JPS6051565A - Automatic painting method and apparatus using robot - Google Patents

Abstract

PURPOSE:To make it possible to easily set an emitting amount in synchronous relation to the operation of a robot, in the robot for controlling the emitting amount of a paint, by enabling the manipulation of the robot while looking the operation locus thereof, and displaying the count value of a synchronous pulse by the manipulation thereof. CONSTITUTION:The approximate operation of a painting robot 1 is taught to fabricate a robot operation program P1. In the next step, the robot 1 is allowed to operate and a timing apparatus 12 is operated at an appropriate place while the operation thereof is looked. In this case, because an integration pulse C is displayed by a display apparatus 14, it is grasped as the integration pulse C at the operation region thereof. In the next step, an emitting amount to be considered adequate is allotted at every operation region and set by a control part 5 as an emitting amount manipulation program P2. Subsequently, the robot 1 is operated according to the programs P1, P2 and, after a region, where dripping or lack of hiding of a paint is generated, is ascertained, the quantity Qn allotted to the section of an integration pulse number corresponding to said region is corrected. Painting is again performed to ascertain a bad condition and, if there is the bad condition, the amount Qn is again corrected and, thereafter, similar work is repeated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic painting method using a robot and an apparatus therefor.

Conventionally, in the detting work of playback-type painting robots, the robot's general movements are first roughly deiced, and then the workpiece is actually painted using the PIIJ paint, and areas where problems such as sagging and sagging are painted. ji+iJ orbit 0 and 2 works! The method used is to correct the 0 degree.

However, the robot normally has six operating axes, and in order to correct its operating trajectory, variables for these six axes must be corrected, which poses a problem in that a large amount of correction time is required.

Therefore, in order to solve this problem, Nagisa et al. of the unexploded uFJ proposed a technology to control the amount of paint discharged. Specifically, this is done by counting digital pulse train signals whose frequency changes according to the ND operation speed of one robot, which is emitted by the robot's control device, from the point at which the robot starts operating, and then calculating the product η, the count K( The robot's current position (painting area) is grasped at the robot's current position (painting area), and the amount of paint discharged from the predetermined painting area (4) is calculated based on this information.

However, although this method requires only one correction variable and is extremely easy to correct, there is a problem in that it is difficult for correction workers to record the timing of changes in the amount of paint dispensed in correspondence with the parts to be painted. Therefore, in view of the above, the purpose of Kinei Iy is to provide an automatic painting method using a robot and its equipment, which can extremely easily set or change the amount of paint discharged in synchronization with the movement of the robot. It is something to do.

In order to achieve the above object, in the present invention, the 1a information for continuously changing the amount of paint discharged is made to correspond to the count value of synchronization pulses whose frequency changes in relation to the operating speed of the robot. Action battle! The information is stored independently and in a correctable state, and when the robot is in playback mode, the previous 1ejf memory information is synchronized with the robot's synchronization pulse.
1 and output to the d column.

In an in-house μII painting apparatus using a robot designed to correct defects such as dripping and sagging by correcting the stored information, an operation section is provided that can be operated while visually observing the manufacturing trajectory of the robot. In addition, by operating this operating section, the count value of synchronizing pulses at the time of the operation is displayed on a display or the like.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

First, in FIG. 1, reference numeral 1 indicates a painting robot, and a painting gun 6 for spraying paint onto an object to be painted is provided at the tip of an arm 1a of this robot.

Reference numeral 2 denotes a robot control device that performs feedback control of the painting robot 1 via a signal line 7.

The robot control circuit 2 is configured to generate a digital pulse train signal (hereinafter referred to as a synchronization signal) having a frequency proportional to the reproduction speed of stored information (robot operation speed). This digital pulse train signal, which is used as an internal signal by the robot control device 2, is extracted and used via a not-shown circuit 10.

Next, 4 is a discharge amount control device, which is a control section 5,
The operating section 6 and the count recognition circuit 11 are also included. First, the control section 5 will be explained. It includes a memory 5a, a processing device 5b, a color/receiver 5C1 output device f15
Built-in tl and data input path jq5e. In the memory 5a, the discharge faQn corresponding to the number a of the synchronizing signal 8 can be set in advance by the data input correction device 5θ. Regarding the count value Cn and the discharge Ht, Qn set in the memory 5a, the count icn is set in the counter 5C during regeneration operation. The counter 5C counts the number of pulses of the synchronizing signal 8, and when the count value matches the number of colors cn, it issues a coincidence signal to the processing device 5b. Based on this coincidence, the processing device 5b reads the discharge amounts Q and n from the memory 5a and sets them in the output device 5d, reads the count value 0n-1+ of the next address, and sets the counter 5C to i9on+1. It looks like this. Incidentally, until the count value of the counter 5C matches the count number On+1, the output device 5d outputs the discharge amount qn set thereto to the operating section B.

Next, the operating section 6 will be described. It includes an electro-pneumatic converter 6a, a near compressor 6b, an air overrate regulator 6C, and a paint supply device 6d.

The air compressor 6a is for converting the signals of the coating ji<', Q, and n from the output device>1.5d into air pressure signals, and the air compressor 6b is an electro-pneumatic converter. 6
This is to supply air at a constant pressure to a. The air pressure signal is supplied to the air operate regulator 6c, and this air pressure signal causes the air operate regulator 6C to control the flow rate of the paint in the air hose 9 (
It is designed to be able to produce a liquid (discharge). In addition,
A paint supply device 6d is attached to the air operated regulator 6c.
Paint is supplied at a more constant pressure.

Next, the count recognition circuit 11 will be explained.

As shown in FIG. 2, the count recognition circuit 11 with
81B, gate circuits 20, 21, memory 22 and product line.

The circuit 26 is the main component. first.

The timing device 12 consists of a handle 12a that can be held with one hand, a trigger 16 that is swingably supported by the handle, and an H,
It consists of a microswitch 15 that generates a binary timing signal of L, and a spring 8 that attaches the trigger 16 forward. This timing signal is also connected to the state change detection circuit 18 by a flexible cord 17. has been done. Therefore, the operator can freely move the timing device '12 while holding it. The state change detection circuit 18 is triggered by the trigger 16
It is for detecting whether the microswitch 15 is pulled or returned, and is configured to output a timing pulse when the timing signal from the microswitch 15 changes from H to L or from L to H. Note that the timing pulse from this state change detection circuit 18 is input to gate circuits 20 and 21, respectively.

Next, the integration circuit 26 is used to count the synchronization (Li number 8), and this count value is calculated by the gate circuit 2.
1 to the storage circuit 22. Note that the timing signal from the microswitch sw is also input to the memory circuit 22 via the gate circuit [20].

This is for adjusting the forward bending timing signal and the number of settlement pulses, which are inputted through the memory circuit 22 and gate circuits 20 and 21, by -2. It's been done. The gates of the gate circuits 20 and 211 are opened by a timing pulse from the state change detection circuit 18, and the value when the gates are opened is stored in the memory circuit 221Ctq12.

This storage format stores the timing signals from the gate circuit 2o as s and 7j? Assuming that the number of pulses to be calculated is C, these are negative as a pair;
i+G is stored in the address. For example, if the trigger 16 is pulled when the arm 1a of the experimental robot 1 reaches a certain position, a binary value indicating the state of the trigger at that time, that is, whether the trigger 16 is pulled or G-suspended. If SL (this), -) can be warm, the time when the trigger is pulled is 1.
, 1!7F# is set as 0, then 1) is n +
1, and the cumulative pulse number 01 of the integrating circuit 26 at that time is stored at address n. Then, if the trigger 16 is pulled from the above-mentioned pulled state (1) and then released (1), the trigger state L32 (in this case, 0) is stored at address yl+s, and the cumulative sum at that time is Number of pulses 0
2 is stored at address n+2.

Next, the display device 14 will be explained. In this example, it consists of a CRT display, and the storage circuit 22
The number of pulses stored in the display and the state of the timing signal S are displayed. Therefore, the operator of the painting robot 1 needs to trigger the timing device 12 by trigger 1.
If the operating position of the painting robot 1 when operating the trigger 6 can be recognized as a numerical value, and the position at which the trigger 16 should be operated is known in advance from the cumulative number of pulses C, it is possible to determine whether or not the timing of the operation was appropriate. Can be confirmed. In addition,
In this example, the display device 14 is composed of a CRT display, but if necessary, it can also be composed of a 7-segment LED or the like.

Next, the functions and effects of the above configuration will be explained. First, the operator teaches the painting robot 1ONu movement trajectory, speed, etc., and creates a robot robot operation program. The UJ program for the robot at this time does not have to be complete, and the blowing distance of the paint gun 6 and the painting speed may be such that no unnaturalness is felt when visually observed.

When the robot (p+I) creation program is completed, the painting robot 1 is operated using the program, and the timing device 12 is created at appropriate locations while observing the operation. Then, the product p pulse C at that time is displayed on the display device 14, and the operator uses this as the summed pulse number C at that operating part.

Next, when the above-mentioned form is completed, a discharge percentage Q n that is considered to be appropriate is assigned to each operating part. This is a spitting shellfish! It becomes a production program.

When this is completed, the painting robot 1 is moved by the robot operation program described above and the discharge Rb'l = work flow 2m.
Lill, the problem areas where paint drips, scratches, etc. occur during actual painting are shown on the 1st floor! I approve. Then, once the defective part where this dripping, sagging, etc. is occurring is confirmed, the discharge amount Qn assigned to the interval of the cumulative pulse number corresponding to this defective part is corrected using the data manual correction device 5θ. . At this time, if there is a need to accurately check the relationship between the cumulative number of pulses C and the area to be painted, turn the painting robot 1 on again and operate the trigger 16 when the problem area is reached. Then, display the number of ytn pulses at that site on the display 9.14.

When this correction is completed, the workpiece (not shown) is painted again using the corrected program to check whether there are any defects. If there is a problem here, correct the discharge fi (Qn) again and repeat the same operation from now on.

In this way, in this example, in a painting robot equipped with a function to control the amount of paint discharged, by operating the trigger 16 of the timing device 12, the operating position of the robot at the time of the operation is determined by the integrated pulse. Since it is displayed as a number on the display device 14, the relationship between the robot's unidirectional operation position and the cumulative number of pulses can be grasped very easily. Furthermore, the trigger 16 is operated in a similar manner to Iruma's manual painting gun trigger operation, and is excellent in operability. In addition, since the method adjusts the amount of paint discharged, an operator who has some knowledge of loading and unloading can intuitively understand the relationship between the condition of problems such as sagging and sagging, and the increase value of discharge 91H. Since it is possible to make judgments quickly, it is possible to perform Qin in an extremely short period of time.

That is, with the configuration described in the claims of the present invention, the 171 pulse number corresponding to the robot's operating position can be displayed on the display device simply by operating the timing device while observing the robot's motion. Therefore, since the discharge amount of paint or the like can be set or changed very easily in accordance with the robot's operation, there is an excellent feature unique to the present invention in that the dieting operation β etc. can be extremely simplified.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention. FIG. 1 is an explanatory diagram showing the overall configuration of this embodiment, FIG. 2 is a block diagram mainly showing the counter HffiR circuit, and FIG. 3 is an address diagram of the memory circuit. FIG. 2 is an explanatory diagram showing the relationship between and data. 1... Rohot for coating 2... Robot system n device 5
...Production department 6...Z1~Production department 12...Timing device ft114...Display device 22
...Memory circuit 23...Atoyu circuit output 111 people
Toyota Motor Vehicle W Type Company Representative Patent Attorney Oka D] Hidehiko

Claims (2)

[Claims] (1) Information for continuously changing the amount of paint discharged according to the area to be painted is set in advance on the robot's motion trajectory by making it correspond to the count value of synchronization pulses whose frequency changes in relation to the robot's motion speed. The stored information is stored in a state that is independent of the information and can be modified, and when the robot is in playback mode, the stored information is output chronologically in synchronization with the synchronization pulse of the robot. This is an automatic painting method using a robot of the type that corrects information and takes action, and is equipped with an operating section that can be operated while visually observing the #Jθ movement trajectory of the robot, and by sweeping the operating section. An automatic painting method using a robot whose lr'f sign is to display the count value of synchronized pulses during sweeping on a display or the like. (2) A robot having a paint gun, a robot control device that controls this robot and outputs a synchronization pulse whose frequency changes in relation to the robot's operating speed, and a robot control device that outputs a synchronization pulse whose frequency changes in relation to the robot's operation speed, and a robot controller that outputs a synchronization pulse at the start point of the robot's operation. C) The resulting open side 1 part is counted from the free time, and the discharge amount according to the coating area is stored in a state that is independent of the robot's motion trajectory information and can be modified, using the calculated pulse number as a parameter. The robot is of a type that has an operation unit that controls the amount of paint etc. discharged from the coating gun based on a discharge operator control signal from a writing unit, and an integration circuit that counts the synchronization signal, and a control unit that controls the robot. A timing device that can be operated while visually observing, a memory circuit for storing the number of n° pulses of the mn circuit according to a timing signal from the timing device, and a display device for displaying the value stored in the memory circuit. A self-j11b painting device using a robot, characterized in that it has the following values.