JPH0718542Y2 - Coating equipment - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a coating apparatus, and particularly to a door of an automobile, which is an obstacle to the coating work on the automobile using an industrial robot. The present invention relates to a coating device having a function useful for detecting the presence or absence of

"Prior Art" When painting the inside of a car body with a painting robot, the car door becomes an obstacle to the work.

Therefore, a device for opening an automobile door, which is an obstacle, is disclosed in, for example, Japanese Utility Model Laid-Open No. 58-78164, Japanese Utility Model Laid-Open No. 58-78165 or Japanese Patent Laid-Open No. 58-95558. If the vehicle door can be opened successfully by such a device, the vehicle door will not be an obstacle to work.

However, if the vehicle door cannot be opened for some reason, the vehicle door may become an obstacle and the arm of the painting robot may collide with the vehicle door.

Therefore, as shown in FIG. 11, the vehicle door D is completely detected photoelectrically by a detection device of the combination of the light emitter T ₁ and the light receiver R ₁ or a detection device of the combination of the light emitter T ₂ and the light receiver R _2. It is performed to detect whether it is in the open position.

By this detection, it is confirmed that the automobile door D does not become a work obstacle.

“Problems of the prior art” In the detection device using the combination of the light emitter T ₁ and the light receiver R ₁ shown in FIG. 11, since the detection position is fixed, the vehicle body B
There is a problem that detection cannot be performed following the movement of the conveyor C.

In addition, with the detection device using the combination of the light emitter T ₂ and the light receiver R ₂ , it is possible to detect movement in a specific direction without hindrance,
After all, there is a problem that the detection position is limited. Further, it is necessary to take measures so as not to collide with the light projector T ₂ and the light receiver R ₂ even if the automobile door D moves, which is a problem that the implementation is not easy.

[Object of the Invention] The object of the present invention is that the detection position of an automobile door, which can be an obstacle during painting work, is relatively unrestricted, and has a function of detecting even when the door is moving. Another object of the present invention is to provide a coating device that can be easily implemented.

[Configuration of Device] The coating device of the present invention is a manipulator having a coating work tool, a door opening / closing jig, and an arm equipped with a door detection sensor at its tip, and operating the arm along a previously taught path. Manipulator control means for controlling the opening / closing operation of the door by the door opening / closing jig and the painting work by the painting work tool, and the trajectory by the manipulator control means for the door detected by the door detection sensor. The door opening / closing jig to open the door, before painting the vehicle with the painting tool, and after the painting is completed, close the door opening / closing jig to the door detected by the door detection sensor. Detects the position of the above doors, including the locus of arm movements that cause the door detection sensor to detect the position of each door after operation. Based on the determination result of the determination means for determining whether the door becomes an obstacle in the painting work or the next work by the output state from the door detection sensor, and the determination result of the above determination means,
A structural feature is that the apparatus is provided with an output means for outputting either a signal for permitting or not permitting the start of painting work or a signal for permitting or disapproving the next work.

[Operation] In the coating apparatus of the present invention, the door detection sensor is attached to the tip of the manipulator arm, and the manipulator is driven to positively move the door detection sensor to cause the door to perform painting work or the next work following this painting work. It detects whether or not it is in a position that can be an obstacle during work.

Therefore, the detection position is not fixed and can be set arbitrarily, so that even if the position of the door changes such as when the door is moving, the door can be suitably detected by following the change.

Further, since the door detection sensor can be moved to the retracted position except when necessary, the door detection sensor itself does not become an obstacle and there is no difficulty in installation.

[Embodiment] The present invention will be described in more detail based on the embodiment shown in the drawings. Here, FIG. 1 is a schematic external view of a coating apparatus according to an embodiment of the present invention, FIG. 2 is an enlarged external view of a wrist portion of a robot of the apparatus shown in FIG. 1, and FIG. FIG. 4 is a schematic diagram of a state in which the sensor does not detect the sensor, FIG. 4 is a schematic diagram of a state in which the upper end surface of the automobile door is detected by the sensor, and FIG. 5 is a schematic diagram of a state in which the glass groove portion of the automobile door is detected by the sensor.
6 is a flowchart of the main part of the door opening operation by the device shown in FIG. 1, FIG. 7 is a flowchart of the main part of the obstacle detection operation by the device shown in FIG. 1, and FIG. 8 is the device shown in FIG. FIG. 9 is a schematic perspective view for explaining the operation of opening the door, FIG. 9 is a schematic side view taken along the arrow A in FIG.
FIG. 10 is a view corresponding to FIG. 9 in the operation of closing the door by the device shown in FIG. The present invention is not limited to the embodiment shown in the drawings.

In FIG. 1, an automobile body B is conveyed to the vicinity of the robot 1 by a conveyor C in a state where a door D is almost closed (however, in the figure, the door D is opened).

The robot 1 is a multifunctional articulated robot that performs an opening / closing operation on the vehicle door D, detects an obstacle, and paints the vehicle body B.

On the wrist of the robot 1, as shown in detail in FIG.
A coating spray 2 (painting work tool), a sensor 3 for door detection (door detection sensor), and a door opening / closing claw 4 (door opening / closing jig) are attached.

The control of the robot 1 and the like is performed by the control device 5 having a microcomputer as a center.

The operator can teach the control device 5 via the control panel 6 working conditions for opening / closing the door D, detecting an obstacle, and painting.

The sensor 3 is an optical sensor that detects the position of the door D by capturing the reflection of light from the upper end surface of the door D. That is, as shown in FIG. 3, when the sensor 3 is approached from a position where the door D may not exist to a position where the door D may exist (movement in the direction of arrow α in FIG. 3), the sensor 3 throws the sensor. If the reflection of the emitted light 1 is not detected, it is detected that the sensor 3 has not reached the door D yet. Next, as shown in FIG. 4, if the reflection of light on the upper end surface U ₁ of the door D is detected at a position where the door D may exist, it is detected that the door D exists. Next, as shown in FIG. 5, if the reflected light is no longer detected after detecting the upper end surface U ₁ of the door D, it is determined that the glass groove portion G of the door D has been detected. Further, if the sensor 3 detects the reflected light again through the movement in the α direction shown in FIG. 5, it means that the upper end surface U ₂ of the automobile door D is detected.

Instead of the above-mentioned optical sensor, a contact sensor having a probe or a magnetic sensor utilizing the fact that the automobile door D is made of metal can be used.

By the way, the coating apparatus shown in FIG. 1 performs the work of opening the automobile door D as a preparatory work before the painting of the inside of the automobile body B, which is the main work, and causes an obstacle in the work of opening the automobile door D. Functions as an object detection device. Therefore, with reference to FIGS. 6 to 9, an outline of the work for opening the automobile door D and an operation for detecting an obstacle will be described.

When opening the door D, the operator teaches the control device 5 through the control panel 6 the positions of the points P _{1 to} P ₈ as shown in FIGS. 8 and 9. That is, when the door opening / closing claw 4 is inserted into the glass groove portion G of the door D at the standby position P ₁ before the door opening operation, the sensing start position P ₂ , the sensing end position P _3, and the sensing end position P _3. To the position P ₄ where the tip of the toe opening / closing claw 4 reaches when the insertion is completed, and the door D
An intermediate position P ₅ of the arcuate locus for opening the door, a position P ₆ for completing the opening of the door D, a position P ₇ for completing the withdrawal of the door opening / closing claw 4 (end position of the door opening operation), Teach the standby position P ₈ before the door painting is started by the door opening operation.

The teaching may be performed by directly moving the wrist of the robot 1 manually.

Here, the sensing start position P ₂ is the position closest to the robot 1 in which the door D may be located first in the car body B conveyed by the conveyor C. Also,
The sensing end position P ₃ is the position farthest from the robot 1.

When the teaching is finished and the operator gives an instruction to start the door opening operation, the control device 5 drives the robot 1 to perform the operation as shown in the flowchart of FIG.

First, the robot wrist is moved from the standby position P ₁ to the sensing start position P ₂ while performing interpolation calculation (S1).

Upon reaching the sensing start position P _2, while monitoring the signal from the sensor 3, moves between the sensing start position P ₂ to a sensing end position P ₃ in accordance with the interpolation calculation (S
2).

When the state of FIGS. 3 to 5 is detected by the input signal from the sensor 3 during this movement and the glass groove portion G is detected (S3), the movement of the robot wrist portion is interrupted and its position is changed.
Calculate the distance from P ₃ ′ to the sensing end position P ₃ and calculate the position P ₄ ′ by shifting the teaching position P ₄ by that distance,
Drive the wrist to control the posture of the door opening / closing claw 4,
The door opening / closing pawl 4 is inserted from P ₃ ′ to the position P ₄ ′ according to the interpolation calculation (S4).

Since the door opening / closing claw 4 is inserted into the glass groove portion G after the position of the door D is confirmed by the sensor 3, the door opening / closing claw 4 can be preferably inserted even when the position of the door D is slightly displaced.

When the insertion completion position P ₄ ′ is reached, position P ₄ ′ and teaching position P ₅ ′
To move the robot wrist according to the arc interpolation operation connecting the teaching Christian示置P ₆ and (S5). As a result, the door D is opened in an arc shape.

When the door opening completion position P ₆ is reached, it moves to the teaching position P ₇ and ends the door opening operation of pulling out the door opening / closing claw 4 from the glass groove portion G, and then from the pulling completion position P ₇ to the next standby position P _7. Move toward ₈ while detecting obstacles (S
7).

In the obstacle detection process, as shown in FIG. 7, the movement starts from the pull-out completion position P ₇ toward the standby position P ₈ (S1
2).

Then, the fifth figure by an input signal from the sensor 3 between the movement of the third view state is detected (S13), then, if arrived at the standby position P ₈ (S14), withdrawal completion position P
It is confirmed that there is a door between ₇ and the standby position P _8, and the door D'in such a completely opened position does not become an obstacle, so it is used as a signal to permit the painting work which is the main work. An "open normal signal" is output (S15).

On the other hand, if the sensor 3 reaches the standby position P ₈ without detecting the states shown in FIGS. 5 to 3 (S16), it is detected that the door D is not in the completely opened position, and therefore the door D May be an obstacle to the painting work, and an "open abnormality signal" is output as a signal to disallow painting work (S1
7).

After that, the coating work is started or stopped according to the permission signal or the non-permission signal.

After the painting work is completed, the operation for closing the door D ′ which is in the open state is as shown in FIG. 10, teaching point P ₁ to teaching point P ₈
Is the reverse of the case of FIG. That is, the door D ′ is detected between the teaching points P ₂ and P ₃ shown in FIG. 10, the door opening / closing claw 4 is inserted thereinto, the door is closed, and the door opening / closing claw 4 is opened from the closed position P _6. Is returned to the standby position P ₈ from the pulled-out position P ₇ (end position of the door closing operation), and the door D is detected while the door D is detected while returning from the pulled-out position P ₇ to the standby position P _8. Make sure it is in the fully closed position. If this confirmation can be made, it will not become an obstacle for the next work, so a work permission signal will be output.If this confirmation is not made, the door will not be in the closed position, so there is a risk of becoming an obstacle for the next work. Outputs a disapproval signal.

As can be understood from the above description, the sensor 3 is the robot 1
Since the vehicle itself is positively moved by, the position of the automobile door D can be flexibly followed and detected even when the position changes due to movement. Also, the sensor 3
Since the robot retreats when the arm of the robot 1 retreats, there is no problem that the sensor itself has to find an installation place where it does not become an obstacle.

In the above embodiment, the automobile door is detected to be “at a position that does not become an obstacle”, but conversely, it may be made to detect that the automobile door is “not to be an obstacle position”. Good. In this case, for example, in FIG.
After performing the operation of opening the door, sensing between P ₂ and P ₃ is performed again to confirm that the door D cannot be detected.

[Advantages of the Invention] According to the present invention, a manipulator equipped with a coating work tool, a door opening / closing jig, and an arm provided with a door detection sensor at its tip, the arm being operated along a pre-teached path, and The manipulator control means for controlling the opening / closing operation of the door by the door opening / closing jig and the painting work by the painting work tool, and the locus by the manipulator control means with respect to the door detected by the door detection sensor. After opening the door opening and closing jig and before painting the car with the painting tool,
And, after the completion of coating, including the locus of the operation of the arm that causes the door detection sensor to detect the position of the door after closing the door opening / closing jig for the door detected by the door detection sensor, A judgment means for judging whether or not the door becomes an obstacle in the painting work or the next work according to the output state from the door detection sensor that has detected the position of the door, and the start of the painting work based on the judgment result of the above-mentioned judgment means There is provided a coating device characterized in that it is provided with an output means for outputting a signal of either a permission or non-permission signal of, or a permission or non-permission signal of the next work. Can be positively moved to detect obstacles within a predetermined area on the locus of the arm, so even when the position of the door, which can be an obstacle, changes It will be able to perform the detection, also, because the door sensor itself can be retracted so as not to obstacle is easy to implement even when large spatial limitation. Then, for example, when the presence of a door as an obstacle is detected in a predetermined area, it is possible to prevent the subsequent painting work or the next work following this painting work from being automatically started. It is possible to avoid accidental damage in

Further, since the sensor used for detecting such an obstacle is used for detecting the door at the time of opening / closing the door, it is efficient in terms of configuration.

[Brief description of drawings]

FIG. 1 is a schematic external view of a coating apparatus according to an embodiment of the present invention, FIG. 2 is an enlarged external view of a wrist portion of a robot of the apparatus shown in FIG. 1, and FIG. FIG. 4 is a schematic diagram of a state in which a sensor detects the upper end surface of an automobile door, FIG. 5 is a schematic diagram of a state in which a glass groove portion of an automobile door is detected by a sensor, and FIG. 1 is a flowchart of the main part of the door opening operation by the device shown in FIG.
FIG. 7 is a flowchart of the main part of the obstacle detection operation by the device shown in FIG. 1, FIG. 8 is a schematic perspective view for explaining the operation of opening the door by the device shown in FIG. 1, and FIG. FIG. 8 is a schematic side view taken along the arrow A in FIG. 8, FIG. 10 is a view corresponding to FIG. 9 in the operation of closing the door by the device shown in FIG. 1, and FIG. 11 is an external view of a conventional vehicle door detection device. . (Explanation of symbols) 1 ... Robot 2 ... Spray for painting (painting work tool) 3 ... Sensor (door detection sensor) 4 ... Door opening / closing claw (door opening / closing jig) 5 ... Control device B ... Automotive body C ... Conveyor D ... car door l ... light

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-60-64288 (JP, A) JP-A-59-152096 (JP, A) JP-A-58-77472 (JP, A) Actual development Sho-59- 163493 (JP, U)

Claims (4)

[Scope of utility model registration request] 1. A manipulator having a coating work tool, a door opening / closing jig, and an arm having a door detection sensor at its tip, a door operated by the door opening / closing jig while operating the arm along a pre-taught path. The manipulator control means for controlling the opening / closing operation of the robot and the painting work by the painting work tool respectively, and the trajectory by the manipulator control means is opened in the door opening / closing jig for the door detected by the door detection sensor. After the operation, before painting the car with the painting tool, and after the completion of painting and after closing the door opening / closing jig for the door detected by the door detection sensor, A door detection sensor that detects the door position, including the locus of the arm movement that causes the door position to be detected by the door detection sensor. Judgment means for judging whether or not the door becomes an obstacle in the painting work or the next work according to the output state of, and the permission or non-permission signal for starting the painting work based on the judgment result of the above judgment means, or A coating apparatus comprising output means for outputting a signal indicating whether the work is permitted or not. 2. The coating apparatus according to claim 1, wherein the manipulator is an articulated robot. 3. The coating apparatus according to claim 1 or 2, wherein the door detection sensor is a reflection type optical sensor. 4. The coating apparatus according to claim 1, 2, or 3, wherein the manipulator control means, the determination means, and the output means are microcomputer circuits.