KR20170106536A

KR20170106536A - Method for Managing Data of Painting Robot System

Info

Publication number: KR20170106536A
Application number: KR1020160028754A
Authority: KR
Inventors: 박기양; 정용승; 이상택; 나윤호; 황인욱; 이자영
Original assignee: 두림야스카와(주)
Priority date: 2016-03-10
Filing date: 2016-03-10
Publication date: 2017-09-21
Also published as: KR101828327B1

Abstract

The present invention relates to a method to manage data of a painting robot system, comprising: (a) a step of a management terminal setting a coating condition in accordance with shape information when the shape information of an object to be coated entering a coating line is inputted; (b) a step of detecting coating parameters corresponding to the coating condition to generate and store a paint management table, and performing data sync with a programmable logic controller (PLC) unit in real-time; (c) a step of the PLC unit comparing coating parameter values of PLC data corresponding to the paint management table, displaying the corresponding coating parameter values when a different coating parameter value exists, and then changing the same with the coating parameter value stored in the paint management table; and (d) a step of the PLC unit reflecting the paint management table in real-time in accordance with a condition of job data and a path of the PLC unit to activate the PLC data, and outputting a spray on/off signal in accordance with the shape of the object to be coated. Accordingly, by a data management program, various kinds of coating parameters are able to be safely and correctly managed, and work history is able to be collected and analyzed.

Description

[0001] The present invention relates to a method of managing data of a painting robot system,

The present invention relates to a data management method for a paint robot system, and more particularly, to a control method for a paint robot system, in which a management terminal conveniently manages various parameters necessary for a painting operation, collects and analyzes a work history, And more particularly, to a data management method of a paint robot system that enables data to be synchronized.

Generally, in the automobile production line, the painting process is carried out to prevent the corrosion of the vehicle body after the completion of the vehicle body, to increase the beauty of the vehicle body by soundproofing, and to improve the merchantability.

In the coating line to which the coating process is applied, an electrodeposition (bottoming) process which is a factor of rust prevention and surface luster of the vehicle passing through the drying furnace in the pretreatment process, and an electrodeposition A coating film is formed on the vehicle body through a topping process and a clearing process which give a feeling of shine in the intermediate process and a cosmetic appearance.

In such a coating line, the coating robot system is provided with an atomizer, which is a paint sprayer installed on the end of a robot arm in a middle-high-level process and which performs painting on the vehicle body. An electrostatic painting apparatus is mainly used in which a paint and an object are connected to a vehicle body by a (+) pole and a (-) pole, respectively, and the liquid paint is misted and sprayed to a vehicle body to paint the vehicle body.

Recently, as a result of development of computer and control system, coating robot system based on PLC coordinates painting process in painting line and external communication through PLC unit. For example, the coating robot system receives all information about the coating material and the paint color to be coated through the PLC unit, and instructs the coating robot accordingly.

As the prior art data, the Korean automatic registration system of Korean Patent No. 10-0423668 integrates the communication system between the RFID data collection and control system and the PLC that controls the facility, thereby reducing the investment cost and improving the maintenance time .

In the conventional automobile body painting system, the vehicle body number and the detailed information are stored in the memory in the master PLC through the PLC communication PC, and each facility PLC controls the corresponding facility according to the data stored in the corresponding memory of the master PLC.

The conventional automobile body painting system has a problem that it is difficult for the operator or the operator to reflect the teaching data set at the painting site in the real time PLC because the instructions about the painting operation are transmitted through the data collecting client PC and the PC for PLC communication.

In addition, the conventional automotive body painting system has a problem that it is difficult to safely and accurately manage various parameters in the memory because the vehicle body number and detailed information stored in the memory of the master PLC are not edited and there is no countermeasure against backing up and restoring the memory have.

Korean Patent No. 10-0423668 entitled "

According to the present invention, a management terminal can synchronize real-time data with a PLC unit by means of a data management program, thereby easily changing or backing up various parameters required for a painting operation, collecting and analyzing a work history of a PLC unit, Provides a data management method of the paint robot system that can restore the PLC data to the original value in emergency and minimize the time and manpower waste for data recovery.

Among the embodiments, the data management method of the paint robot system includes a management terminal for adjusting the process of entering the object and the motion of the paint robot in a paint line to which the paint process is applied, And a control unit for controlling the operation of the painting robot system based on the shape information of the object when the shape information of the object entering the painting line is inputted, Setting a coating condition; b) detecting painting parameters corresponding to the painting conditions to generate and store a paint management table, and performing real-time data synchronization with the PLC unit using the paint management table; c) The PLC unit compares the paint parameter values of the PLC data corresponding to the paint management table, displays the paint parameter values when there are different paint parameter values, and changes the paint parameter values in the paint management table ; And d) the PLC unit activates the PLC data by reflecting the paint management table in real time according to the job data of the painting robot and a predetermined condition of the path, and activates the PLC data according to the shape of the object, And outputting the output signal.

The step b) includes: a step of executing a data management program for synchronizing the management terminal with the PLC data of the PLC unit using the paint management table, and selecting a type of PLC unit to be connected through the data management program ; And outputting a message window for confirming the connection status of the PLC unit when the connection with the PLC unit is released.

And the management terminal includes interface means for attaching and detaching a dongle key including connection authentication information for executing the data management program.

The data management program may be configured to display environment settings, Quick Access, job model information, menu bar, toolbar, job information, data confirmation / operation window, login status, connection status with the PLC unit, And displaying a main screen of the paint management table including at least one of the menus including the menu.

At this time, the menu bar may include at least one of a main menu including a paint table, a sequence table, a body definition, a color definition, an atomizer parameter, an alarm parameter, a system parameter, .

The paint table performs confirmation / modification of parameter values including spray flow, shaping, air pressure (Atom), high voltage (H.Volt), and user system values, and the sequence table is used for cleaning and filling Wherein the body definition performs verification / modification of parameters including an autocheck code, a reception code, and a conversion code for each operation model, and the color definition includes a detailed parameter value for each color Setting the parameter value including the cleaning period, setting the alarm parameter, setting the alarm parameter value, and setting the data for automatically recognizing the kind of the object .

The sequence table manages parameter values for scheduling the operation phase of the paint-related valve and the sprayer, and stores the on / off operation of the valve and the maintenance time for each operation step.

The data management method of the paint robot system is characterized in that: e) the management terminal has a hysteresis function for managing the history data of system access record or use record, a backup / restoration function of PLC data, a real time PLC data correction function, A data editing function including copying / modification / deletion of values, and a data output function.

Wherein the data management program provides a virtual pendant for remotely controlling the painting robot by instructing the movement or rotation of the painting robot on a work space of the painting robot.

The virtual pendant provides an interface for movement or rotation to an XYZ axis on a three-dimensional space, and provides an offset value for setting a movement amount or a rotation amount in each direction.

The virtual pendant is set using a method of setting a reference coordinate system as a reference coordinate system on the simulation space or a method of setting a local coordinate system set on the end of the painting robot as a reference coordinate system according to user setting .

In the step b), a model or a color of a painting robot, a model of an object, or a color is selected from the paint management table, and a parameter or color of a painting robot, And a group copy function.

Meanwhile, the data management method of the paint robot system may include: e) when the paint table information change is requested by changing the paint specification of the object, the management terminal executes the paint table manager module to generate a paint table edit file, Wherein when a paint table edit file is transferred to a plurality of PLC units, the PLC unit stores the received paint table edit file and updates the paint table information based on the received paint table edit file, Wherein the management terminal holds paint table information of PLC units connected to the management terminal, and when the paint table information is changed in accordance with the paint specification change of the object, The PLC unit that changed Information to the PLC unit extracts extracted is characterized in that for transmitting the paint table edit file.

At this time, the PLC unit stores the received paint table edit file in the paint table DB folder, checks the paint table DB folder every time one painting process is completed, and adds a new paint table edit file to the paint table DB folder And if it is present, updates the paint table information based on the information, and then drives the painting robot based on the updated paint table information.

The paint table information includes at least one paint parameter value. When paint parameter values are changed by a pendant for the movement or rotation of the painting robot in any one PLC unit among the plurality of PLC units, The PLC unit may further include a step of generating and recording a parameter edit file corresponding to the changed paint parameter value.

The data management method of the paint robot system of the present invention can safely and accurately manage various paint parameters by a data management program, collect and analyze work histories, and allow an operator to easily edit data Output function can be performed, and the usability can be improved. In case of emergency, the PLC data can be easily restored to the original value, thereby minimizing the time and manpower required for data recovery. Accordingly, there is an effect that the readability can be improved by providing an execution screen for enhancing security by limiting data editing and intuitively checking and editing various data.

Further, in the data management method of the coating robot system of the present invention, the inconvenience that the operator manually manipulates each PLC unit, which is required to change the paint table information, is improved and the overall efficiency of the coating process can be improved, The coating quality of the substrate can be improved by preventing the occurrence rate of the coating-related defective occurrence of the substrate from increasing due to the coating parameter value of the PLC unit arbitrarily changed by the operator.

1 is a view for explaining a coating robot system according to an embodiment of the present invention.
2 is a diagram for explaining a connection state between a management terminal and a plurality of PLC units.
3 is a flowchart illustrating a data management method of a paint robot system according to an embodiment of the present invention.
Fig. 4 is a diagram for explaining an example of an execution screen of the data management program of Fig. 3;
Fig. 5 is a view for explaining an example of a sequence table in the paint management table of Fig. 4. Fig.
Fig. 6 is a view for explaining an example of a management screen of the paint management table of Fig. 4;
7 is a diagram illustrating a group copy function of a data management program according to an embodiment of the present invention.
8 is a view for explaining a virtual pendant according to an embodiment of the present invention.
9 is a schematic view showing the configuration of a management terminal of a data management method of a paint robot system according to another embodiment of the present invention.
Fig. 10 is a flowchart for explaining a data management method of the painting robot system using Fig.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present invention should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It should be understood that the singular " include "or" have "are to be construed as including a stated feature, number, step, operation, component, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present invention.

FIG. 1 illustrates a painting robot system according to an embodiment of the present invention. FIG. 2 illustrates a connection state between a management terminal and a plurality of PLC units.

1 and 2, the painting robot system includes a painting robot 10, a plurality of PLC units 100, and a management terminal 200.

The painting robot 10 is an articulated robot which is installed in a paint studio (paint studio) at a painting site and is used for painting work.

At least one PLC (Programmable Logic Controller) unit 100 uses a programmable memory to perform special functions such as logic, sequencing, timing, counting, and calculation through a digital or analog input / output module, It is possible to control a paint-related valve or sprayer.

The PLC unit 100 sets a basic operation method for motion of the painting robot 10 using PLC data including various painting parameters.

The management terminal 200 manages the paint robot system as a whole through the entry process of the substrate 20 and the human-machine interface (HMI) software 220 for adjusting the motion of the paint robot 100. The management terminal 200, Stores data necessary for the painting robot system in cooperation with the DBMS 250.

The management terminal 200 communicates with at least one PLC unit 100 connected to the management terminal 200. The management terminal 200 and a plurality of PLC units 100 can be connected by wire and include a wireless communication module Lt; / RTI >

The DBMS 250 can be implemented as a server type that can be easily accessed through a network or as a mass storage device in the management terminal 200 as well as various types of data storage.

As described above, the coating robot system controls the coating robot 10 and the coating machine separately, and integrally controls the coating robot 10 and the coater by bundling them into the PLC unit 100. The automatic control system is a combination of the management terminal 200 and the PLC unit 100 The flow of various coating lines can be controlled at a glance through monitoring in the central monitoring room. Accordingly, the coating robot system can automate the painting operation using the spray on / off signal according to the shape of the object according to the teaching point set at the painting site.

3 is a flowchart illustrating a data management method of a paint robot system according to an embodiment of the present invention.

3, in the data management method of the paint robot system, the management terminal 200 interlocks with a camera device (not shown), and the shape information of the object 20 is input through the camera device.

The management terminal 200 sets the coating conditions such as the discharge amount of the spray motion, the turbine speed, and the shaping air pressure according to the shape information of the object, detects paint parameters corresponding to the set paint conditions, and generates and stores a paint management table (S2, S3) At this time, the paint management table enables the data change function, the backup / restore function, the data edit function, and the data output function according to the teaching point where the request of the painting site is collected.

The management terminal 200 real-time synchronizes with the PLC unit 100 using the paint management table, and installs and executes a data management program 210 for synchronizing the paint management table and the PLC data.

At this time, when the data management program is installed, the management terminal 200 can select the PLC unit 100 for performing the painting operation among at least one PLC unit 100. When the installation of the data management program is completed, (Backup) folder where the data of the table is backed up, an environment setting (config) folder in which the environment setting file is stored, an icon (icon) folder in which a shortcut icon is created, a language folder A log folder in which log files to be generated are stored is created.

Meanwhile, the management terminal 200 includes interface means for attaching / detaching a dongle key including connection authentication information for executing the data management program. Therefore, since the data management program 210 is executed when the connection authentication information by the dongle key is confirmed, it is possible to prevent the data management program from being executed by an external person or an operator with a low user class, thereby enhancing security.

When the operator clicks the download button in the state of being in connection with the PLC unit 100, the data management program 210 transmits all the local data of the paint management table to the PLC unit 100 in real time, All local The data is automatically stored in the download history (S4)

On the other hand, the PLC unit 100 receives and stores the paint management table, compares the paint management table and the paint parameter values of the corresponding PLC data, and when there are different paint parameter values in the paint management table and the PLC data, (S5, S6, S7) Thus, the operator can confirm that the paint parameter value indicated in red in the data change is the presently changed value, thereby reducing the work error.

The PLC unit 100 downloads the paint management table so that the data is synchronized while the parameter value indicated in red, that is, the changed value is displayed in a normal color (ex. Black). In this way, the PLC unit 100 changes the previously stored PLC data into the paint parameter value in the paint management table and stores it. (S8)

The PLC unit 100 activates the PLC data by reflecting the paint management table in real time according to the job data of each painting robot and the predetermined condition of the path, and outputs a spray on / off signal according to the shape of the object, And the painting operation is performed quickly (S9, S10)

FIG. 4 is a view for explaining an example of an execution screen of the data management program of FIG. 3, FIG. 5 is a view for explaining an example of a sequence table among the paint management tables of FIG. 4, FIG. 7 is a diagram for explaining an example of a management table of a table. FIG.

4 to 6, when the management terminal 200 executes the data management program, the main screen of the paint management table is displayed. In the main screen, environment setting (1), quick access (2) (③), menu bar (④), toolbar (⑤), job information (⑥), data confirmation / operation window (⑦), login status display (⑧) ), And an idle time display (10).

First of all, the environment settings include code management, configuration, backup / recovery, copy table, initialize memory, system, log, language, (Historian) and so on.

Quick access is the same as the configuration, which is a quick launch icon that allows the operator to access the main menu directly. The work model information shows the paint robot, the type of the object (ex, vehicle type), paint color information, and the like.

The menu bar contains main menus such as paint tables, sequence tables, body definitions, color definitions, atomizer parameters, alarm parameters, system parameters, and auto IDs. do.

The paint table performs confirmation / modification of parameter values including spray flow, shaping, air pressure (Atom), high voltage (H.Volt), and user system values, and the sequence table is used for cleaning and filling data And the body definition performs confirmation / modification of the parameters such as the auto check code, the reception code, and the conversion code for each work model.

At this time, the sequence is a function for filling paints, cleaning pipes, cleaning the bell cup, cleaning the painter, and means the on / off state of the paint-related valves and the operation stage of the paint machine. In the PLC unit 100, the operation steps are stored in a table form so that the paint-related valves and the paint machine are automatically operated.

As shown in Fig. 5, the sequence table is managed by a data management program, and manages data scheduled for all the valves of the painting equipment and the sprayer in accordance with the situation, and determines whether or not to turn on / .

The sequence table shows the operating phase at the top, the holding time for each operating phase, the on / off status of the valves related to the coating, and parameter values for washing and filling the sprayer.

The existing sequence table can input time, but it is not intuitive and the time should be set for each painting robot. That is, since the operator has to input the painting robot selection, the operation step addition, the time setting, the valve setting, etc. in order, there is a disadvantage that the number of input related to the time setting is large.

In the sequence table as described above, the paint parameter values and sequences can be managed by the data management program, so that it is easy to manage data, and the length of the sequence table can be adjusted to increase the visibility. It is convenient to input the time of operation step directly to the window. Since the operator can modify the parameter value or display it in red when the PLC data is changed, the operator can intuitively check the parameter value, There are advantages to be able to.

Meanwhile, the color definition displayed on the menu bar performs detailed parameter value setting for each color, the atomizer parameter performs parameter value setting such as cleaning cycle, the alarm parameter performs alarm parameter value setting, and the auto ID is automatically set to the object And carries out data setting for recognizing the type (ex. Vehicle type) of the vehicle, and the system parameter sets the system parameter value.

Toolbars provide tools to manipulate and manipulate data in each menu of the menu bar, and the task information provides brief information about which action is being performed in which menu.

In the data check / action window, click each menu, the corresponding information is loaded on the screen and data can be checked, and the data can be changed to the designated level according to the user's rating.

The login status display differs depending on whether the user is logged in or the user ID of the login ID. At this time, the user class can be roughly divided into general users and administrators. The general user is the grade for the operator of the painting scene, and can check the data of each menu and change the painting parameter value. Administrators can modify or add cell or column information in addition to painting parameter values in the default privileges of the end user.

The PLC unit and connection status display shows the connection status with the PLC unit (100), and indicates the connection status check when the online status is normal and the status is offline. The idle time display indicates the idle time. If there is no operation of the keyboard or mouse, it is counted. If the data management program does not operate for more than the predetermined time (eg 10 minutes), the idle time is automatically logged out.

On the other hand, the management terminal 200 has a history function for managing the history data of the system access record or the use history, a backup / restore function of the PLC data, a real time PLC data correction function, a copying / And a data output function.

6, the management terminal 200 displays the spray flow amount, shaping, air pressure (Atom), high voltage (H.Volt), and user system value in the menu of the paint table (A) The management terminal 200 can activate the numeric input mode by changing the parameter value by double-clicking a specific parameter value (eg, shaping) dmf to change the parameter value (b) The changed parameter values are displayed in red so that the operator can see them at a glance. (C)

When the change of the parameter value is completed in this manner, the management terminal 200 clicks the download button to synchronize the changed parameter value of the paint table with the PLC data of the PLC unit 100.

In addition to this, the management terminal 200 can drag / copy desired data to each table of the paint management table, copy / paste the desired data, open and compare desired windows in multiple ways, .

7 is a diagram illustrating a group copy function of a data management program according to an embodiment of the present invention.

Referring to FIG. 7, the data management program provides a table copy window through the paint management table, and provides a group copy function that can copy data by PLC region by painting robot, model (vehicle model) and color.

That is, the operator selects a painting robot to be an original, selects a target target robot to be copied, and copies and pastes original parameter values. As for the model or color, select the source model and source color as the source, select the target model and color, and copy and paste the original parameter values.

This group copying function can easily copy and paste the parameter values inputted through the handwriting input repeatedly at a time. For example, data from D100 to D3000 in the PLC area can be selected and copied to D3100 to D6000 at once.

However, since it is necessary to input data into the PLC area by painting robots and colors and to input the same data to other models or colors one by one, it is time consuming to repeatedly perform data input, There is a drawback that the accuracy is poor. For example, assuming that the number of PLC addresses is 100,000, 100,000 handwriting inputs per robot, model, and color should be performed.

Thus, the data management program is software that can easily manage the painting or sealing parameters. These data management programs can support various PLC units 100 such as Melesec, Simens, Allen Brandley, and can modify real-time PLC data. In addition to backup and recovery of each table in the paint management table, (Paint parameter value) in the PLC data can be compared with the PLC data, and the data can be outputted by Excel or print, and data editing is possible.

The data management program can be linked with the job file of the painting robot. If the desired painting robot, work model, color, and work are selected, the corresponding 3D path, 2D path, The paint table is activated and displayed automatically.

8 is a view for explaining a virtual pendant according to an embodiment of the present invention.

Referring to FIG. 8, the data management program modifies a limited position for each path using the virtual pendant 260, and supports path deletion, selective area copy, reverse copy, and distribution functions.

The virtual pendant 260 can move the end of the painting robot or rotate the direction of the painting robot on the paint studio, which is the work space of the painting robot, by software from the operator on the management terminal 200.

The virtual pendant 260 provides an interface between movement in the X-axis, Y-axis, and Z-axis on the three-dimensional space and rotation in the X-axis (?), Y-axis (?), And Z- It is possible to set how much to move and rotate in each direction.

In addition, the virtual pendant 260 can set various reference coordinate systems so that the operator can intuitively move the painting robot as needed. In other words, the painting robot can be moved by setting the reference point coordinate system in the simulation space as the reference coordinate system, and the robot can be moved by setting the local coordinate system set at the end of the painting robot as the reference coordinate system.

9 is a schematic view showing the configuration of a management terminal of a data management method of a paint robot system according to another embodiment of the present invention.

Referring to FIG. 9, the management terminal 200 includes a paint table manager module 201 and a paint table DB folder 202.

The paint table manager module 201 holds paint table information including paint specification information stored in each of the PLC units 100 and changes the paint specification of any one of the PLC units 100 And when the change of the paint table information is requested, it creates a paint table edit file corresponding to the changed paint table information.

At this time, the paint table information includes at least one paint parameter value, and the paint parameter value is a value corresponding to the paint condition set according to the shape information of the object, and may be a discharge amount of the spray motion, a turbine speed, a shaping air pressure, .

The paint table DB folder 202 provides a space for storing paint table information stored in each PLC unit 100 and a paint table edit file created through the paint table manager module 201.

Fig. 10 is a flowchart for explaining a data management method of the painting robot system using Fig.

10, the painting standard for the painting robot 10 connected to one of the PLC units 100 of the plurality of PLC units 100 is changed, so that the paint containing the painting standard information of the corresponding PLC unit 100 When it is required to change the table information, the operator executes the paint table manager module 201 through the management terminal 200. (S11)

The operator extracts the paint table information of the PLC unit 100 which is requested to be changed from the paint table information of the paint table information of the PLC unit 100 stored in the paint table DB folder 202 through the paint table manager module The changed portion of the paint table information is input (S12)

Then, the paint table manager module 201 generates a paint table edit file including the changed portion of the paint table information of the corresponding PLC unit 100, and transmits the generated paint table edit file to the corresponding PLC Unit 100. (S13, S14)

The PLC unit 100 receives and stores the paint table edit file and updates the previously stored paint table information based on the paint table edit file. (S16) Then, the PLC unit 100 updates the updated paint table information , The PLC data is activated and then the painting operation is performed (S17)

The PLC unit 100 confirms the paint table DB folder 202 every time one painting process is completed and when the paint table edit file exists in the corresponding folder 202, After updating the stored paint table information, the paint robot 10 is driven based on the updated paint table information.

As described above, the present invention improves the inconvenience of the operator manually finishing each PLC unit 100 requiring the paint table information change, thereby improving the overall efficiency of the painting process.

On the other hand, when the paint parameter value of the PLC unit 100 is changed by the pendant or the virtual pendant 260, the PLC unit 100 generates a parameter edit file including the changed portion of the paint parameter value, 200).

Then, the management terminal 200 receives and stores the parameter edit file, compares the changed paint parameter value included in the parameter edit file with the preset allowable parameter value, and when the changed paint parameter value is out of the allowable paint parameter value, Information is generated and recorded.

At this time, the alarm information includes paint table information including the changed paint parameter values and information of the corresponding PLC unit.

Accordingly, the present invention can accurately identify the paint table information in which the painting parameter values are arbitrarily changed by the operator in the field and the corresponding PLC unit 100 through the alarm information stored by the manager performing monitoring in the central monitoring room, The coating parameter values of the unit 100 can be easily modified.

In this manner, the coating parameter value of the PLC unit 100 is arbitrarily changed by the operator, thereby preventing the occurrence rate of the coating-related defects in the substrate from increasing, thereby improving the coating quality of the substrate.

A data management method of a paint robot system according to an embodiment of the present invention is a method of providing multiple windows by a data management program, which can be used for comparison with other tables, group copy function for dramatically improving work speed, Function, restoration of past data at a specific point in time, convenient data editing function, table column name editing function, data output function, and multilingual support function.

In addition, the data management program has an improved communication speed with the PLC unit 100, a pool proof function for preventing user mistakes, an automatic data backup and a past data deletion function for stability, The overall stability and performance can be improved due to the recovery function, user management function for security enhancement, various operating environment support, and environment setting function that can be modified according to the operating environment.

The data management program can improve readability by applying intuitive and beautiful newest UX (User experience) design with improved usability, and by intuitively selecting and editing paint tables and sequence tables.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims It can be understood that

10: Painting robot 20:
100: PLC unit 200: management terminal
250: DBMS

Claims

A control terminal connected to the control terminal and configured to transmit and receive data to control the operation of the paint robot, and a control unit for controlling the operation of the paint robot, A method for managing data in a robot system,
a) setting the painting conditions according to the shape information of the object when the shape information of the object entering the painting line is input;
b) detecting painting parameters corresponding to the painting conditions to generate and store a paint management table, and performing real-time data synchronization with the PLC unit using the paint management table;
c) The PLC unit compares the paint parameter values of the PLC data corresponding to the paint management table, displays the paint parameter values when there are different paint parameter values, and changes the paint parameter values in the paint management table ; And
d) The PLC unit activates the PLC data by reflecting the paint management table in real time according to the job data of the painting robot and the predetermined condition of the path, and outputs a spray on / off signal according to the shape of the object And performing a painting operation on the data of the painting robot system.

The method according to claim 1,
The step b)
Executing a data management program for the management terminal to synchronize with the PLC data of the PLC unit using the paint management table and selecting a type of PLC unit to be connected through the data management program; And
And outputting a message window for confirming the connection status of the PLC unit when the connection with the PLC unit is released.

3. The method of claim 2,
Wherein the management terminal includes interface means for attaching and detaching a dongle key including connection authentication information for executing the data management program.

3. The method of claim 2,
The data management program may be configured to display environment settings, Quick Access, job model information, menu bar, toolbar, job information, data confirmation / operation window, login status, connection status with the PLC unit, And displaying a main screen of the paint management table including at least one of the menus including the menu.

5. The method of claim 4,
Wherein the menu bar includes at least one of a main menu including a paint table, a sequence table, a body definition, a color definition, an atomizer parameter, an alarm parameter, a system parameter, Data management method of paint robot system.

6. The method of claim 5,
The paint table performs confirmation / change of parameter values including a spray discharge amount (Flow), shaping, air pressure (Atom), high voltage (H.Volt), and user system value,
The sequence table performs confirmation / modification of parameter values for cleaning and filling data,
The body definition performs verification / modification of parameters including an autocheck code, a reception code, and a conversion code for each operation model,
The color definition performs detailed parameter value setting for each color,
Wherein the atomizer parameter performs parameter value setting including a cleaning period,
The alarm parameter performs an alarm parameter value setting,
Wherein the Auto ID automatically performs data setting for recognizing the type of the object.

The method according to claim 6,
Wherein the sequence table manages parameter values for scheduling the operation phase of the paint-related valve and the sprayer, and stores the on / off operation of the valve and the maintenance time for each operation step .

The method according to claim 1,
e) The management terminal includes a hysteresis function for managing history data of the system access record or use history, a backup / restore function of the PLC data, a real time PLC data correction function, a copying / A data editing function, and a data outputting function of the paint robot system.

3. The method of claim 2,
The data management program
And a virtual pendant for remotely adjusting the painting robot by instructing the movement or rotation of the painting robot in a work space of the painting robot.

10. The method of claim 9,
Wherein the virtual pendant provides an interface for movement or rotation to an XYZ axis on a three-dimensional space and provides an offset value for setting a movement amount or a rotation amount in each direction. Of data.

10. The method of claim 9,
The virtual pendant is set using a method of setting a reference coordinate system as a reference coordinate system on the simulation space or a method of setting a local coordinate system set on the end of the painting robot as a reference coordinate system according to user setting And the data is stored in the storage unit.

The method according to claim 1,
The step b)
A group copy function for copying original parameter values to a target object is provided by selecting a painting robot, an object model, or a color in the paint management table and selecting a model or color of a painting robot, And the data is stored in the storage unit.

The method according to claim 1,
e) when the paint table information change is requested by changing the paint specification of the object, the management terminal executes the paint table manager module to generate a paint table edit file,
If the generated paint table edit file is transmitted to a plurality of PLC units, the PLC unit stores the received paint table edit file and updates the paint table information based on the received paint table edit file,
Further comprising the step of performing a painting operation by driving the painting robot based on the updated paint table information by the PLC unit,
The management terminal holds paint table information of the PLC units connected to the management terminal. When the paint table information is changed in accordance with the paint specification change of the object, the management terminal extracts the information of the PLC unit in which the paint table information is changed, And transmitting the paint table edit file to the paint robot.

14. The method of claim 13,
The PLC unit stores the received paint table edit file in the paint table DB folder, checks the paint table DB folder every time one painting process is completed, and creates a new paint table edit file in the paint table DB folder Wherein the controller updates the paint table information on the basis of the updated paint table information, and then drives the painting robot based on the updated paint table information.

14. The method of claim 13,
Wherein the paint table information includes at least one painting parameter value and when a paint parameter value is changed by a pendant for positional movement or rotation of the painting robot in any one of the plurality of PLC units,
The PLC unit generates a parameter edit file corresponding to the changed paint parameter value and transmits the parameter edit file to the management terminal;
Comparing the modified paint parameter value of the parameter edit file with the preset allowable paint parameter value; And
And generating and recording alarm information when the changed paint parameter value deviates from the allowable paint parameter value.