JPS60222163A - Color changing system of painting robot - Google Patents

Abstract

PURPOSE:To automate the color changing operation and to paint surely by directing a robot body to a waste liquid recovery device, and washing a painting machine when color change is demanded and the completion of the painting of the painting machine is discriminated. CONSTITUTION:The completion of color change is discriminated by a painting signal 21 for a color changing demand signal 22, a robot body is moved from a painting attitude to a color changing attitude when the color change is finished, and a painting machine is directed into a waste liquid recovery device. Then when the signal 23 of the completion of the color changing attitude is outputted, a color changing valve device is operated at a step 5, and the painting machine and paint supply hoses are washed. The color changing operation is automated and carried out in a short time in this way, and the painting is efficiently carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a color changing system for a painting robot that applies a coating to an object while sequentially changing the colors of a plurality of paints.

In general, a painting robot that sprays different paint colors on objects to be coated as they are sent along one conveyor line while sequentially changing the color, has a robot body and an opening provided on the robot body, and For painting, there is a paint machine that sprays paint, and when painting, a designated paint from among multiple paints is supplied to the #paint machine.
It is equipped with a color change valve device that supplies cleaning fluid to the spray paint machine when changing colors, and the robot body makes a play pack operation based on a pre-taught operation according to the shape of the object to be painted.
Color change valve device sprays paint of a preset paint color, and when changing the paint color, the color change valve device cleans the paint machine and sprays the next color of paint.

By the way, the object to be painted is a car, and for this purpose, a painting port is installed on the painting conveyor line, and the cars that are sent one after another on the vertical conveyor line are painted. When rubbing, there is a problem in that the timing of color change work is very difficult. That is, the robot main body can be operated according to a pre-taught program, and the color change valve device can be opened or closed at preset time intervals to open or close the paint valve currently being painted.

However, the timing of opening the larger air valve and thinner valve for cleaning when changing colors must be done after the spraying of paint from the paint sprayer has finished and the robot body has completely stopped.

For this reason, the conventional technology has workers waiting on the conveyor line, and when the car is being painted, the robot measures the size and shape of the vehicle, the movement of the robot body, and the spraying condition of the paint from the paint machine. In addition to stopping the conveyor line, the main body was also stopped. However, the above-mentioned conventional technology requires a supervisory worker to determine when to start the color change work, and the conveyor line must be stopped each time the color change work is performed, which reduces work efficiency. It had some disadvantages.

The present invention was made in view of the drawbacks of the prior art mentioned above, and it is possible to automatically change colors without stopping the color pair line between the robot body and the coating machine or without stopping the robot body. The purpose of the present invention is to provide a method for changing the color of a logette for painting.

In order to achieve this object, the present invention includes a coating robot body, a coating machine having an opening provided in the robot body and spraying paint onto an object to be coated, and a coating machine that sprays a plurality of paints at the time of painting. Among these, there is a color change valve device that supplies a predetermined paint and supplies cleaning fluid to the coating machine when changing the color, and a coating position that collects waste liquid discharged from the core coating machine when changing the color of the coating machine and cleaning it. It is equipped with waste liquid recovery devices installed at different positions, and a control device for controlling the robot main body and color change valve device, and the control device is configured to control when a color change request is made and the coating machine finishes painting. When it is determined that the robot body is in the color changing position, the robot main body is placed in a color changing position toward the waste liquid collecting device, and the color changing valve device is operated in the color changing position to clean the coating machine.

Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

First, FIGS. 1 to 3 show a robot main body, and the robot main body 1 includes a base 2, a turntable 3 mounted on the base 2 so as to be rotatable on a horizontal plane, and a turntable 3 on the turntable 3. The arm 5 is rotatably provided at the upper end of the support 4, and the wrist 6 is provided at the tip of the arm 5. A coating machine 7 is attached to the tip of the wrist 6 for spraying paint onto the object to be coated.

On the other hand, another main column 8 is rotatably mounted on the turntable 3, another arm 9 is rotatably provided at the upper end of the main column 8, and the tip of the arm 9 is connected to a connecting member lO. It is attached to the arm 5 via the main body 1, and operates in accordance with the main body 1. A color change valve device 11 is attached to the upper surface of the arm 9. here,
The color change valve device 11 is composed of paint valves for colors A, B, . . . N, a thinner valve for supplying thinner for cleaning, and an air valve for purging paint and thinner. Connected as a valve.

Further, the color change valve 11 and the coating machine 7 are connected via one paint supply hose 12, and the color change valve device 1.1 is connected to the paint source, thinner source, and air source for each paint color. (not shown) during paint supply? These paint supply pipes 13 are connected to each other via a group of pipes 13, and the paint supply pipes 13 are guided to a guide tube 14 together with other hydraulic pipes for operating the robot body 1.
It is led out of the robot body 1.

Furthermore, a waste liquid recovery device 1 for collecting waste liquid discharged from the coating machine 7 during color change cleaning is provided on the side of the main body l.
5 are arranged. Here, the waste liquid recovery device 15 is the fifth
As shown in the figure, it is located on the side of the robot main body l away from the conveyor line 18, and when the arm 5 is rotated approximately 90 degrees from the attitude when it is being sprayed, it is in a position where the coating machine 7 faces it. There is.

Next, FIG. 4 shows a control system diagram of the robot body 1 and the coating machine 7. In this embodiment, there are three conveyor lines, and each line is provided with the robot body 1 and the coating machine 7. show. In the figure, 16 is a main control device, 17.17.
17 is a sub-control device that operates under the control of the main control device 16, and each side control device 17 operates according to a predetermined program.

The main body 1 and the color change valve device 11 are operated to perform painting work, color change work, etc.

At this time, the sub-control device 17 is controlled to start up, request color change, etc. based on commands from the main control device 16, and during painting work, the main body 1 The play bar.

At the same time, it also controls the opening and closing of the current color paint valve selected from among the paint valves. Also, during color change work, the robot body 1 is placed in a color change posture, and the number of thinner valves and air valves is controlled according to a predetermined color change program. It has a function that controls the opening and closing of the valve over multiple times and returns it to the standby position after the color change is completed.

In addition, Figure 5 is an explanatory diagram of the operation during color change work, and 1 in the figure
Reference numeral 8 indicates a conveyor line, and reference numeral 19 indicates an object to be coated conveyed by the conveyor line 18. In addition, conveyor line 1
Instead of B, a reciprocating work transfer device may be used. In Figure WJ5, ft) indicates the painting state, ←) indicates the color change work state, and f) indicates the standby state.

The present embodiment is constructed as described above, and its operation will now be described with reference to the flowchart of FIG. 6 and the time chart of FIG. 7.

First, step 1 is from the main controller 16 to the sub controller [17].
This is a waiting loop until the color change request signal 22 is output. Then, when the color change request signal 22 is output in step 1, the sub-control device 17 determines whether or not painting is in progress in the next step 2.In other words, the sub-control device 17 outputs the painting signal 21. If not, it is determined that painting work is not in progress, and the process moves to the next step, step 3. On the other hand, with the color change request signal 22 being input from the main controller 16, the sub controller 1
According to 7, if the robot main body l or the color change valve device 11 is in playpack operation, a painting signal is output as shown by the dotted line portion 21' in FIG. is stored in memory, and when the end mark is output from the program during painting, the process moves to the next step 3.

In step 7''2, the timing is whether or not the painting signal 21 has finished in response to the color change request signal 22.
The main controller 16 outputs a unique color change request signal 22 based on the conveyor speed;
The program has some advantages and disadvantages depending on the length and size of the target object 19, etc., and the color change request signal 22 is faster than the painting signal 21, as shown by the dashed line 21' in FIG. Sometimes it happens. Therefore, in step 2, it is determined whether or not painting is in progress, and after the painting work on the object 19 is completed, the color changing work begins.

Next, in step f3, the color change program from the sub-control device 17 is applied to the main body 11 in the painting position (Fig. 5 0).
The coating machine 7 is moved from the state shown in FIG. When the color change attitude is completed, a color change attitude completion signal 23 is output from the sub-control device 17 based on the soft timer. Therefore, 1° in FIG. 7 is the color change attitude execution period.

Next, when the color change attitude completion signal 23 is output, the color change valve device 11 is operated by the Stella f5 based on a predetermined cleaning program, and the paint sprayer 7, paint supply hose 12, etc. are cleaned. In this cleaning operation, air is supplied from the air valve that constitutes the color change valve device 11 to purge the previous color paint in the beverage supply hose 12 and the coating machine 7, and then thinner is supplied from the thinner valve to clean the insides of these.・Wash and then supply air from the air valve to inject the thinner. After repeating this process several times, the next color paint valve is operated to fill the paint supply hose 12 and the coating machine 7 with the next color paint. At this time, waste fluids such as pre-color paint and kuna discharged from the coating machine 7 are collected in the waste fluid recovery device 15, so that the interior of the painting booth etc. is not contaminated.

Next, when the color change according to the cleaning program is completed by K as described above, the color change completion signal 24 is outputted from the sub-control device 17, and the color change is completed (see step 6). Therefore, 1 in FIG. is the cleaning execution period.

Furthermore, when the color change completion signal 24 is output, the color change program from the sub-control device 17 moves the main body l to the standby position (the state shown in Fig. 5 f), and the sales color change program starts. Based on the end mark, a standby position return signal 25 is output, and the standby position return is completed (step 7). Therefore, 1° in FIG. 7 is the standby posture execution period.

The present embodiment has been described in detail above, and although the control device in the embodiment has been described as consisting of the main control device 16 and the sub-control device 17, the control device may be of any type. , may be configured as a single control device.

Furthermore, in the embodiment, the color change request signal 22 has been described as being output from the main controller 16, but this is due to centralized control of the conveyor line, and this signal may also be output from the sub controller 17. When performing painting work while changing the color for each automobile object to be painted, a switch I, which is caused by an operator pressing a switch or the like, may be used as a color change request signal.

On the other hand, in the embodiment, the color change valve device 11 was described as being installed in the arm 9 with a mouth adjacent to the cutter main body l, but this is intended to shorten the length of the paint supply hose 12 as much as possible and reduce the cleaning time. The color change valve device 11 is intended to shorten the time and reduce the amount of the previous color paint discharged during color change, and the color change valve device 11 can be provided at an appropriate position.

Furthermore, in the embodiment, the color change attitude completion signal 23, the standby position return signal 25, etc. have been described as being output in connection with the program in the sub-control device 17, but there are limits to the turntable 3 of the main body 1. It may also be configured to output by providing a switch or the like.

Furthermore, although it has been described that sinker and air are used as the cleaning fluid, in a cleaning method that performs P color change by pushing out the previous color with the next color paint, the next color paint also serves as the cleaning fluid. become.

The color changing method for coating opening cut according to the present invention is as described above in detail, and since the color changing work can be automated, there is no need to stop the conveyor line, the roller, and the main body, and the color changing method is as described in detail above. Work time can be shortened and painting work can be performed efficiently. Further, even if a color change request is made, the color change operation will not be started unless the ongoing painting operation is completed, so that there is no risk of degrading the painting quality, and reliable painting can be performed.

[Brief explanation of the drawing]

Fig. 1 is a front view of the robot body used in the present invention, Fig. 2 is a plan view of Fig. 1, Fig. 3 is a right side view of Fig. 1, Fig. 4 is a control system diagram, Fig. 5 is a color Figure 5 (ft) is a diagram of the painting state, Figure 5 (b) is a diagram of the color change state, Figure 5 f3 is a diagram of the standby state, and Figure 6 is a diagram of the operation during the color change work. A flowchart showing the processing, and FIG. 8 is a time chart showing the operation timing. l... Port is G main body, 7... Painter, ll... Color change valve device, 15... Waste liquid recovery device, 16... Main control device, 17... Sub control device. Patent applicant: Tokico Co., Ltd. Agent: Patent attorney: Kazuhiko Hirose Naoki Nakamura

Claims (1)

[Claims] A coating port is provided on the robot body and the robot body, and a coating machine that sprays the paint onto the object to be coated, and a paint sprayer that supplies the specified paint from among multiple paints to the paint sprayer during painting, and performs color change. A color change valve device that sometimes supplies cleaning fluid to the paint sprayer, and a color change valve device that collects waste liquid discharged from the paint sprayer when changing colors of the paint sprayer? It is equipped with a waste liquid recovery device installed at a different position from the PA painting position, and a control device for controlling the robot body and the color change valve device. When it is determined that painting has been completed, the robot body is placed in a color change position toward the waste liquid recovery device, and the color change valve device is operated in the color change position to clean the coating machine. A color change method with a paint opening.