JPH11165121A - Coating method by coating robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent coating unevenness, and prevent a driving part from being overloaded even in the case of high speed coating when coating is carried out by moving a coating gun attached to the tip end part of a robot main body in a prescribed direction. SOLUTION: This coating robot 1 is manufactured by installing a robot main body comprising a plurality of continuously installed arm bodies 14, 15 in a running stand 12 so set as to run in the horizontal direction and attaching a coating gun 16 at the tip of the swinging arm body 15 of the main body. In the case an object face 3a is coated from the upper side to the lower side, at first the running stand 12 is moved in the direction of parting far from the object face 3a and at the time when the speed of the stand 12 reaches a first speed, coating is started from the upper side to the lower side of the object face while accelerating force in the reverse direction to the direction of moving the stand being applied to the running stand 12 and then when the running stand 12 is moved in the direction of approaching close to the object face 3a and the speed of the stand 12 reaches a second speed, coating is finished.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting method for a painting robot.

[0002]

2. Description of the Related Art In general, a painting robot is used for painting the surface of a vertical rib of, for example, an I-beam in a large structure.

Conventionally, as shown in FIG. 4, a coating robot 51 includes a support table 52 disposed at a predetermined location, and a revolving body 53 disposed on the support table 52 so as to be rotatable around a vertical axis. The first and second arm members 5 are provided on the revolving body 53 so as to be swingable in a vertical plane.
4, 55, and a coating gun 56, which is a coating portion provided at the tip of the second arm body 55 so as to be rotatable in three axial directions.

When the surface (side surface) of, for example, a vertical member 61 provided in the vertical direction is to be painted by the painting robot 51, the swing support portion of the first arm body 54 is used as a reference.
Painting is performed while moving the painting gun 56 from above (or below) to below (or above). When the coating gun 56 moves, the middle part except the upper part and the lower part is a constant velocity part that moves at a constant velocity, but the upper part and the lower part are the acceleration part and the constant velocity part up to the constant velocity part. It was a reduction gear.

[0005]

As described above, when the coating gun 56 is to be moved at a constant speed with respect to the swing support portion of the first arm 54, the swing support portion is centered. In the predetermined range, it can be moved at a constant speed, but the upper and lower parts are an acceleration part and a deceleration part. Yes,
Further, when the coating is performed at a high speed, the speed change in the acceleration / deceleration unit becomes very large, and there is a possibility that the driving unit is damaged.

Therefore, the present invention can prevent uneven coating when performing coating by moving a coating portion attached to the other end of an arm body whose one end is swingably supported in a predetermined direction. It is an object of the present invention to provide a coating method in a coating robot in which a large load does not act on a driving unit even when coating is performed at a high speed.

[0007]

In order to solve the above-mentioned problems, a coating method of a coating robot according to the present invention comprises a plurality of arm members connected to a traveling table provided so as to be freely movable in a horizontal direction. A method in which a coating surface is applied from one side to the other side by a coating robot in which a coating portion is attached to an arm body at the distal end of the robot body.First, the traveling platform is separated from the coating surface. The painting is started from the time when the vehicle reaches the predetermined first speed by running, and the painting surface is painted from one side to the other while applying acceleration to the traveling platform in a direction opposite to the traveling direction, and then traveling. This is a method in which the painting is terminated when the base travels in a direction approaching the painting surface and reaches a predetermined second speed.

According to the above-mentioned coating method, at the start of coating and at the end of coating, the traveling platform, that is, the coating robot has the necessary speed for coating, so that the end of the coated surface can be coated evenly. At the same time, when performing coating at a high speed, a rapid change in speed can be avoided.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A coating method in a coating robot according to an embodiment of the present invention will be described below with reference to FIGS.

First, a schematic configuration of a coating robot used in the coating method according to the present invention will be described with reference to FIG. The painting robot 1 is a robot that performs high-speed painting of a large structural member, for example, a surface (side surface) 3a of a vertical reinforcing plate 3 of an I-shaped girder 2 in a vertical direction, and is disposed along a predetermined direction. A traveling platform 12 that can travel on a pair of guide rails 11, a swinging body 13 provided on a supporting portion 12a of the traveling platform 12 so as to swing around a horizontal axis, and a swinging shaft attached to the swinging body 13. A swing arm body 14 provided rotatably about an axis perpendicular to the center of the arm, a swing arm body 15 provided rotatably and swingably at the tip of the swing arm body 14, and a swing arm A coating gun (painting portion) 16 is attached to the body 15 so as to be rotatable around its longitudinal axis. The swing body 13, the swing arm body 14, and the swing arm body 15 constitute a robot body.

In the coating robot 1, the following control is performed so that the surface (hereinafter, referred to as a coating surface) 3a of the vertical reinforcing plate 3 can be coated vertically and at high speed.

The control principle of the coating robot 1 is that, in the upper and lower portions of the coating surface 3a where the swing motion of the coating gun 16 is large (acceleration / deceleration section), no uneven coating is generated and the driving unit is large. In order to perform the coating at a high speed without applying a load, a predetermined speed is given to the coating robot 1, that is, the traveling platform 12 at the start of the coating and at the end of the coating.

Hereinafter, control of the operation of the coating robot 1 (travel of the traveling platform 12) will be described with reference to FIGS. FIG. 2 shows the position of the painting robot, and FIG. 3 is a graph showing the acceleration applied to the painting robot (carriage).

[0014] First, first, as shown in FIG. 2 from (a) (b), allowed to move the painting robot 1 in a standby position separated by a predetermined distance L ₁ from the coated surface 3a. next,
As shown in (b) to (c), the painting robot 1 is caused to travel in a direction away from the painting surface 3a at a constant acceleration (indicated by A in FIG. 3). When the coating robot 1 reaches a predetermined speed [first speed (indicated by point B in FIG. 3)],
Painting starts.

The speed of the painting robot 1 at this time is
When the coating gun 16 sprays paint while swinging downward from above, the coating gun 16 is set at such a speed that no coating unevenness occurs.
The distance L ₂ from “a” is set to a predetermined value, and the distance L ₂ is controlled to reach the first speed when the painting robot 1 reaches the position.

Next, after the painting robot 1 starts painting, a predetermined acceleration (indicated by C in FIG. 3) in a direction opposite to the acceleration applied when traveling from the above (b) to (c) is applied. Acted on.

That is, as shown in FIGS. 2C to 2E, the painting robot 1 travels (moves) while drawing a quadratic curve and performs painting over the entire painted surface 3a.
When a predetermined speed [second speed (indicated by point D in FIG. 3)] in the reverse direction is reached, the painting operation is stopped. Also at this coating end position, the speed is set such that no coating unevenness occurs during the swinging operation of the lower deceleration unit. More specifically, the coating end position is the same as the coating start position ( It is from painted surfaces L distance _2), but can also be at a position shifted from each other.

Finally, (e) to (f) of FIG.
As shown in FIG. 3, the vehicle is further accelerated in the opposite direction and stopped at the standby position (indicated by E in FIG. 3). Thereafter, as shown by the broken line in FIG. This upward coating operation is performed by the reverse control (procedure). The upper or lower coating operation is performed at a high speed.
Milliseconds. The upper and lower coating operations are continuously repeated.

As described above, since the coating robot 1 has already reached the predetermined running speed (moving speed) at the time of starting and at the end of coating, the upper and lower portions of the coating surface 3a can be uniformly coated. It is possible to avoid a sudden change in the movement of the painting robot when performing painting at a high speed, and it is possible to prevent an unreasonable load from being applied to the drive unit, thereby preventing damage to the drive unit. .

In the above embodiment, the case where the painted surface in the vertical direction is painted has been described. However, the present invention can also be applied to the case where the painted surface in the horizontal direction is painted.

[0021]

As described above, according to the coating method of the present invention, since the coating robot has a predetermined traveling speed at the time of starting and at the end of coating, it is possible to coat the end of the coated surface evenly. When painting at high speed, it is possible to avoid a sudden change in the movement of the painting robot, so that an unreasonable load is not applied to the drive unit, thereby preventing damage to the drive unit. it can.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a painting robot according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a painting operation in the painting robot.

FIG. 3 is a graph showing acceleration during a painting operation in the painting robot.

FIG. 4 is a schematic side view of a conventional painting robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Painting robot 2 Girder material 3 Vertical reinforcing plate 3a Surface (painted surface) 12 Traveling stand 14 Revolving arm body 15 Swing arm body 16 Painting gun

Claims (1)

[Claims] 1. A coating robot comprising: a coating unit attached to a leading end arm of a robot main body having a plurality of arm bodies connected to a traveling platform provided to be able to travel in a horizontal direction. This is a method of performing painting from one side to the other side of the painted surface.First, the traveling platform is moved in a direction away from the painted surface to start painting when a predetermined first speed is reached. The coating is performed from one side to the other while applying acceleration in a direction opposite to the traveling direction, and then when the traveling platform travels in a direction approaching the painted surface and reaches a predetermined second speed. A painting method for a painting robot, wherein the painting is completed.