JPS6121758A - Automatic painting apparatus by robot - Google Patents

Abstract

PURPOSE:To rapidly and accurately perform the automatic painting by a painting gun, by synthetically supplying a series of control signals to the operation part of the emitting paint, atomizing air and patterning air of the spraying gun. CONSTITUTION:The titled painting apparatus is equipped with paint supply apparatuses 511-513, a paint color change-over apparatus 52 and the passage 53 thereof, an atomizing air supply apparatus 61 and a patterning air supply apparatus 71 and passages 63, 73 thereof, an electrostatic high voltage generation apparatus 81 and an electric wire 83. The signal from each detection apparatus is supplied to a painting condition control apparatus 4 and controls the operation of a painting gun through the comparison and selection of painting start timing or the internal memory of the control apparatus 4. By this method, the automatic painting by the painting gun is performed rapidly and accurately.

Description

[Detailed description of the invention] Industrial applications The present invention relates to an automatic painting device using a robot.

The apparatus according to the present invention is used for painting automobiles, etc.

BACKGROUND OF THE INVENTION Conventionally, the amount of paint discharged from a paint gun is controlled in synchronization with robot operation based on preset discharge amount control data upon receiving a synchronization signal from a robot control device. A device has been proposed. In this system, instead of the conventional method of roughly controlling the discharge amount in two or three stages using a combination of multi-bit robot control panel output signals that turn on and off at preset timings during robot operation, Continuous high-resolution discharge amount control is performed (see, for example, Japanese Patent Application No. 58-120581 filed by the present applicant).

However, in painting, it is not only the above-mentioned discharge amount that needs to be controlled. air used in connection with paint atomization;
For example, the air for atomization, the air for rotating the air motor in the case of rotary atomization, and the pattern air for pattern formation in spraying also require control. In the case of electrostatic paint guns, the electrostatic high voltage for the electrostatic paint gun also requires control. Both air and electrostatic high voltage are supplied to the paint gun.

If only the paint discharge amount is controlled using the above-mentioned proposed technique and the air and electrostatic high voltage are separately controlled, it will be complicated in terms of equipment configuration, operability, maintainability, etc. The problem arises that it is not practical.

SUMMARY OF THE INVENTION In view of the above-mentioned problems with the conventional type, an object of the present invention is to improve the operating condition setting values of the elements that cooperate with the coating gun and the operating condition setting values defined in relation to the synchronization signal from the robot control device. Based on the concept of storing data in which change timings are combined as painting data in a storage unit, and performing painting control using the stored painting data,
A series of control signals can be integrally supplied to elements that cooperate with the painting gun, such as a discharge paint operating section, an atomizing air operating section, a patterning air operating section, and an electrostatic high voltage generating section, To quickly and accurately perform automatic painting using a painting gun including cooperating elements with a relatively simple configuration.

In addition, the present invention improves the system expandability, elasticity, etc. of the coating system when various ancillary equipment is required for the coating device, when it is necessary to use it together with a reciprocating coating device (reciprocator), etc. Ancillary purpose is to provide expectations.

Means for Solving the Problems In the present invention, a robot control device that generates signals for operating a painting robot as well as synchronization signals; and a dispensing paint operating section, an atomizing air operating section, and a patterning air operating section are provided. The operating condition setting values of elements that cooperate with the painting gun, such as the electrostatic high voltage generating section and the synchronization signal, are combined with the change timing of the operating condition setting values specified in relation to the synchronization signal.
painting condition control having a storage unit for storing a series of painting data, receiving a synchronization signal from the robot control device, and generating a control signal to be supplied to an element that cooperates with the painting gun based on the synchronization signal; An automatic painting device using a robot is provided, characterized in that the device includes: a device;

Embodiment An automatic painting apparatus using a robot as an embodiment of the present invention is shown in FIG. The apparatus shown in FIG. 1 includes an object to be painted W, a conveyor line C, a robot mechanism 11, a robot arm 12,
Painting gun 13, robot control device 2, light emitter 31, light receiver 32, object to be painted, coating color detection device 33, limit switch for detecting object position 34, and coating condition control device 4
Equipped with.

The device in FIG. 1 also includes paint supply devices 511, 512, 51.
3. Paint color switching device 52, paint delivery passage 53, atomization air supply bag W61, atomization air delivery passage 63, pattern air supply device 71, pattern air delivery passage 73, electrostatic high voltage generator 81 , and an electrostatic high voltage supply wire 83.

In the object to be painted and the paint color detection device 33, the projector 31
, the silhouette of the object W to be painted is detected in cooperation with the light receiver 32, and the color to be applied to the object W to be painted is determined. Signals from the object to be painted and the coating color detection device 33 are supplied to the coating condition control device 4.

The glue mint switch 34, which serves as a device for detecting the position of the object to be painted, detects the arrival of the object to be painted.

The number of paint supply devices 511, 512, and 513 is equal to the number of paint colors (in this case, three paint colors), and the output paint passages of the paint supply devices 511, 512, and 513 are selected by the paint color switching device 52 to select one of the paint colors. The paint passage is communicated with the paint delivery passage 53.

The object W to be painted arrives at the painting area after its type and paint color are detected. At this point, the coating condition control device 4
receives signals regarding the type of object to be painted and the paint color from the object to be painted and the paint color detection device, and stores them in the internal storage device. The paint color designation signal S (C) to the paint color switching device 52 designates the paint color. Based on the paint color designation signal S (C), the paint color switching device 52 selects the designated paint color from among the plurality of paint colors as the paint color to be applied to the paint delivery passage 53 .

When the object W to be coated passes through the rimming switch 34,
The coating condition control device 4 determines that it is the timing to start painting, and selects the data related to the painting of the target object stored in the internal memory of the paint condition control device 4, and also selects the data stored in the internal memory of the paint condition control device 4, and selects the data stored in the internal memory of the target object. The robot regeneration operation program number and operation start command corresponding to the type of object to be painted are sent to the operation command signal S (0
Output as one.

Based on the operation command signal, the robot starts the robot regeneration operation and also starts sending out the synchronization signal 5 (SYN). The synchronization signal S (SYN) is a pulse signal with a frequency proportional to the regenerative operating speed of the robot. For example, when the speed of conveyor C■ increases and the regeneration operation speed of the robot also increases accordingly, synchronization signal S (SYN
) also changes accordingly, and the coating condition control device 4
maintain synchronization between the robot's movements and the robot's movements. The coating condition control device 4 performs control operations based on the synchronization signal S (SVN).

The state of the painting control data stored in the internal storage device of the painting condition control device 4 is shown in FIG.

In the second painting control data, the output change count cumulative number 07 and the control value to be output thereafter. 1゜D1□+
D n3+ D , , a are considered to be one set. A plurality of these sets are provided.

For example, D,..., is data for discharge amount, D,,2 is data for atomizing air, Dn3 is data for pattern air, D7
4 is data for electrostatic high voltage.

When the pulse number cumulative value of the synchronization signal S (SYN) reaches one cumulative count output change count cumulative number C, l, the discharge amount signal s (D,, l) is output from the paint supply device 5.
1L512, 513, atomizing air signal S(D,...

) is sent to the atomizing air supply device 61, the pattern air signal S (D,, 3) is sent to the pattern air supply device 71, and the electrostatic high voltage signal S (DA,) is sent to the electrostatic high voltage generation device 81
Lunch will be output for each. Note that these predetermined correction values can also be output. Note that the required number of signal focuses differs depending on the type of control, so it is appropriately determined according to the resolution of the corresponding operating section.

In this way, the coating condition control device 4 receives the synchronization signal S.
(SYN) pulse number is counted, and the cumulative count is C,
When it reaches D++ + DI2+ DI3+ D+
4, and when it reaches C2, Dz+, Dz□, r)
Output z3゜D24, and then sequentially output, and when reaching C,..., D, □ + D fi3 + D fi
Output <. In this way, the coating conditions of the coating gun 13 are controlled throughout the entire period of the robot mechanism.

Effects of the Invention According to the present invention, a discharge paint operating section, an atomizing air operating section,
It is possible to integrally supply a series of control signals to elements that cooperate with the painting gun, such as the pattern air operation section and the electrostatic high voltage generation section. Automated painting can be done quickly and accurately using a paint gun.

Furthermore, according to the present invention, system scalability, elasticity, etc. regarding the coating system can be improved when various ancillary equipment is required in the coating device, when it is necessary to use it together with a reciprocating coating device (reciprocator), etc. You can also expect.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an automatic painting device using a robot as an embodiment of the present invention, and FIG. 2 is a diagram showing the status of painting control data stored in the internal storage device of the painting condition control device in the device shown in FIG. 1. It is a diagram. DESCRIPTION OF SYMBOLS 11... Robot mechanism, 12... Robot arm, 13... Paint gun, 2... Robot control device, 31... Emitter, 32... Light receiver, 33... Paint color detection device , 34...Limitosto inch, 4...Painting condition detection device, 51L512,513...Paint supply device, 52...
Paint color switching device, 53... Paint delivery passage, 61... Air supply device for atomization, 63... Air delivery passage for atomization, 71... Air supply device for pattern, 73... Pattern 81... Electrostatic high voltage generator, 83... Electrostatic high voltage supply wire, W... Object to be coated, C■... Conveyor line.

Claims (1)

[Scope of Claims] 1. A robot control device that generates a signal for operating a painting robot and also generates a synchronization signal; and a discharge paint operating section, an atomizing air operating section, a patterning air operating section, and an electrostatic height control device. It has a storage section that stores a series of painting data in which operating condition setting values of elements that cooperate with the painting gun, such as a voltage generating section, and change timings of the operating condition setting values that are specified in relation to the synchronization signal are combined. , a coating condition control device that receives a synchronization signal from the robot control device and generates a control signal to be supplied to an element cooperating with the coating gun based on the synchronization signal; Painting equipment. 2. The device according to claim 1, wherein the discharged paint operating section comprises a paint supply device and a paint color switching device. 3. The apparatus according to claim 1, wherein the automatic painting apparatus further comprises object identification means, and a signal generated by the object identification means is supplied to the coating condition control device. 4. The automatic painting device further comprises a means for detecting the position of the object to be painted, and the signal generated by the means for detecting the position of the object to be painted is supplied to the painting condition control device, as claimed in claim 1 or 3. The device described in.