JPS6227075A - Method for controlling coating condition of coating robot device - Google Patents

Abstract

PURPOSE:To improve the universality by accurately changing the coating conditions using only the positional information of the teach-point reaching signal when the robot reaches a teach point. CONSTITUTION:When the playback of a robot is carried out, integral counting of a constant-frequency pulse is started in synchronization with the start of the movement of the robot, the integrally counted number of the constant- frequency pulse is forcibly corrected to the value of the synchronous reference data at each teach point by each teach point reaching signal from the robot, and the integrally counted number of the constant-frequency pulse in accordance with the elapse of time along with the movement of the robot is successively integrated to the corrected integrally counted number of the constant-frequency pulse. When the integrally counter number coincides with the integrally counted number as the timing of switching the coating conditions, the coating conditions are switched. Consequently, the coating conditions can be accurately switched only with the positional information of the teach point reaching signal from the robot irrespective of the kind of the coating robot.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for controlling coating conditions of a coating robot device.
In particular, the present invention relates to a method of controlling painting conditions of a painting robot apparatus suitable for controlling painting conditions using a playback type painting robot apparatus.

[Conventional technology]

When a playback type robot device is used to paint the body of an automobile, etc., a teaching operation is performed in advance to make the robot memorize its motion trajectory. This teaching work usually involves the steps of teaching the robot the general movement, then actually painting the workpiece using the movement, and correcting any areas where problems such as sagging or scratches occur. For this reason, teaching work is often viewed as a problem as it takes a considerable amount of time.

Therefore, as described in Japanese Unexamined Patent Publication No. 12167/1983, automatic coating allows for quick correction of defects such as sagging and sagging without requiring any special effort. A method was proposed. In this method, information for continuously changing the coating discharge amount according to the area to be coated is stored in advance in a state that can be modified independently of the robot's motion trajectory information, and when the robot is regenerated, the stored information is is played back and output in chronological order in synchronization with the robot playback speed,
The stored information is corrected to deal with sagging, sagging, etc.

By the way, when painting a vehicle body or the like, it is often necessary to change the discharge amount or the like at a painting part between the teaching points on the body surface. That is, in order to paint the body surface finely, it is necessary to change the painting conditions at each painting site between the teach points.

[Problem that the invention seeks to solve]

However, in robot painting in FTP control mode, only the position of the teach point is managed and the position information between the teach points is not managed. It was difficult to change the coating conditions. In other words, it is easy to output a teach point arrival signal from the robot device, but it is difficult to output position information midway through the teach point, making it difficult to set the switching timing of coating conditions in the coating device. .

The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to accurately change coating conditions using only the position information of the teach point arrival signal when the robot reaches the teach point. The purpose of this invention is to provide a method for controlling coating conditions for a coating robot device that can perform the following steps.

[Means for solving problems]

In order to achieve the above object, the present invention, as shown in FIG. 1, calculates the cumulative number of constant frequency pulses using the timing from the start of robot regeneration to the time of arrival at each teaching point as synchronization reference data before robot regeneration. (step 100), and set the switching timing of coating conditions for each coating portion of the teach point in association with the cumulative count of constant frequency pulses (step 102).
When the robot is regenerated, the cumulative count of constant frequency pulses is started in synchronization with the start of movement of the robot.Step 104) - The cumulative number of constant frequency pulses is set to the value of the synchronization reference data at each teach point by each teach point arrival signal from the robot. Step 106) to forcibly correct the fixed frequency pulse, and sequentially add the fixed frequency pulse count according to the passage of time as the robot moves to the corrected constant frequency pulse count (step 108); This method employs a coating condition control method for a coating robot apparatus in which the coating condition is switched when the total count number and the cumulative count as the timing for switching the coating condition match (step 110).

[Effect]

Before robot regeneration, the timing from the start of robot regeneration to the time each teaching point is reached is set as synchronization reference data in association with the cumulative count of constant frequency pulses, and the painting conditions are switched for each painting area between the teaching points. Set the timing in correspondence with the loaded count number of constant frequency pulses. Then, when the robot is regenerated, the cumulative count of constant frequency pulses is started in synchronization with the robot's start of movement, and the cumulative count of constant frequency pulses is set to the value of the synchronization reference data at each teach point by the arrival signal of each teach point from the robot. The number of constant frequency pulses that have been forcibly corrected and the number of fixed frequency pulses that have been corrected is sequentially integrated with the number of constant frequency pulses that have elapsed over time as the robot moves, and this number of integrated counts can be used to switch the coating conditions. Switching of coating conditions is executed when the cumulative count number coincides with the timing.

[Embodiments of the invention]

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

FIG. 2 shows the configuration of an embodiment to which the present invention is applied. In Figure 2, the painting robot 1o has arm 1.
2, and a painting gun 14 is attached to the tip of this arm 12. The painting robot 10 can operate the arm 12 in response to a command from the robot control panel 16 and move the painting gun 14 to a specific welding site. The coating gun 14 is connected to a coating condition control device 20 via a hose 18.
A predetermined spray pattern is formed using air supplied from the coating condition control device 20,
It is configured to apply paint to the surface of a work such as a vehicle body.

The coating condition control device 20 includes a constant frequency pulse oscillator 22, an arithmetic control section 24, and an adjustment section 26, and the arithmetic control section 24 includes:
A synchronization signal as a teach point arrival signal is supplied from the robot control panel 16, and a constant frequency pulse is supplied from a constant frequency pulse oscillator 22.

The arithmetic control unit 24 is composed of a microcomputer having C, PU, ROM, RAM, etc., and the ROM stores various data such as painting condition data shown in FIG. 3 and synchronization reference data shown in FIG. 4. is stored. Here, C2...Cn is the cumulative count of constant frequency pulses set as the switching timing of coating conditions in each coating area between the teaching points, Dl, D2...
...Dn is the painting data such as paint discharge amount and paint atomization air amount, T2...Tn is the constant frequency pulse as the timing from the start of robot playback to the time when each teaching point is reached. The arithmetic control unit 24 each indicates synchronization reference data set in association with the cumulative count number of
performs various calculations based on the constant frequency pulse from the constant frequency pulse oscillator 22 and the synchronization signal from the robot control board 16,
It is configured to output a control signal that controls the operation of the adjustment section 26.

! [11 Part 26 includes a converter that converts the control signal from the calculation control unit 24 into an air pressure signal, an air compressor that supplies constant air pressure to the converter, and discharges paint based on the air pressure signal from the converter. 1. It has an air operated regulator that supplies paint to the air operated regulator, and a paint supply device that supplies paint to the air operated regulator. A hose 18 is connected to an air operated regulator. That is, the adjustment section 26 is configured to supply the coating gun 14 with a discharge amount of paint according to a control signal from the arithmetic control section 24 .

The present embodiment has the above-mentioned configuration, and its operation will next be explained based on the flowchart of FIG. 5.

First, after the teaching work for the painting robot 1o is completed, the arithmetic control unit 24 monitors the output signal from the robot control panel 16 and determines whether or not robot regeneration is to be started (step 200). When it is determined that the robot has started reproducing based on a command from the robot control panel 16, the first integration count variable C○1 and the second integration count variable 1 to variable CO are set.
2 to 0, and paint condition index n
and the teach point index i are both set to 1 (step 202). Next, it is determined whether a constant frequency pulse is input from the constant frequency pulse oscillator 22 (step 2
04), when a constant frequency pulse is input, the first cumulative count variable CO□=CO□+1 and the second cumulative count variable CO□=CO,+1 are set (step 20
6). Next, it is determined whether C01>Ti (step 208). That is, the first cumulative count variable C○□, which is the cumulative count of constant frequency pulses from the start of reproduction of the painting robot 10, and the constant frequency pulse set as the reference data Ti at the main teach point shown in FIG. The magnitude is compared with the cumulative count of pulses. If the determination in this step is NO, the process moves to step 212, and Y
If it is determined to be ES, the process moves to step 210. In step 210, processing is performed to set Go,=Ti. That is, in steps 208 and 210,
When the cumulative count of constant frequency pulses exceeds the synchronization reference data Ti at the teaching point i, the value of the first cumulative count variable is forcibly set to the value of the synchronization reference data Ti.

Also, in step 212, it is determined whether or not a teach point arrival signal has been input from the robot control panel 16.
If this step is determined as NO, step 216
If the determination is YES, the process moves to step 214. In step 214, the first integrated count variable CO□=Ti1 and the synchronization correction data Ti=C0 are set, and the teach point index i=i+
Perform processing to set it to 1. That is, step 21
In 2.214, the first integrated count variable CO0 is forcibly set to the value of the synchronization reference data Ti when the teach point arrival signal is input from the robot control panel 16, regardless of the integrated count number of constant frequency pulses. . Therefore, in this embodiment, if the operation of the painting robot 10 is delayed, the processing in steps 208 and 210 is performed, and when the operation of the painting robot 10 is accelerated, the processing in steps 212 and 214 is performed. It is possible to reduce the reproduction error of the robot reproduction speed, and to prevent the reproduction error of the robot reproduction speed from being accumulated across teaching points.

Next, in step 216, it is determined whether the first cumulative count variable CO□□≧number of coating condition changing pulses Cn. That is, in this step, it is determined whether or not the change point C has been reached after passing the teach point i. If the determination is YES in this step, the process moves to step 218, and the coating condition Dn at the change point C is stored in the ROM.
The vehicle body is then painted according to the painting conditions Dn. and coating condition index n, = n
The flag is set to +1 and the process moves to step 22. In step 220, it is determined whether the painting of each welding part is completed by the processing of steps 202 to 218, and if the determination is No, the process moves to step 202,
If the determination is YES, the process moves to step 220.

As described above, in this embodiment, when the robot is regenerated, the cumulative counting of constant frequency pulses is started in synchronization with the start of movement of the painting robot 1o, and the constant frequency pulses are generated by each teach point arrival signal from the robot and the control panel 16. Forcibly correct the cumulative count number of the constant frequency pulse to the value of the synchronization reference data at each teaching point, and sequentially add the constant frequency pulse count number according to the movement of the painting robot 10 to the modified constant frequency pulse cumulative count number. Accumulate this accumulated count number and
Since the switching of the painting conditions is executed when the cumulative counts as the switching timing of the painting conditions match, the cumulative counts of constant frequency pulses at the teach points i and i+1 may change due to changes over time in the drive system of the painting robot 10, etc. Even if the state changes from the state shown in FIG. 6 (a) to the state shown in FIG. 6 (b), the timing from the time when the teaching point i is reached to the time when the welding conditions are switched is kept the same. be able to.

However, when the cumulative count of constant frequency pulses at teach point i deviates, and the cumulative count of constant frequency pulses at teach point i+1 also deviates in the same way, it is not possible to accurately switch the coating conditions by the above-described process. However, when the teaching points i and i+1 shift from the state shown in (a) in Fig. 6 to the state shown in Fig. 6 (b), it is not possible to switch the coating conditions at the correct timing using only the above-mentioned process. Can not do it. Therefore, in this embodiment, correction processing is performed when the cumulative counts of constant frequency pulses at a plurality of teaching points deviate through the processing of steps 222 to 234.

That is, in step 222, the painting condition index n=1 and the teaching point index i=1 are set, and the process moves to step 222. Step 22
4, coating condition change pulse number Cn≦teach point i
It is determined whether the synchronization reference data at +1 is Ti+1. If YES is determined in this step, processing is performed to set the number of coating condition change pulses Ti1-Ti in the next robot regeneration cycle. That is, in step 226, assuming that the coating condition switching timing at the coating condition change point C' shown in FIG. 6(c) is Cn, the cumulative count of constant frequency pulses set as the coating condition switching timing is , a proportional allocation calculation is performed using the synchronization reference data before execution of the regeneration cycle and the synchronization reference data after execution of the regeneration cycle. Note that Ti' and T'i+1 are determined from step 202 to
This corresponds to the cumulative count of constant frequency pulses from the time of robot reproduction that is not corrected in the process of step 220.

Next, proceeding to step 228, Cn=Cn', n=n+1
Then, the process moves to step 230.

In step 230, it is determined whether or not the painting condition data has been completed. If the determination is No in this step, the process moves to step 224 again, and if the determination is YES, the process moves to step 232. In step 232, Ti=T'i and i=i+1 are set, and the process moves to step 234. In step 234, it is determined whether the modification of the synchronization reference data of each teach point to be used in the next playback cycle has been completed, and if the determination is NO, the process returns to step 224, and the determination is YES. Sometimes all processing in this routine is terminated.

As described above, in this embodiment, at the end of each regeneration cycle, the cumulative count of constant frequency pulses set as the switching timing of coating conditions is calculated based on the synchronization reference data before the regeneration cycle and the synchronization reference after the regeneration cycle. Proportional allocation calculation is performed using the data to calculate the synchronization reference data for the next regeneration cycle and the cumulative count of constant frequency pulses as the switching timing of coating conditions, and the next regeneration cycle is executed based on this calculated value. Because of that.

Even if you consciously change the robot playback speed setting due to a change in production takt, etc., just one trial run will
From the second playback, changes in painting conditions can be made to follow changes in robot playback speed settings.

〔Effect of the invention〕

As explained above, according to the present invention, the cumulative count of constant frequency pulses is started in synchronization with the start of movement of the robot during robot playback, and the cumulative count of constant frequency pulses is determined by each teach point arrival signal from the robot. Forcibly correct the synchronization reference data value at each teaching point, and sequentially integrate the corrected cumulative constant frequency pulse count with the constant frequency pulse count over time as the robot moves; When this cumulative count matches the cumulative count as the timing for switching the painting conditions, the painting conditions are switched, so the position of the teach point arrival signal from the painting robot is determined regardless of the painting robot model. The excellent effect of being able to accurately switch coating conditions with just information and contributing to improved versatility is '4! ) can be done.

[Brief explanation of the drawing]

Figure 1 is a flowchart for explaining the present invention, Figure 2 is a flowchart for explaining the present invention;
Figure 3 is a block diagram of an embodiment to which the present invention is applied, Figure 3 is a memory map of coating condition data, Figure 4 is a memory map of synchronization basic data, and Figure 5 is for explaining the operation of the device according to the present invention. FIG. 6 is a diagram for explaining the operation of the present invention. DESCRIPTION OF SYMBOLS 10... Painting robot 1-5 14... Painting gun, 16... Robot control panel, 20... Painting condition control device, 22... Constant frequency pulse oscillator, 24... Arithmetic control unit, 26...adjustment section.

Claims (2)

[Claims] (1) Before robot regeneration, the timing from the start of robot regeneration to the time each teaching point is reached is set as synchronization reference data in association with the cumulative count of constant frequency pulses, and painting is performed at each painting area between the teaching points. Set the condition switching timing in correspondence with the cumulative count of constant frequency pulses, and start the cumulative count of constant frequency pulses in synchronization with the start of robot movement during robot playback.
The accumulated count of constant frequency pulses is forcibly corrected to the value of the synchronization reference data at each teach point by each teach point arrival signal from the robot, and the robot movement is adjusted to the corrected accumulated count of constant frequency pulse. The present invention is characterized in that the number of constant frequency pulses is sequentially accumulated as time passes, and when this accumulated count matches the accumulated count as the timing for switching the coating condition, the coating condition is switched. A method for controlling coating conditions for a coating robot device. (2) At the end of each regeneration cycle, calculate the cumulative count of constant frequency pulses set as the switching timing of coating conditions.
Proportional allocation is calculated using the synchronization reference data before the regeneration cycle and the synchronization reference data after the regeneration cycle is executed to calculate the synchronization reference data in the next regeneration cycle and the cumulative count of constant frequency pulses as the coating condition switching timing. The method for controlling painting conditions for a painting robot according to claim 1, characterized in that the next regeneration cycle is executed based on this calculated value.