KR19980061602A - Painting Robot System and Distance Correction Method Using Position Tracking System - Google Patents

Abstract

The present invention relates to a painting robot system of a vehicle body, and more particularly, to a painting robot system and a distance correction method using a position tracking device to correct a distance by a position error when restarting after a line stop due to an external emergency stop. When the continuous transfer line is operating normally, the camera is turned on by receiving the controller's output signal in case of emergency stop, and the computer receives the camera's image processing signal, compares them, measures the position error, converts the data, and outputs it to the controller. The position data in the Y direction is corrected so that the conveying line is normally operated, and when the continuous conveying line is normally operated, the camera is turned off to operate the encoder synchronously to track the position. Position shift is corrected by using position tracking device and robot control It corrects the position data of the program being executed and executes the painting work by recognizing the correct current position when it is operating again, thereby reducing the painting quality due to the position error, maintenance cost, and operation cost during maintenance due to the damage of the device. It can be effected.

Description

Painting Robot System and Distance Correction Method Using Position Tracking System

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot system of a vehicle body, and more particularly, to a painting robot system and a distance correction method using a position tracking device to correct a distance due to a position error when restarting after a line stop due to an external emergency stop.

1 is a block diagram of a conventional position tracking coating robot system using an encoder. As shown therein, an encoder synchronizer 1 for tracking a position of a vehicle body flowing along a continuous conveying line, and the encoder synchronizer 10 It consists of a controller (2) for receiving the pulse signal of the outputting position data, and a robot (3) for receiving the position data of the controller 20 and painting along the conveyor in synchronization with the position of the vehicle body, The operation thereof is as follows.

The encoder synchronizer is used to coat the conveyor in synchronization with the position of the car body flowing along the continuous conveying line.When the conveyor stops due to an external emergency stop, the power supplied to the conveyor motor is turned off ( off) but the conveyor stops after some flow due to inertia.

However, although the encoder synchronizer mounted on the conveyor drive can be continuously corrected to some extent by movement in connection with the conveyor drive, the line is long, and due to the sag of the chain and the gap of the part engaged with the conveyor drive gear. Because of this, it is impossible to measure the exact error.

And the conveyor stops but the skid and the body flowing over the conveyor sometimes slip regardless of the conveyor. As a result, the positional error of the robot and the position of the body are combined. It is not possible to demand continuous quality because it is not possible to spray precisely to the part to be painted because it is out of position, and if an error occurs severely, the device mounted on the robot interferes with the car body, causing damage to the device, and loss due to maintenance and line stop This happens.

As described above, in the position tracking coating robot system using the encoder, the encoder synchronizer mounted on the conveyor drive unit may be continuously corrected to some extent by movement in connection with the conveyor drive unit, but the line is long and the line of the chain Due to the deflection and gap of the gear driving part of the conveyor, it is impossible to measure the exact error, and the conveyor stops, but the skid and body flowing over the conveyor sometimes slip regardless of the conveyor. Position error of the vehicle and the position error of the car body are combined, and when the robot is reactivated, the work area of the robot and the car body are displaced, so that it is impossible to apply the exact quality to the part to be painted. Mounted device interferes with bodywork Damage to the air equipment occurs, loss due to maintenance and line stoppage, and in case of emergency stop, the encoder synchronizer measures the position only with the pulse signal of the encoder installed in the drive unit, causing peripheral device deviation related to the conveyor device. There was a problem that can not accurately measure the position of the vehicle body.

Therefore, an object of the present invention is to install a position tracking device in the work area to correct the position not recognized by the encoder's synchronizer when the robot is re-operated by the position error during external emergency stop, so that the robot is always accurate at the correct position. Solving the above problems is solved by realizing the painting.

As a specific means of the present invention for achieving the above object,

When the continuous transfer line is operating normally, the camera is turned on by receiving the controller's output signal in case of emergency stop, and the computer receives the camera's image processing signal, compares them, measures the position error, converts the data, and outputs it to the controller. The position data in the Y direction is corrected so that the conveying line is normally operated, and when the continuous conveying line is normally operated, the camera is turned off to operate the encoder synchronously to track the position.

1 is a block diagram of a position tracking painting robot system using a conventional encoder.

Figure 2 is a block diagram of the coating robot system using the present invention location tracking device.

Figure 3 is a signal flow diagram of the distance correction method of the coating robot system using the present position tracking device.

<Explanation of symbols for main parts of drawing>

10: encoder synchronizer 20: controller

30: PC 40: Camera

Hereinafter, described in detail with reference to the accompanying drawings, preferred embodiments of the present invention.

2 is a block diagram of a painting robot system using the present invention, the encoder synchronization device 10 for tracking the position of the vehicle body flowing along the continuous conveying line as shown, and the encoder synchronization device 10 Controller 20 for receiving a pulse signal of a conveyor run error and outputting it and correcting position data of a running program; and a camera 30 operating as an output signal of the controller 20 is input. ), And a computer 40 configured to receive an image processing signal from the camera 30 and set it as a reference value and correct the position of the vehicle body. The operation and effects thereof will be described in detail as follows.

In the painting system using the painting robot in the continuous conveying line, the positional deviation of the vehicle body during the emergency stop is corrected by the position tracking device and its operation and effect will be described in detail as follows.

When the painting robot system that normally flows from left to right in the continuous conveying line stops due to an external emergency stop, the controller receives an input signal of a conveyor run error and sends an output signal to the camera to turn on the camera operation. on) At the same time, the camera sends the initial position as an image, sets it as a reference value, and continuously compares whether the vehicle body has stopped completely. After determining that the vehicle is completely stopped, it recognizes it as the last image and compares the first image with the last image. .

In addition, after comparing the first image and the last image, the position deviation by image comparison is obtained by software (Soft Ware) of PC (Personal Computer), and the parameter in the vehicle traveling direction is Y. After repositioning the Y direction value at the controller as much as retreat, convert the data so that the robot can recognize it, and send it to the robot controller to shift the robot position of the running program. Run the program.

Figure 3 is a signal flow diagram of the distance correction method of the coating robot system using the position tracking device of the present invention, the continuous transfer line is operating normally, the camera is turned on (on) by receiving the output signal of the controller during emergency stop When the image processing signal is input to each other, the position error is measured, the data is converted and output to the controller to correct the position data in the Y direction so that the conveying line is normally operated (S1-S7). The camera is turned off during normal operation, and the synchronization device of the encoder is operated to track the position (S8-S10).

Therefore, the robot realizes precise painting at the correct position by correcting the position by using the position tracking device when the robot is reactivated due to the position error at the time of external emergency stop.

As described in detail above, the present invention corrects the position of the vehicle body in the emergency stop by using the position tracking device and sends it to the robot controller to correct the position data of the running program to correct the current position when re-operation. By recognizing and performing the painting work, there is an effect of reducing the painting quality due to the position error and the maintenance cost, the operation cost during maintenance due to the damage of the device.

Claims (3)

In the coating system using a painting robot in a continuous conveying line, The encoder synchronizer 10 which tracks the position of the vehicle body flowing along the continuous conveying line and the pulse signal of the conveyor run error of the encoder synchronizer 10 are inputted and outputted, and the position of the program being executed. A controller 20 for correcting data, a camera 30 operating according to an output signal of the controller 20, and an image processing signal from the camera 30 are received and set to a reference value to set the vehicle body. Painting robot system using a position tracking device, characterized in that it comprises a computer 40 for correcting the position of the. The painting robot system according to claim 1, wherein the computer (40) converts data so that the robot can recognize the data. When the continuous transfer line is operating normally, the camera is turned on by receiving the controller's output signal in case of emergency stop, and the computer receives the camera's image processing signal, compares them, measures the position error, converts the data, and outputs it to the controller. Correcting the position data in the Y direction so that the conveying line is normally operated (S1-S7), and when the continuous conveying line is normally operated, the camera is turned off to operate the encoder synchronization device to track the position ( S8-S10) distance correction method of the coating robot system using a position tracking device.