JPH06142607A - Method for coating periphery of door of automobile - Google Patents

Abstract

PURPOSE:To surely prevent a coating gun, etc., of a robot from coming into collision with a door by detecting the position of the door again after the opening process of the door, and executing a coating process after confirming the open state of the door, in the case of executing coating to the periphery of the door of an automobile by using a robot. CONSTITUTION:By using the robot, the periphery of a door of an automobile is coated. In this case, in the robot, a coating gun 3 is attached to the tip part of an arm 1 through a wrist part 2. Also, to the wrist part 2, an engaging piece 4 engaged with the glass groove G of a door B is attached. Also, to the outside surface of the tip of the arm 1, a sensor 5 consisting of a proximity switch is attached. In such a state, the position of the robot is corrected in accordance with the position of the door B detected by the sensor 5, and also, the door B is opened by the engaging piece 4, thereafter, the periphery of the door is coated by the coating gun 3. In this case, after the opening process of the door B, the position of the door B is detected again by the sensor 5. Thus, only when it is confirmed that the door B is in an open state, the coating process is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating method for automatically coating around an automobile door using a robot.

[0002]

2. Description of the Related Art Conventionally, as a coating method of this type, according to Japanese Utility Model Laid-Open No. 62-58269, a coating gun, an engaging member for engaging with an automobile door, and a sensor for detecting the position of the door are attached. Using a robot, the position of the robot is corrected according to the door position detected by the sensor to engage the engaging element with the door, then the robot moves the engaging element to open the door, and then the robot moves the coating gun. A method of moving and painting around the door of an automobile is known.

[0003]

By the way, the engagement of the engaging element with the door may occur due to the sensor position sensing error or the like, and the door is not opened even when the door is opened by the robot in this state. But,
The robot may judge that the door is opened and start the painting work, and the painting gun and the robot arm may collide with the closed door, resulting in damage to the door and the painting gun. An object of the present invention is to provide a coating method capable of avoiding such a problem.

[0004]

[Means for Solving the Problems] In order to achieve the above object,
The present invention is a method of performing coating around a vehicle door using a robot equipped with a coating gun, an engaging element that engages with the vehicle door, and a sensor that detects the position of the door,
An engagement process of correcting the position of the robot according to the position of the door detected by the sensor to engage the engaging member with the door, an opening process of moving the engaging member by the robot to open the door, and a coating gun by the robot. And a coating process for coating the area around the door of the automobile by detecting the position of the door again by the sensor after the opening process and confirming whether the door is in the open state or not. It is characterized in that the coating process is executed only when it exists. The engaging element may directly engage with the door, or may indirectly engage with the opening / closing jig attached to the door.

[0005]

When the door is not opened in the opening process due to the engagement error of the engaging element with the door, it is determined that the door is not opened by the re-detection of the door position by the sensor attached to the robot. Since the painting process is not executed, the painting gun and the robot arm do not collide with the closed door.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a car A carried into a coating station. A robot is arranged on the side of the station so that the door B of the car A is opened by the robot to perform painting around the door. did.

As shown in FIG. 2, the robot has a coating gun 3 attached to the tip of a robot arm 1 via a wrist 2, and the wrist 2 can be engaged with a glass groove G of a door B. An engaging member 4 and a sensor 5 composed of a proximity switch are attached to the outer surface of the tip of the robot arm 1.

When the automobile A is carried into the coating station and stopped at a fixed position, the sensor 5 is moved to the side of the door B by the operation of the robot, and the sensor 5 is moved relative to the door B as shown in FIG. 2 (a). When you approach the distance and detect Door B,
The operation of the robot is once stopped, the position of the door B is indexed from the position of the robot arm 1 at this time, and the engagement reference position for the door is corrected according to the deviation between this door position and the reference door position, The robot 4 moves the engagement element 4 to the corrected engagement position as shown in FIG.
Is engaged with the glass groove G of the door B (engagement step).

The engagement element 4 is engaged with the glass groove G at a portion closer to the hinge shown in FIG. 1, which is less affected by the positional deviation of the door B in the opening / closing direction, and the engagement element 4 is engaged after engagement. The door B is moved to the rear portion indicated by, and then the engaging element 4 is moved to the outer open position indicated by () to open the door B (opening step).

Next, the engagement element 4 is pulled out from the glass groove G by the operation of the robot, and the sensor 5 is moved to a confirmation position, which is preset according to the door opening position. If the door B is opened, the sensor 5 detects the door B in close proximity to the door B at the confirmation position, but if the door B is not opened due to the engagement error of the engaging element 4 with the door B, the sensor 5 detects the sensor. 5 does not detect the door B, and thereby confirms whether the door B is in the open state.

When the door B is not in the open state, the engaging step and the opening step are executed again to open the door B. Then, when it is confirmed that the door B is in the open state, the coating gun 3 is inserted into the open space of the door B by the operation of the robot, and painting around the door is performed.

[0012]

As is apparent from the above description, according to the present invention, the coating process is not executed unless it is confirmed that the door is in the open state, and the coating process is executed even when the door is not opened. Therefore, it is possible to avoid the problem that the painting gun collides with the door.Also, since the confirmation of the open state of the door is performed using the sensor attached to the robot to correct the position of the robot in the engagement process, A special sensor for checking the state is not required, which is advantageous in terms of cost.

[Brief description of drawings]

FIG. 1 is a diagram showing a motion path of a robot according to the method of the present invention.

FIG. 2 is a diagram showing the movement of the tip of the robot,
(A) is a diagram showing a state where a door position is detected, and (b) is a diagram showing a state where an engaging element is engaged with the door

[Explanation of symbols]

 1 Robot arm 3 Painting gun 4 Engager 5 Sensor A Car B Door

Claims (1)

[Claims] 1. A method of performing coating around a vehicle door using a robot equipped with a coating gun, an engaging element for engaging with a vehicle door, and a sensor for detecting the position of the door, the method comprising: An engagement process in which the position of the robot is corrected according to the detected position of the door to engage the engaging element with the door, an opening process in which the robot moves the engaging element to open the door, and a robot moves the coating gun. And a painting process for painting the area around the door of the car.
After the opening step, the position of the door is detected again by the sensor to check whether the door is in the open state, and the painting step is executed only when the door is in the open state. How to paint around the door.