each other at a reference point 16 which is apart from the paint ejection port 15 by a constant distance L in the ejection direction of the paint. The reference point 16 at which the two visible light rays 17 and 17 intersect is a reference for knowing the position of the paint ejection pattern (not shown). A laser beam is preferably used as the visible ray.

When performing the teaching work for storing the movement path of the coating gun 11 in the coating robot, the visible rays 17, 17 are emitted from both visible ray emitters 14, 14 of the coating gun 11, In this state, the article 12 to be coated is transported in the same manner as when it is actually coated.

The operator grips the coating gun 1 and manually moves it, or operates the coating gun 1 manually by operating a remote control, whereby a reference point which is an intersection of both visible light rays 17 and 17 is generated. The point 16 is brought into contact with a predetermined position on the surface 18 to be coated of the object 12 to be coated which is close to the coating position.

When the object to be coated 12 reaches the coating application start position, an operator manually moves the coating gun 11 in a path to be taken when the paint is ejected while corresponding to the movement of the object to be coated 12. Simultaneously with the start, an operation for storing the moving path of the coating gun 11 in the coating robot is started. Then, when the operation of moving the coating gun 11 is completed, the operation for storing the moving path of the coating gun 11 in the coating robot is stopped.

While the movement path of the coating gun 11 is being memorized in the coating robot, the operator is to apply the surface 18 to be coated of the object 12 to be coated.
While maintaining a state in which the two visible light rays 17, 17 hit one place instead of two different places, that is, the state where the reference point 16 is located on the painted surface 18, the reference point on the painted surface 18 is maintained. Paint gun 1 while watching 16
Move 1 Reference point 1 that appears on the surface to be painted 18
Reference numeral 6 is a standard for the range to which the paint is applied when the paint is actually ejected from the coating gun 11. Therefore, the operator does not need to rely on intuition to determine the movement path of the coating gun 11, and by seeing how the reference point 16 moves, even an unskilled person can perform good coating. It is possible to easily and accurately determine a proper movement route.

When there is a small protruding portion on the surface to be coated 18 and the reference point 16 passes through the protruding portion,
The reference point 16 disappears only for a short distance that it passes, and immediately after the passage, the reference point 16 disappears.
Appears on 8. Therefore, there is no risk that the reference point 16 is lost over a long distance and deviates from the optimum route.

With the above, the teaching work is completed. In this way, when the coating gun 11 is moved according to the movement route stored in the coating robot and the paint is jetted toward the object to be coated 12, the surface to be coated 18 is sagged,
A good coating without any unevenness or unevenness is surely applied.

[Brief description of drawings]

FIG. 1A is a plan view of an embodiment of the first invention.

FIG. 1 (B) is a view taken along line XX of FIG. 1 (A).

FIG. 2 is a plan view of an embodiment of the second invention.

[Explanation of symbols]

1, 11: coating gun 2, 12: object to be coated 3: visible light emitter (light source) for pattern display 5: visible light for pattern display 6, 18: surface to be coated 7: visible light for pattern display 14: visible light Light emitter (light source) 15: Paint outlet
16: reference point 17: visible light

Claims (2)

[Claims] 1. An operator manually moves a coating robot that automatically sprays paint toward an object to be coated while automatically moving the coating gun according to a route stored in advance. A method for teaching a coating robot, wherein the trajectory of the coating gun is stored as a movement path during coating of the coating gun, wherein the coating gun has a cross-sectional shape and a spreading angle that are the same as a spray pattern of the coating. A light source that emits visible light is attached, and the operator manually moves the coating gun while visually observing the pattern shape that appears on the surface to be coated of the coating object by projecting the visible light for pattern display,
A coating robot teaching method, wherein the movement route is stored in the coating robot. 2. An operator manually moves to a coating robot in which a coating gun is automatically moved along a pre-stored route while spraying paint toward an object to be coated. A method of teaching a coating robot, wherein the trajectory of the coating gun is stored as a moving path during coating of the coating gun, wherein two light sources are attached to the coating gun, and two visible light rays emitted from the two light sources are attached. Intersect at a reference point that is a predetermined distance away from the paint ejection port in the paint ejection direction of the coating gun, and the worker applies the coating while keeping the reference point positioned on the surface to be coated of the object to be coated. A coating robot teaching method, wherein the gun is manually moved and the movement route is stored in the coating robot.