JPH06138927A - Operation teaching device for coating robot - Google Patents

Abstract

PURPOSE:To facilitate the coating job of a box-shaped work by setting a parame ter to define the shape of the work and setting previously the moving locus pattern of a coating gun in response to the shape of each coating surface defined by the set parameter. CONSTITUTION:A parameter defining program production part 3 defines the box-shape of a work 14 and specifies the coating surface 15-18 corresponding to the shape of the work 14. A locus pattern defining program production part 4 defines the moving locus pattern by the repetition of a coating line of a prescribed direction for each of surfaces 15-18. An operation program production part 2 applies the parameter defining program to a three-dimensional graphic of the work 14 and successively extracts the surfaces 15-18. Then the part 2 applies the locus pattern defining programs to the surfaces 15-18 respectively and sets the moving locus patterns. Furthermore the part 2 sets an operating point on a single coating line of the moving locus pattern and also sets the repeating interval of the coating line in accordance with each size of surfaces 15-18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating robot operation teaching device capable of easily teaching work operations to a coating robot.

[0002]

2. Description of the Related Art An offline teaching system for teaching the operation of a robot is composed of a computer system as shown in FIG. The three-dimensional graphic data of the work to be worked and the data of the robot model are input to the computer main body 33, the work graphic is displayed on the display screen 32, and the operating point, the operating locus of the robot, and the operating conditions are entered on the keyboard. 34 or the mouse 35 is used to create robot motion teaching data. The created motion teaching data is checked and corrected by motion simulation, and the completed motion teaching data is transmitted to the robot control panel.

[0003]

However, it is necessary to set the movement locus of the coating gun by the robot for each coating surface of the work figure displayed on the display screen and input the operating points one by one. Therefore, there is a problem that a long working time is required to teach the operation and the operator's burden is increased. The present invention has been made in view of the above problems, and an object of the present invention is to provide a motion teaching device for a coating robot that can easily perform motion teaching of a coating work on a box-shaped work.

[0004]

[Means for Solving the Problems] To achieve the above object, the means adopted by the present invention is to display a three-dimensional figure of a work formed in a box shape on a display screen, and to apply the painting robot to the work. In a motion teaching device of a painting robot for teaching a motion locus for painting, a parameter definition program creating means for defining a component forming a box shape of the work as a parameter and specifying a painting surface corresponding to the shape, Trajectory pattern definition program creating means for defining a trajectory pattern for moving the coating gun by repeating the painting line in a predetermined direction for each painting surface specified by the parameter definition program creating means,
The parameter definition program is applied to the three-dimensional figure of the work to sequentially extract coating surfaces, and the trajectory pattern definition program is applied to each coating surface to set a movement trajectory pattern. An operation teaching device for a coating robot, comprising: an operation program creating means for setting an operation point on one painting line and setting a repeating interval of the painting line in correspondence with a dimension of the painting surface. Configured as.

[0005]

According to the present invention, the parameter defining the shape of the box-shaped work is set, and the movement trajectory pattern of the coating gun corresponding to the shape of each coating surface defined by the parameter is preset. Therefore, the parameters for defining the shape are applied to the three-dimensional figure data of the box-shaped work to be painted to specify the shape for each painted surface. By applying the movement trajectory pattern corresponding to each of the specified painted surfaces,
The operating point is set for one coating line of a movement trajectory pattern that is composed of repeated coating lines, and the gun attitude and operating conditions are set for each operating point. Since the movement locus pattern is set by repeating the above-mentioned one painting line, by setting the interval of this repetition corresponding to the dimension of the work painting surface, it is possible to set the operating point for the entire painting surface. , The motion locus for each painted surface is easily set. By combining the movement trajectories set for each coating surface in an appropriate order, the operation of the coating work on the entire surface of the coating target surface of the target work is taught.

[0006]

Embodiments of the present invention will be described below with reference to the accompanying drawings for the understanding of the present invention. The following embodiments are examples of embodying the present invention and do not limit the technical scope of the present invention. 1 is a block diagram showing the configuration and function of a motion teaching device for a coating robot according to an embodiment of the present invention, FIG. 2 is a perspective view showing an example of a box-shaped work, and FIG. 3 is shown in FIG. FIG. 4 is a schematic view showing the target point set on the section shown in FIG. 3, and FIG. 5 is a schematic view showing the gun direction set at the target point shown in FIG. Fig. 6, Fig. 6 is a perspective view of a corner portion where the painted surfaces intersect, Fig. 7 is a locus pattern diagram showing an example of a locus of movement of the vertical surface with the upper and lower frames, and Fig. 8 is a vertical surface without the upper and lower frames. FIG. 9 is a trajectory pattern diagram showing an example of a movement trajectory, FIG. 9 is a trajectory pattern diagram showing an example of a movement trajectory of a horizontal plane with upper and lower frames, and FIG. 10 is a trajectory pattern showing an example of a movement trajectory of a horizontal plane without upper and lower frames. Figures and 11 show the setting of the gun direction for the target point set on the vertical cross section of the outer surface. Schematically shows, FIG. 12 is a perspective view, a perspective view 13-15 showing an example of a work that can be applied as a box-shaped workpieces indicating the set aim point for the leading edge surface.

In FIG. 1, the motion teaching apparatus 1 includes a motion program creating section (motion program creating means) 2, a parameter definition program creating section (parameter definition program creating means) 3, and a locus pattern definition program creating section (locus pattern). (Definition program creating means) 4 and the operation teaching program 13 for the painting robot is created based on the data created by the respective program creating sections 2, 3, 4. The operation program creation unit 2 is
Simple graphic input function to read the work graphic data from the 3D work data 6 of the work to be processed, perform graphic processing to set the operating point for each painted surface, and create simple graphic data 7, and graphic processing Create the target point data 8 by setting the target point and gun posture of the coating gun for the simple figure. Target point / gun posture input function and work condition data by setting the working conditions such as the discharge amount of the coating gun. A work condition data input function for creating 9 and a parameter setting function for creating a parameter file 10 by referring to the parameter definition data 11 created in advance by the parameter definition program creating section 3 to identify the painted surface of the work. , The simple figure data 7, the aiming point data 8, the work condition data 9, and the data of the parameter file 10 are input, and the trajectory pattern is And a locus automatic creation function for automatically generating an operation teaching program 13 by selecting the desired movement trajectory pattern from the pre-made track pattern definition data 12 in definition program 4.

The operation of the operation teaching apparatus 1 configured as described above will be described by taking the case of the box-shaped work 14 as shown in FIG. 2 as an example. The parameter definition program creation unit 3 creates a parameter for specifying the shape of the box-shaped work and stores it as parameter definition data 11. That is, presence / absence of horizontal planes (upper frame 15 and lower frame 16 shown in FIG. 2), presence / absence of front edge surface (front edge 17 shown in FIG. 2), and presence / absence of back surface (back plate 18 shown in FIG. 2). Is defined. In addition, in the trajectory pattern definition program creating unit 4, the vertical plane movement trajectory pattern as shown in FIG.
The vertical plane movement locus pattern as shown in FIG. 9, the horizontal plane movement locus pattern as shown in FIG. 9, and the horizontal plane movement locus pattern as shown in FIG.
Is remembered as Therefore, the operation program creating unit 2 reads out the graphic data of the work 14 stored as the three-dimensional work data 6 and performs the painting on the entire surface.
Select the horizontal plane, inner / outer side, front side, and back side from. First, in order to coat the inner surface side of the vertical surface (Z-axis direction surface) excluding the upper frame 15 and the lower frame 16 of the work 14,
A simple figure input function is used to input a cross section in the XY direction, and a box-shaped inner cross section of the work 14 is displayed on the display screen as shown in FIG. Enter the inner dimension of.

Next, as shown in FIG. 4, the target points P1 to P6 of the coating gun are set by a target point / gun attitude input function at a plurality of required positions on the inner cross section. Each aim point P1
For ~ P6, enter the distance between the coating gun and each of the target points P1 to P6 by numerical values. At this time, the gun posture is automatically set perpendicular to the painted surface as shown in FIG. Also, when setting the distance of the painting gun, the approaching direction of the painting gun at the starting point of the painting work and the retracting direction of the finishing point are specified at the same time.
The gun posture is expressed by the angle of rotation of the coordinate system such as roll, pitch, and yaw, but automatically on the roll (about the Z axis) on the vertical plane and on the pitch (about the X axis) on the horizontal plane. The direction perpendicular to the painted surface is set by rotating the disk. However, the postures at the corners of the vertical planes as shown in FIG. 6A or at the corners of the vertical plane and the horizontal plane as shown in FIG. 6B cannot be perpendicular to the painted surface. Therefore, the gun attitude at these positions is set by inputting the attitude angle. Further, with respect to the target points P1 to P6, the working condition data input function is used to set working conditions such as the discharge amount from the coating gun so that the target points P1 to P6 function as operating points.

Next, as a movement locus by the parameter setting function, from the locus pattern definition data 12 to, for example, FIG.
The vertical plane movement locus pattern shown in is selected, and the locus interval Lp, which is an interval for repeating the coating line with the target points P1 to P6, is set for the selected movement locus pattern from the dimension of the vertical plane on the inner surface side of the work 14. . As a result, as shown in FIG. 7, the coating on the vertical surface on the inner surface side of the work 14 is connected in a movement locus pattern in which the operating conditions of the aim points P1 to P6 set in one section are specified, and the locus interval Lp is further set. Is automatically set to repeat continuously. After the operation of the vertical surface on the inner surface side of the work 14 is set as described above, the horizontal surface on the inner surface side (the inner surface side of the upper frame 15 and the inner surface side of the lower frame 16), the front surface 17, the outer surface vertical surface, Set each motion locus on the outer horizontal surface. The operation locus for each surface is set by each function of the operation program creating unit 2 in the same manner as the order of setting the inner vertical surface. That is, since it is selected from the parameter definition data 11 that there is a horizontal plane, there are inner and outer surfaces, there is a front surface, and there is a back surface, the dimensions are input from the three-dimensional figure data 6 of the work 14 for each surface on which the motion locus is set. Then, each is created as simple graphic data 7, the aim point is set, the gun posture and the working condition for each aim point are input to create the aim point data 8 and the working condition data 9, and the trajectory pattern definition data The movement locus pattern is selected from 12 and the movement locus is set. The movement trajectory pattern is selected from the trajectory pattern definition data 12 by selecting, for example, the movement trajectory pattern shown in FIG. 9 for the horizontal surface on the inner surface side.
Further, since the vertical plane on the outer surface side can be a vertical plane movement locus pattern, for example, the movement locus pattern shown in FIG. 8 is selected. The gun attitude and the distance are designated as shown in FIG. Further, since a horizontal plane movement locus pattern can be set for the horizontal plane on the outer surface side, for example, the movement locus pattern shown in FIG. 10 is selected. On the front side, if aiming points F1 to F4 are set as shown in FIG. 12, each aiming point F1 to F4 is set.
Are connected to generate a movement locus.

By the above process, operation data for each of the vertical surface on the inner surface side, the horizontal surface, the vertical surface on the outer surface side, the horizontal surface, and the front surface is created. By combining these in an appropriate order, The motion teaching data 13 for the work 14 is created. The created motion teaching data is confirmed and corrected by motion simulation, and is transmitted to the robot control panel to execute the painting work by the robot. As described above, by appropriately combining the motion locus creating programs for each surface, for example, a flat plate as shown in FIG. 13, a frame only as shown in FIG.
Even for a box shape with a partition plate on the inner surface side, as shown in
Similarly, operation teaching data for painting work can be created.

[0012]

As described above, according to the present invention, a parameter for defining the shape of a box-shaped workpiece is set, and the movement path pattern of the coating gun corresponding to the shape of each coating surface defined by this parameter. Is preset. Therefore, the parameters for defining the shape are applied to the three-dimensional figure data of the box-shaped work to be painted to specify the shape for each painted surface. By applying the movement locus pattern corresponding to each of the specified painting surfaces, the operating point is set for one painting line of the movement locus pattern that is composed of repeated painting lines. Set operating conditions and. Since the movement trajectory pattern is set by repeating the above-mentioned one painting line, by setting the interval of this repetition in correspondence with the dimension of the work painting surface,
The operation locus can be easily set for each painted surface without setting the operating point for the entire painted surface. By combining the movement trajectories set for each coating surface in an appropriate order, the operation of the coating work on the entire surface of the coating target surface of the target work is taught. Therefore, it is possible to easily teach the operation of the painting work to the box-shaped work, and it is possible to reduce the work load and work time of the operator.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration and functions of a motion teaching device for a coating robot according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of a box-shaped work.

FIG. 3 is a sectional view of an inner surface of an X-Y plane of the work shown in FIG.

FIG. 4 is a schematic diagram showing target points set in the cross section shown in FIG.

5 is a schematic diagram showing a gun direction set at a target point shown in FIG. 4. FIG.

FIG. 6 is a perspective view of a corner portion where coating surfaces intersect.

FIG. 7 is a trajectory pattern diagram showing a movement trajectory of a vertical surface.

FIG. 8 is a trajectory pattern diagram showing a movement trajectory of a vertical surface.

FIG. 9 is a trajectory pattern diagram showing a movement trajectory of a horizontal plane.

FIG. 10 is a trajectory pattern diagram showing a movement trajectory of a horizontal plane.

FIG. 11 is a schematic view showing setting of a gun direction with respect to a target point set on a vertical cross section on the outer surface side.

FIG. 12 is a perspective view showing setting of a target point on the front edge surface.

FIG. 13 is a perspective view showing an example of a work applicable as a box-shaped work.

FIG. 14 Same as above.

FIG. 15 Same as above.

FIG. 16 is a block diagram showing a schematic configuration of an offline operation teaching device.

[Explanation of symbols]

 1 ... Motion teaching device 2 ... Motion program creation unit 3 ... Parameter definition program creation unit 4 ... Locus pattern definition program creation unit 6 ... Three-dimensional work data 13 ... Motion teaching data 14 ... Work 15 ... Upper frame 16 …… Lower frame 17 …… Front edge (front) 18 …… Back plate (back)

Claims (1)

[Claims] 1. A motion teaching device of a coating robot, which displays a three-dimensional figure of a work formed in a box shape on a display screen, and teaches a motion locus for coating the work with a coating robot. Parameter-defining program creating means for defining a component forming a box shape as a parameter and specifying a painted surface corresponding to the shape, and a predetermined direction coating line for each painted surface specified by the parameter-defining program creating means And a trajectory pattern definition program creating means for defining a trajectory pattern for moving the coating gun, and the parameter definition program is applied to the three-dimensional figure of the workpiece to sequentially extract the coating surface, and the coating surface is sequentially extracted for each coating surface. Apply the locus pattern definition program to set the locus pattern and set the locus pattern. Of the coating robot, the operating point being set on one coating line of the coating line, and the operation program creating means for setting the repeating interval of the coating line in correspondence with the dimension of the coating surface. Motion teaching device.