WO2021079542A1 - 塗装用ロボットを備える、ロボットシステム - Google Patents
塗装用ロボットを備える、ロボットシステム Download PDFInfo
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- WO2021079542A1 WO2021079542A1 PCT/JP2020/010468 JP2020010468W WO2021079542A1 WO 2021079542 A1 WO2021079542 A1 WO 2021079542A1 JP 2020010468 W JP2020010468 W JP 2020010468W WO 2021079542 A1 WO2021079542 A1 WO 2021079542A1
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- flow path
- transmitter
- contact type
- paint
- robot system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Definitions
- the present invention relates to a robot system including a painting robot.
- a painting system robot system
- equipment such as explosion-proof flow meters is used in consideration of the formation of a solvent atmosphere by the organic solvent contained in the paint. It is used (see, for example, Patent Document 1).
- a painting system or the like in which an explosion-proof flow meter is arranged in an explosion-proof area is known (see, for example, Patent Documents 2 to 4).
- explosion-proof flowmeters are expensive, and there is a problem that the equipment cost is high. Further, since the flow meter is arranged in the explosion-proof area, there is a problem that maintenance work becomes difficult.
- the present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a robot system capable of reducing the cost of the system and facilitating maintenance work.
- the robot system is connected to a paint supply source, a transmitter, a painting robot, and the paint supply source via the transmitter and the painting robot.
- a non-contact type flow meter arranged so that the portion is located in a non-explosion-proof area and a non-contact type flow meter arranged in the flow path and configured to detect the flow rate of the paint flowing through the flow path.
- the paint supply source, the transmitter, and the painting robot are arranged in the explosion-proof area, and the non-contact type flow meter is arranged in the non-explosion-proof area.
- the cost of the system can be reduced and the maintenance work can be facilitated.
- FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
- FIG. 2 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
- FIG. 3 is a schematic diagram showing a schematic configuration of the robot system of the modified example 1 in the first embodiment.
- FIG. 4A is a flowchart showing an example of the operation of the robot system of the modified example 1 in the first embodiment.
- FIG. 4B is a flowchart showing an example of the operation of the robot system of the modified example 1 in the first embodiment.
- FIG. 5 is a schematic diagram showing a schematic configuration of the robot system according to the second embodiment.
- FIG. 6 is a schematic diagram showing a schematic configuration of the robot system of the first modification in the second embodiment.
- FIG. 7 is a schematic diagram showing a schematic configuration of the robot system according to the third embodiment.
- FIG. 8A is a flowchart showing an example of the operation of the robot system according to the third embodiment.
- FIG. 8B is a flowchart showing an example of the operation of the robot system according to the third embodiment.
- FIG. 8C is a flowchart showing an example of the operation of the robot system according to the third embodiment.
- FIG. 9A is a flowchart showing another example of the operation of the robot system according to the third embodiment.
- FIG. 9B is a flowchart showing another example of the operation of the robot system according to the third embodiment.
- FIG. 9C is a flowchart showing another example of the operation of the robot system according to the third embodiment.
- FIG. 9A is a flowchart showing another example of the operation of the robot system according to the third embodiment.
- FIG. 9B is a flowchart showing another example of the operation of the robot system according to the third embodiment.
- FIG. 9C is
- FIG. 10 is a schematic diagram showing a schematic configuration of the robot system according to the fourth embodiment.
- FIG. 11A is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.
- FIG. 11B is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.
- FIG. 11C is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.
- FIG. 12 is a schematic diagram showing a schematic configuration of the robot system according to the fifth embodiment.
- FIG. 13A is a flowchart showing an example of the operation of the robot system according to the fifth embodiment.
- FIG. 13B is a flowchart showing an example of the operation of the robot system according to the fifth embodiment.
- FIG. 13C is a flowchart showing an example of the operation of the robot system according to the fifth embodiment.
- FIG. 14 is a schematic diagram showing a schematic configuration of the robot system according to the sixth embodiment.
- the robot system according to the first embodiment is connected to a paint supply source, a transmitter, a painting robot, and a painting robot from the paint supply source via a transmitter, and a part of the robot system is located in a non-explosion-proof area.
- a paint supply source comprising a flow path arranged in such a manner and a non-contact type flow meter arranged in the flow path and configured to detect the flow rate of the paint flowing through the flow path.
- the transmitter and the painting robot are arranged in the explosion-proof area, and the non-contact type flow meter is arranged in the non-explosion-proof area.
- the flow path has a first flow path for connecting the transmitter and the painting robot, and the non-contact type flow meter constitutes the first flow path and is not. It may be arranged in the first pipe arranged in the explosion-proof area.
- the piping arranged in the non-explosion-proof area may be made of metal.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
- the robot system 100 includes a paint supply source 10, a transmitter 20, a painting robot 30, a flow path 40, and a non-contact flow meter 50, and comprises a paint.
- the supply source 10, the painting robot 30, and the transmitter 20 are arranged in the explosion-proof area 102, and the non-contact type flow meter 50 is arranged in the non-explosion-proof area 103.
- the paint supply source 10 is arranged in the first explosion-proof area 102C, and the painting robot 30 and the transmitter 20 are arranged in the second explosion-proof area 102B.
- the paint supply source 10 may be arranged in the second explosion-proof area 102B.
- these areas may be referred to as an explosion-proof area 102.
- the explosion-proof area 102 and the non-explosion-proof area 103 are separated by a booth wall 101.
- the second explosion-proof area 102B and the non-explosion-proof area 103 are separated by a booth wall 101A.
- the first explosion-proof area 102C and the non-explosion-proof area 103 are separated by a booth wall 101B.
- these walls may be referred to as the booth wall 101.
- the booth wall 101 is configured to prevent flammable substances (flammable gas) and / or flammable substances (flammable gas) volatilized in the explosion-proof area 102 from flowing into the non-explosion-proof area 103.
- the paint is stored in the paint supply source 10 and is connected to the painting robot 30 via the flow path 40.
- the painting robot 30 may be in any mode as long as it holds the painting gun.
- the painting robot 30 may be composed of, for example, a vertical articulated robot or a horizontal articulated robot.
- a switch 60, a transmitter 20, and a non-contact type flow meter 50 are arranged in the middle of the flow path 40.
- the switch 60 is arranged between the paint supply source 10 and the transmitter 20, and the non-contact type flow meter 50 is arranged between the transmitter 20 and the painting robot 30.
- the flow path connecting between the transmitter 20 and the painting robot 30 is referred to as a first flow path 41
- the flow path connecting between the paint supply source 10 and the transmitter 20 is referred to as a second flow path 42.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the first pipe 41A
- the pipe arranged in the explosion-proof area 102 (second explosion-proof area 102B) is piped. It is called 41B.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the second pipe 42A
- the pipe arranged in the second non-explosion-proof area 102B is referred to as the pipe 42B.
- the pipe arranged in the first explosion-proof area 102C is referred to as a pipe 42C.
- the first pipe 41A arranged in the non-explosion-proof area 103 and the pipe 41B arranged in the explosion-proof area 102, and the second pipe 42A arranged in the non-explosion-proof area 103 and the pipe 42B arranged in the explosion-proof area 102. , 42C are connected by a joint 80, respectively.
- each of the first pipe 41A and the second pipe 42A may be composed of, for example, one pipe or a metal pipe (steel pipe).
- the first pipe 41A and the second pipe 42A may be made of non-metals (for example, plastic such as vinyl chloride, fiber reinforced plastic), respectively.
- the first pipe 41A may be installed in the non-explosion-proof area 103 as follows.
- the first pipe 41A and the joint 80 are installed on the plate-shaped partition wall member 81, and the partition wall member 81 is attached to the opening of the booth wall 101 with appropriate members (bolts, nuts, etc.).
- the first pipe 41A and the pipe 41B are connected by fixing the pipe 41B arranged in the explosion-proof area 102 (second explosion-proof area 102B) to the joint 80.
- the switch 60 may be, for example, a two-way valve (on-off valve), or may be an on-off valve configured so that the valve body opens and closes according to the air pressure.
- the transmitter 20 may be composed of, for example, a gear pump. Further, the transmitter 20 may be composed of a plunger pump and a gear pump. In this case, the plunger pump may be arranged in the first explosion-proof area 102C, and the gear pump may be arranged in the second explosion-proof area 102B.
- the switching device 60 and the transmitter 20 are configured so that their drive is controlled by a control device 70 described later. Further, the switching device 60 and the transmitter 20 are arranged in the explosion-proof area 102 (here, the second explosion-proof area 102B).
- the transmitter 20 is arranged in the explosion-proof area 102 because it may volatilize and flow out of the transmitter 20 in order to send out a paint and / or an organic solvent which is a flammable substance and / or a flammable substance. Has been done.
- the transmitter 20 may have the power source (for example, the motor) of the pump arranged in the explosion-proof area 103 or the explosion-proof area 102. Further, the transmitter 20 may have a pump mechanism (for example, a plunger, a reciprocating mechanism such as a gear, a rotating mechanism) arranged in the explosion-proof area 102.
- a pump mechanism for example, a plunger, a reciprocating mechanism such as a gear, a rotating mechanism
- the non-contact type flow meter 50 may be composed of, for example, an ultrasonic flow meter or an electromagnetic flow meter. Further, the non-contact type flow meter 50 detects the flow rate of the fluid (paint and / or organic solvent) flowing through the flow path 40 (in the first embodiment, the first pipe 41A), and determines the detected flow rate. It is configured to output to the control device 70. Further, the non-contact type flow meter 50 is arranged outside the first pipe 41A, which is arranged in the non-explosion-proof area 103, and does not come into contact with the fluid flowing through the first pipe 41A. The flow rate can be detected.
- the painting robot 30 (robot system 100) has a control device 70.
- the control device 70 may be arranged in the explosion-proof area 102 or may be arranged in the non-explosion-proof area 103.
- the control device 70 includes an arithmetic unit such as a microprocessor and a CPU, a storage device such as a ROM and a RAM, and an input device (none of which are shown).
- the arithmetic unit is configured to read and execute software such as a basic program stored in the storage device to control various operations of each device constituting the robot system 100 such as the painting robot 30.
- the storage device stores the basic program and various data in a readable manner, and the storage device is composed of a known memory, a storage device such as a hard disk, and the like.
- the storage device does not have to be a single device, and may be configured as a plurality of storage devices (for example, random access memory and hard disk drive).
- the control device 70 or the like is composed of a microcomputer, at least a part of the storage device may be configured as an internal memory of the microcomputer or may be configured as an independent memory.
- the data may be stored in the storage device and the data may be read from other than the control device 70, or the data may be written from the control device 70 or the like. Nor.
- the input device is capable of inputting various parameters related to the control of the robot system 100 or other data to the control device 70 (computing device), and is known as a keyboard, a touch panel, a button switch group, or the like. It consists of devices.
- the control device 70 may be composed of a single control device 70 for centralized control, or may be composed of a plurality of control devices 70 for distributed control in cooperation with each other. Further, the control device 70 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
- a microcomputer an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
- FIG. 2 is a flowchart showing an example of the operation of the robot system according to the first embodiment. The following operations are executed by the arithmetic unit of the control device 70 reading a predetermined program stored in the storage device.
- control device 70 determines whether or not the transmitter 20 and the switch 60 are in operation (step S101). In addition, when the switch 60 is in operation, it means that the valve body is opened so that the paint can flow through the flow path 40.
- step S101 When the control device 70 determines that the transmitter 20 and the switch 60 are not in operation (No in step S101), it is considered that the transmitter 20 and the switch 60 are stopped. In this case, since the non-contact type flow meter 50 does not detect the flow rate of the paint, the control device 70 executes the process of step S101 again after, for example, 50 msec.
- the control device 70 determines that the transmitter 20 and the switch 60 are not in operation (No in step S101) and the non-contact type flow meter 50 detects the flow rate of the paint, the transmitter 70. 20 and / or the non-contact type flow meter 50 may be determined to be abnormal (failed).
- step S101 when the control device 70 determines that the transmitter 20 and the switch 60 are in operation (Yes in step S101), the non-contact type flow meter 50 detects the non-contact type flow meter 50. Acquire the flow rate of the paint (step S102).
- the control device 70 determines whether or not the flow rate acquired in step S102 is the first threshold value (step S103).
- the first threshold value may be the flow rate of the paint (or the amount of paint discharged from the paint gun) sent by the transmitter 20 input to the calculation unit by the operator via the input device. Good.
- the first threshold value is a value that takes into consideration the pressure loss of the flow path, the accuracy of the non-contact type flow meter 50, etc. in the flow rate of the paint, for example, an arbitrary value between 95% and 105% with respect to the flow rate of the paint. It may be the value of.
- step S104 determines that the robot system 100 is normal (step S104), for example, after 50 msec.
- the process of step S101 is executed again.
- control device 70 determines that the flow rate acquired in step S102 is not the first threshold value (No in step S103), the control device 70 determines that the robot system 100 is abnormal (step S105), and the notification device. (Not shown) is notified of an abnormality in the robot system 100 (step S106), and this program is terminated.
- Examples of the abnormality of the robot system 100 include a failure of at least one of the transmitter 20, the non-contact flow meter 50, and the switch 60, and / or a paint leak from the flow path 40.
- the control device 70 may determine that the transmitter 20 and / or the non-contact type flow meter 50 has failed. Further, for example, when the flow rate acquired in step S102 is smaller than the first threshold value, the control device 70 determines that an abnormality of paint leakage / clogging has occurred from the switch 60 and / or the flow path 40. You may.
- a mode in which character data or image data or the like is displayed on a display device (screen) may be used, or a mode in which a speaker or siren is used to notify by voice may be used, and a lamp may be used.
- the mode may be such that it is notified by light or color.
- the mode may be such that a smartphone, a mobile phone, a tablet computer, or the like is notified by e-mail or an application via a communication network.
- the non-contact type flow meter 50 is arranged in the non-explosion-proof area 103. That is, by selecting a non-contact type flow meter as the flow meter, there is no possibility that the paint and / or the organic solvent will flow out from the flow meter, so that the flow meter can be arranged in the non-explosion-proof area 103.
- non-contact type flow meter 50 is arranged in the non-explosion-proof area 103, maintenance work can be easily performed.
- the first pipe 41A and the joint 80 are installed, and the partition member 81 is attached to the opening provided in the booth wall 101 to easily attach the first pipe 41A.
- FIG. 3 is a schematic diagram showing a schematic configuration of the robot system of the modified example 1 in the first embodiment.
- the robot system 100 of the present modification 1 has the same basic configuration as the robot system 100 according to the first embodiment, but the third switch 60 and the paint supply source 10 are connected to each other. The difference is that the flow path 43 is provided and two transmitters (first transmitter 20A and second transmitter 20B) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the paint that has passed through the second pipe 42A is applied only to the first flow path 41 side or only to the third flow path 43 side. It may be configured to pass through. Further, the three-way valve may be configured such that the paint that has passed through the second pipe 42A flows through both the first flow path 41 and the third flow path 43 at a predetermined ratio. .. Here, as a predetermined ratio, the flow may flow to the first flow path 41 side at a rate of 75 to 95% and to the third flow path 43 side at a rate of 5 to 25%.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- 4A and 4B are flowcharts showing an example of the operation of the robot system of the modified example 1 in the first embodiment. The following operations are executed by the arithmetic unit of the control device 70 reading a predetermined program stored in the storage device.
- the control device 70 determines whether or not the first transmitter 20A, the second transmitter 20B, and the switch 60 are in operation (step S201).
- the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the first flow path 41.
- the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint passes through the pipe 42B.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S201), the control device 70 executes the process of step S207.
- the process of step S207 will be described later.
- step S201 when the control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are in operation (Yes in step S201), the non-contact flow meter 50 tells the device 70. The flow rate of the paint detected by the non-contact type flow meter 50 is acquired (step S202).
- the control device 70 determines whether or not the flow rate acquired in step S202 is the first threshold value (step S203).
- the first threshold value is the flow rate of the paint (or the amount of paint discharged from the paint gun) sent by the first transmitter 20A, which is input to the calculation unit by the operator via the input device. You may.
- the first threshold value is a value that takes into consideration the pressure loss of the flow path, the accuracy of the non-contact flow meter 50, etc. in the flow rate of the paint, for example, an arbitrary value between 95% and 105% with respect to the flow rate of the paint. It may be the value of.
- step S204 determines that the robot system 100 is normal (step S204), for example, after 50 msec.
- the process of step S201 is executed again.
- control device 70 determines that the flow rate acquired in step S202 is not the first threshold value (No in step S203), the control device 70 determines that the robot system 100 is abnormal (step S205), and the notification device. (Not shown) is notified of an abnormality in the robot system 100 (step S206), and this program is terminated.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S201), the first transmitter 20A is stopped. In addition, it is determined whether or not the second transmitter 20B and the switch 60 are in operation (step S207; see FIG. 4B).
- step S207 the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the third flow path 43.
- the switch 60 when the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint flows from the pipe 42B to the pipe 43B.
- the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S207), the first transmitter 20A, the first transmitter 70 2 It is considered that the transmitter 20B and the switch 60 are stopped. In this case, since it is considered that the non-contact type flow meter 50 does not detect the flow rate of the paint, the control device 70 executes the process of step S201 again after 50 msec, for example.
- the non-contact flow meter 50 When the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S207), the non-contact flow meter 50 When the paint flow rate is detected, at least one of the first transmitter 20A, the second transmitter 20B, and the non-contact type flow meter 50 is abnormal (failed). You may judge.
- control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are operating (Yes in step S207).
- the control device 70 is a non-contact type flow meter. From 50, the flow rate of the paint detected by the non-contact type flow meter 50 is acquired (step S208).
- control device 70 determines whether or not the flow rate acquired in step S208 is equal to or less than the second threshold value (step S209).
- the paint is directed from the paint supply source 10 toward the switch 60, and the second pipe 42A And the pipe 42B, the pipe 43B and the third pipe 43A, and return to the paint supply source 10. That is, it circulates in the flow path between the paint supply source 10 and the switch 60. Therefore, when the robot system 100 is normal, the non-contact type flow meter 50 does not detect the flow rate. Therefore, the second threshold value may be 0.
- step S210 the control device 70 determines that the robot system 100 is normal (step S210), for example, 50 msec. Later, the process of step S201 is executed again.
- step S208 determines that the flow rate acquired in step S208 is larger than the second threshold value (No in step S209), the robot system 100 is abnormal (an abnormality has occurred in the robot system 100). (Step S211), the alarm (not shown) is notified of an abnormality in the robot system 100 (step S212), and the program ends.
- the robot system according to the second embodiment has a second flow path in which the flow path connects the paint supply source and the transmitter, and the non-contact type flow meter is the first. It constitutes two flow paths and is arranged in a second pipe arranged in a non-explosion-proof area.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 5 is a schematic diagram showing a schematic configuration of the robot system according to the second embodiment.
- the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but the first pipe 41A is arranged in the first flow path 41. The difference is that the non-contact type flow meter 50 is arranged in the second pipe 42A.
- FIG. 6 is a schematic diagram showing a schematic configuration of the robot system of the first modification in the second embodiment.
- the robot system 100 of the present modification 1 has the same basic configuration as the robot system 100 according to the second embodiment, but the third switch 60 and the paint supply source 10 are connected to each other. The difference is that the flow path 43 is provided and two transmitters (first transmitter 20A and second transmitter 20B) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the paint that has passed through the second pipe 42A is applied only to the first flow path 41 side or only to the third flow path 43 side. It may be configured to pass through. Further, the three-way valve may be configured such that the paint that has passed through the second pipe 42A flows through both the first flow path 41 and the third flow path 43 at a predetermined ratio. .. Here, as a predetermined ratio, the flow may flow to the first flow path 41 side at a rate of 75 to 95% and to the third flow path 43 side at a rate of 5 to 25%.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- the robot system according to the third embodiment is a non-contact type having a second flow path connecting the paint supply source and the transmitter in the robot system according to the first embodiment or the second embodiment.
- the flow meter constitutes a second flow path and is arranged in a second pipe arranged in a non-explosion-proof area.
- the flow path has a second flow path for connecting the paint supply source and the transmitter, and a third flow path, and the flow path is in the middle of the second flow path.
- the switch is arranged, the third flow path is configured to connect the switch and the paint supply source, and the non-contact type flowmeter constitutes the third flow path and is a non-explosion-proof area. It may be arranged in the third pipe arranged in.
- the flow paths are the first flow path connecting the transmitter and the painting robot, the second flow path connecting the paint supply source and the transmitter, and the third flow path. It has a road, and a switch is arranged in the middle of the second flow path, and the third flow path is configured to connect the switch and the paint supply source, and is a non-contact type.
- the flow meter constitutes the first flow path and constitutes the first pipe and the second flow path arranged in the non-explosion-proof area, and forms the second pipe and the third flow path arranged in the non-explosion-proof area.
- the third pipes configured and arranged in the non-explosion-proof area, they may be arranged in at least two pipes.
- the flow paths are the first flow path connecting the transmitter and the painting robot, the second flow path connecting the paint supply source and the transmitter, and the third flow path. It has a road, and a switch is arranged in the middle of the second flow path, and the third flow path is configured to connect the switch and the paint supply source, and is a non-contact type.
- the flow meter constitutes the second flow path and is arranged in each of the second pipe which constitutes the non-explosion-proof area and the third pipe which forms the third flow path and is arranged in the non-explosion-proof area. You may be.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 7 is a schematic diagram showing a schematic configuration of the robot system according to the third embodiment.
- the robot system 100 according to the third embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but connects the switch 60 and the paint supply source 10.
- the difference is that the contact type flow meter 50B and the third non-contact type flow meter 50C) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- the second non-contact type flow meter 50B is arranged in the second pipe 42A, and the third non-contact type flow meter 50C is arranged in the third pipe 43A.
- the second non-contact type flow meter 50B and the third non-contact type flow meter 50C may be composed of the same type of non-contact type flow meter (for example, ultrasonic flow meter), and different types of non-contact type flow rate. It may be composed of a meter (for example, an ultrasonic flow meter and an electromagnetic flow meter).
- 8A to 8C are flowcharts showing an example of the operation of the robot system according to the third embodiment.
- 9A to 9C are flowcharts showing other examples of the operation of the robot system according to the third embodiment. The following operations are executed by the arithmetic unit of the control device 70 reading a predetermined program stored in the storage device.
- the control device 70 determines whether or not the first transmitter 20A, the second transmitter 20B, and the switch 60 are operating (step S301).
- the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the first flow path 41.
- the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint passes through the pipe 42B.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S301), the control device 70 executes the process of step S311.
- the process of step S311 will be described later.
- step S301 when the control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are operating (Yes in step S301), the control device 70 starts from the second non-contact flow meter 50B. , The flow rate of the paint detected by the second non-contact type flow meter 50B (hereinafter referred to as the second flow rate B) is acquired (step S302).
- the control device 70 determines whether or not the second flow rate B acquired in step S302 is the first threshold value (step S303).
- the first threshold value is the flow rate of the paint (or the amount of paint discharged from the paint gun) sent by the first transmitter 20A, which is input to the calculation unit by the operator via the input device. You may.
- the first threshold value is a value that takes into consideration the pressure loss of the flow path, the accuracy of the non-contact type flow meter 50, etc. in the flow rate of the paint, for example, an arbitrary value between 95% and 105% with respect to the flow rate of the paint. It may be the value of.
- step S304 the control device 70 determines that the robot system 100 is normal (step S304), for example. After 50 msec, the process of step S301 is executed again.
- the third non-contact type flow meter 50C tells the third non-contact type.
- the flow rate of the paint detected by the contact type flow meter 50C (hereinafter referred to as the third flow rate C) is acquired (step S305; see FIG. 8B).
- step S303 when the second flow rate B acquired in step S302 is larger than the first threshold value, the control device 70 sets the first transmitter 20A, the second transmitter 20B, and the second non-contact type flow meter. It may be determined that at least one of the 50Bs is out of order (abnormality), and the abnormality of the robot system 100 may be notified.
- control device 70 determines whether or not the third flow rate C acquired in step S305 is equal to or less than the second threshold value (step S306).
- step S306 When the control device 70 determines that the third flow rate C acquired in step S305 is equal to or less than the second threshold value (Yes in step S306), the switch 60, the first flow path 41, and the second flow path It is determined that clogging has occurred in at least one member (equipment, piping) of 42 (step S307), and an alarm (not shown) is notified of an abnormality in the robot system 100 (step S308). , End this program.
- the reason why the control device 70 determines that the clogging has occurred in step S307 is as follows. Since the flow rate (third flow rate C) detected by the third non-contact type flow meter 50C is equal to or less than the second threshold value, the paint does not flow through the third flow path 43. On the other hand, since the flow rate (second flow rate B) detected by the second non-contact type flow meter 50B is not the first threshold value, the paint flows through the first flow path 41 and the second flow path 42. Since the flow rate is not the first threshold value (less than the first threshold value), it is considered that at least one member of the switch 60, the first flow path 41, and the second flow path 42 is clogged. Because it can be done.
- step S305 when the control device 70 determines that the third flow rate C acquired in step S305 is larger than the second threshold value (No in step S306), the control device 70 determines that the paint is leaking from the switch 60 (No). Step S309), the alarm (not shown) is notified of the abnormality of the robot system 100 (step S310), and this program is terminated.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S301), the first transmitter 20A is stopped. In addition, it is determined whether or not the second transmitter 20B and the switch 60 are in operation (step S311; see FIG. 8C).
- step S311 the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the third flow path 43.
- the switch 60 when the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint flows from the pipe 42B to the pipe 43B.
- the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S311), the first transmitter 20A, the first transmitter 70 2 It is considered that the transmitter 20B and the switch 60 are stopped. In this case, it is considered that the second non-contact type flow meter 50B and the third non-contact type flow meter 50C do not detect the flow rate of the paint, so that the control device 70 performs the process of step S301 again after, for example, 50 msec. To execute.
- the second non-contact type flow rate When the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S311), the second non-contact type flow rate When the total 50B and / or the third non-contact type flow meter 50C detects the flow rate of the paint, the first transmitter 20A, the second transmitter 20B, the second non-contact type flow meter 50B, and the third non-contact type flow meter 50B. Of the type flowmeter 50C, at least one or more devices may be determined to be abnormal (failed).
- step S312 when the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are operating (Yes in step S311), the third non-contact type From the flow meter 50C, the flow rate of the paint (third flow rate C) detected by the third non-contact type flow meter 50C is acquired (step S312).
- the control device 70 determines whether or not the third flow rate C acquired in step S312 is the third threshold value (step S313).
- the third threshold value may be the flow rate of the paint transmitted by the second transmitter 20B, which is input to the calculation unit by the operator via the input device.
- the third threshold value is a value that takes into consideration the flow rate of the paint, pressure loss of the flow path, accuracy of the third non-contact type flow meter 50C, and the like, for example, between 95% and 105% of the flow rate of the paint. It may be any value of.
- step S313 determines that the robot system 100 is normal (step S314), for example. After 50 msec, the process of step S301 is executed again.
- control device 70 determines that the third flow rate C acquired in step S312 is not the third threshold value (No in step S313), the control device 70 determines that the robot system 100 is abnormal (step S315). , A notification device (not shown) is notified of an abnormality in the robot system 100 (step S316), and this program is terminated.
- the control device 70 acquires the paint flow rate (second flow rate B) detected by the second non-contact type flow meter 50B from the second non-contact type flow meter 50B in the process of step S315, and steps S312.
- the flow rate (third flow rate C) acquired in 1 is smaller than the second flow rate B, it may be determined that the switch 60 and / or the third flow path 43 is clogged.
- the control device 70 fails the second non-contact type flow meter 50B and / or the third non-contact type flow meter 50C. It may be determined that it is.
- the other examples of the operation of the robot system according to the third embodiment have the same basic operations as the above-mentioned example of the operation of the robot system according to the third embodiment.
- the difference is that the processes of steps S312A and S313A are executed instead of the processes of steps S312 and S313.
- the second transmitter 70 is second.
- control device 70 determines whether or not the second flow rate B acquired in step S312A is the same as the third flow rate C (step 313A).
- step S314 determines that the robot system 100 is normal. For example, after 50 msec, the process of step S301 is executed again.
- control device 70 determines that the second flow rate B acquired in step S312A is not the same as the third flow rate C (No in step S313A)
- the control device 70 determines that the robot system 100 is abnormal (step). S315), the alarm (not shown) is notified of the abnormality of the robot system 100 (step S316), and this program is terminated.
- the flow path is a transmitter and a painting robot.
- the non-contact type flowmeter having the first flow path to be connected may be arranged in the first pipe which constitutes the first flow path and is arranged in the non-explosion-proof area.
- the flow path has a second flow path connecting the paint supply source and the transmitter, and the non-contact type flow meter constitutes the second flow path and is not. It may be arranged in the second pipe arranged in the explosion-proof area.
- the flow paths are the first flow path connecting the transmitter and the painting robot, the second flow path connecting the paint supply source and the transmitter, and the third flow path. It has a road, and a switch is arranged in the middle of the second flow path, and the third flow path is configured to connect the switch and the paint supply source, and is a non-contact type.
- the flow meter constitutes the first flow path and constitutes the first pipe and the second flow path arranged in the non-explosion-proof area, and forms the second pipe and the third flow path arranged in the non-explosion-proof area.
- the third pipes configured and arranged in the non-explosion-proof area, they may be arranged in at least two pipes.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 10 is a schematic diagram showing a schematic configuration of the robot system according to the fourth embodiment.
- the robot system 100 according to the fourth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but connects the switch 60 and the paint supply source 10.
- the difference is that the contact type flow meter 50A and the second non-contact type flow meter 50B) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- the first non-contact type flow meter 50A is arranged in the first pipe 41A, and the second non-contact type flow meter 50B is arranged in the second pipe 42A.
- the first non-contact type flow meter 50A and the second non-contact type flow meter 50B may be composed of the same type of non-contact type flow meter (for example, ultrasonic flow meter), and different types of non-contact type flow rate. It may be composed of a meter (for example, an ultrasonic flow meter and an electromagnetic flow meter).
- 11A to 11C are flowcharts showing an example of the operation of the robot system according to the fourth embodiment. The following operations are executed by the arithmetic unit of the control device 70 reading a predetermined program stored in the storage device.
- the control device 70 determines whether or not the first transmitter 20A, the second transmitter 20B, and the switch 60 are operating (step S401).
- the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the first flow path 41.
- the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint passes through the pipe 42B.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S401), the control device 70 executes the process of step S410.
- the process of step S410 will be described later.
- control device 70 determines whether or not the first flow rate A acquired in step S402 is the same as the second flow rate B (step 403).
- step S404 determines that the robot system 100 is normal. For example, after 50 msec, the process of step S401 is executed again.
- control device 70 determines that the first flow rate A acquired in step S402 is not the same as the second flow rate B (No in step S403), the first flow rate A acquired in step S402 is the second. It is determined whether or not the flow rate is larger than the flow rate B (step S405; see FIG. 11B).
- step S402 determines that the first flow rate A acquired in step S402 is larger than the second flow rate B (Yes in step S405), clogging occurs in the switch 60 and / or the third flow path 43. It is determined that the robot system is performing (step S406), the alarm (not shown) is notified of the abnormality of the robot system 100 (step S407), and the program is terminated.
- the control device 70 determines that the first flow rate A acquired in step S402 is smaller than the second flow rate B (No in step S405), the first non-contact type flow meter 50A and / or the second non-contact type flow meter 50A.
- the contact type flow meter 50B determines that an abnormality has occurred (step S408), causes an alarm (not shown) to notify the abnormality of the robot system 100 (step S409), and ends this program.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S401), the first transmitter 20A is stopped. In addition, it is determined whether or not the second transmitter 20B and the switch 60 are in operation (step S410; see FIG. 11C).
- step S410 the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the third flow path 43.
- the switch 60 when the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint flows from the pipe 42B to the pipe 43B.
- the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S410), the first transmitter 20A, the first transmitter 70 2 It is considered that the transmitter 20B and the switch 60 are stopped. In this case, it is considered that the second non-contact type flow meter 50B and the third non-contact type flow meter 50C do not detect the flow rate of the paint, so that the control device 70 performs the process of step S401 again after 50 msec, for example. To execute.
- the first non-contact type flow rate When the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S410), the first non-contact type flow rate When the total 50A and / or the second non-contact type flow meter 50B detects the flow rate of the paint, the first transmitter 20A, the second transmitter 20B, the first non-contact type flow meter 50A, and the second non-contact type flow meter 50A. Of the type flowmeter 50B, at least one or more devices may be determined to be abnormal (failed).
- step S410 when the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are operating (Yes in step S410), the second non-contact type From the flow meter 50B, the flow rate of the paint (second flow rate B) detected by the second non-contact type flow meter 50B is acquired (step S411).
- the control device 70 determines whether or not the second flow rate B acquired in step S411 is the third threshold value (step S412).
- the third threshold value may be the flow rate of the paint transmitted by the second transmitter 20B, which is input to the calculation unit by the operator via the input device.
- the third threshold value is a value that takes into consideration the flow rate of the paint, pressure loss of the flow path, accuracy of the third non-contact type flow meter 50C, and the like, for example, between 95% and 105% of the flow rate of the paint. It may be any value of.
- step S411 determines that the second flow rate B acquired in step S411 is the third threshold value (Yes in step S412)
- the control device 70 determines that the robot system 100 is normal (step S413), for example. After 50 msec, the process of step S401 is executed again.
- control device 70 determines that the second flow rate B acquired in step S411 is not the third threshold value (No in step S412)
- the control device 70 determines that the robot system 100 is abnormal (step S414).
- a notification device (not shown) is notified of an abnormality in the robot system 100 (step S415), and this program is terminated.
- the abnormalities of the robot system 100 include failure of at least one of the second transmitter 20B, the second non-contact flow meter 50B, and the switching device 60, and / or paint leakage from the flow path 40. Clogs and the like can be mentioned.
- the control device 70 may determine that the second transmitter 20B and / or the second non-contact type flow meter 50B has failed. Good. Further, for example, when the flow rate acquired in step S411 is smaller than the third threshold value, the control device 70 determines that an abnormality of paint leakage / clogging has occurred from the switch 60 and / or the flow path 40. You may.
- the flow path is a transmitter and a painting robot.
- the non-contact type flowmeter having the first flow path to be connected may be arranged in the first pipe which constitutes the first flow path and is arranged in the non-explosion-proof area.
- the flow path has a second flow path for connecting the paint supply source and the transmitter, and a third flow path, and the flow path is in the middle of the second flow path.
- the switch is arranged, the third flow path is configured to connect the switch and the paint supply source, and the non-contact type flowmeter constitutes the third flow path and is a non-explosion-proof area. It may be arranged in the third pipe arranged in.
- the flow paths are the first flow path connecting the transmitter and the painting robot, the second flow path connecting the paint supply source and the transmitter, and the third flow path. It has a road, and a switch is arranged in the middle of the second flow path, and the third flow path is configured to connect the switch and the paint supply source, and is a non-contact type.
- the flow meter constitutes the first flow path and constitutes the first pipe and the second flow path arranged in the non-explosion-proof area, and forms the second pipe and the third flow path arranged in the non-explosion-proof area.
- the third pipes configured and arranged in the non-explosion-proof area, they may be arranged in at least two pipes.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 12 is a schematic diagram showing a schematic configuration of the robot system according to the fifth embodiment.
- the robot system 100 according to the fifth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but connects the switch 60 and the paint supply source 10.
- the difference is that the contact type flow meter 50A and the third non-contact type flow meter 50C) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- the first non-contact type flow meter 50A is arranged in the first pipe 41A, and the third non-contact type flow meter 50C is arranged in the third pipe 43A.
- the first non-contact type flow meter 50A and the third non-contact type flow meter 50C may be composed of the same type of non-contact type flow meter (for example, ultrasonic flow meter), and different types of non-contact type flow rate. It may be composed of a meter (for example, an ultrasonic flow meter and an electromagnetic flow meter).
- FIGS. 13A to 13C are flowcharts showing an example of the operation of the robot system according to the fifth embodiment. The following operations are executed by the arithmetic unit of the control device 70 reading a predetermined program stored in the storage device.
- the control device 70 determines whether or not the first transmitter 20A, the second transmitter 20B, and the switch 60 are operating (step S501).
- the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the first flow path 41.
- the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint passes through the pipe 42B.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S501), the control device 70 executes the process of step S511.
- the process of step S511 will be described later.
- step S501 when the control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are operating (Yes in step S501), the control device 70 starts from the first non-contact flow meter 50A. , The flow rate of the paint detected by the first non-contact type flow meter 50A (hereinafter referred to as the first flow rate A) is acquired (step S502).
- control device 70 determines whether or not the first flow rate A acquired in step S502 is the first threshold value (step S503).
- step S503 When the control device 70 determines that the first flow rate A acquired in step S502 is the first threshold value (Yes in step S503), the control device 70 determines that the robot system 100 is normal (step S504), for example. After 50 msec, the process of step S501 is executed again.
- the third non-contact type flow meter 50C tells the third non-contact type.
- the flow rate of the paint detected by the contact type flow meter 50C (hereinafter referred to as the third flow rate C) is acquired (step S505; see FIG. 13B).
- the control device 70 includes the first transmitter 20A, the second transmitter 20B, and the first non-contact type flow meter. Of the 50A, it may be determined that at least one device has a failure (abnormality), and the abnormality of the robot system 100 may be notified.
- control device 70 determines whether or not the third flow rate C acquired in step S505 is larger than the second threshold value (step S506).
- control device 70 determines that the third flow rate C acquired in step S505 is larger than the second threshold value (Yes in step S506), the control device 70 determines that the paint is leaking from the switch 60 (step S507). ), Notify the alarm (not shown) of the abnormality of the robot system 100 (step S508), and end this program.
- control device 70 determines that the third flow rate C acquired in step S505 is equal to or less than the second threshold value (No in step S506), the switch 60, the first flow path 41, and the second. It is determined that clogging has occurred in at least one member (equipment, piping) of the flow path 42 (step S509), and an alarm (not shown) is notified of an abnormality in the robot system 100 (step). S510), this program is terminated.
- the reason why the control device 70 determines that the clogging has occurred in step S509 is as follows. Since the flow rate (third flow rate C) detected by the third non-contact type flow meter 50C is equal to or less than the second threshold value, the paint does not flow through the third flow path 43. On the other hand, since the flow rate (first flow rate A) detected by the first non-contact type flow meter 50A is not the first threshold value, the paint passes through the first flow path 41 and the second flow path 42. Since the flow rate is not the first threshold value (less than the first threshold value), it is considered that at least one member of the switch 60, the first flow path 41, and the second flow path 42 is clogged. Because.
- control device 70 determines that the first transmitter 20A, the second transmitter 20B, and the switch 60 are not in operation (No in step S501)
- the first transmitter 20A is stopped.
- it is determined whether or not the second transmitter 20B and the switch 60 are in operation step S511; see FIG. 13C).
- step S511 the fact that the switch 60 is operating means that the paint is operating so as to flow from the second flow path 42 to the third flow path 43.
- the switch 60 when the switch 60 is composed of a three-way valve, it means a state in which the port is connected so that the paint flows from the pipe 42B to the pipe 43B.
- the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S511), the first transmitter 20A, the first transmitter 70 2 It is considered that the transmitter 20B and the switch 60 are stopped. In this case, it is considered that the second non-contact type flow meter 50B and the third non-contact type flow meter 50C do not detect the flow rate of the paint, so that the control device 70 performs the process of step S501 again after 50 msec, for example. To execute.
- the second non-contact type flow rate When the control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are not in operation (No in step S511), the second non-contact type flow rate When the total 50B and / or the third non-contact type flow meter 50C detects the flow rate of the paint, the first transmitter 20A, the second transmitter 20B, the second non-contact type flow meter 50B, and the third non-contact type flow meter 50B. Of the type flowmeter 50C, at least one or more devices may be determined to be abnormal (failed).
- control device 70 determines that the first transmitter 20A is stopped and the second transmitter 20B and the switch 60 are operating (Yes in step S511), the control device 70 is a third non-contact type. From the flow meter 50C, the flow rate of the paint (third flow rate C) detected by the third non-contact type flow meter 50C is acquired (step S512).
- the control device 70 determines whether or not the third flow rate C acquired in step S512 is the third threshold value (step S513).
- the third threshold value may be the flow rate of the paint transmitted by the second transmitter 20B, which is input to the calculation unit by the operator via the input device.
- the third threshold value is a value that takes into consideration the flow rate of the paint, pressure loss of the flow path, accuracy of the third non-contact type flow meter 50C, and the like, for example, between 95% and 105% of the flow rate of the paint. It may be any value of.
- step S512 determines that the third flow rate C acquired in step S512 is the third threshold value (Yes in step S513).
- the control device 70 determines that the robot system 100 is normal (step S514), for example. After 50 msec, the process of step S501 is executed again.
- control device 70 determines that the third flow rate C acquired in step S512 is not the third threshold value (No in step S513), the control device 70 determines that the robot system 100 is abnormal (step S515). , A notification device (not shown) is notified of an abnormality in the robot system 100 (step S516), and this program is terminated.
- step S512 When the flow rate (third flow rate C) acquired in step S512 in the process of step S515 is smaller than the third threshold value, the control device 70 is clogged with the switch 60 and / or the third flow path 43. May be determined to have occurred. Further, in the process of step S515, when the third flow rate C is larger than the third threshold value, the control device 70 determines that the second transmitter 20B and / or the third non-contact type flow meter 50C has failed. You may judge.
- control device 70 acquires the paint flow rate (first flow rate A) detected by the first non-contact type flow meter 50A from the first non-contact type flow meter 50A in the process of step S515, and first.
- first flow rate A is larger than the second threshold value, it may be determined that the paint is leaking from the switch 60.
- the flow path is a transmitter and a painting robot.
- the non-contact type flowmeter having the first flow path to be connected may be arranged in the first pipe which constitutes the first flow path and is arranged in the non-explosion-proof area.
- the flow path has a second flow path for connecting the paint supply source and the transmitter, and a third flow path, and the flow path is in the middle of the second flow path.
- the switch is arranged, the third flow path is configured to connect the switch and the paint supply source, and the non-contact type flowmeter constitutes the third flow path and is a non-explosion-proof area. It may be arranged in the third pipe arranged in.
- the flow path has a second flow path connecting the paint supply source and the transmitter, and the non-contact type flow meter constitutes the second flow path and is not. It may be arranged in the second pipe arranged in the explosion-proof area.
- the flow paths are the first flow path connecting the transmitter and the painting robot, the second flow path connecting the paint supply source and the transmitter, and the third flow path. It has a road, and a switch is arranged in the middle of the second flow path, and the third flow path is configured to connect the switch and the paint supply source, and is a non-contact type.
- the flow meter constitutes the first flow path and constitutes the first pipe and the second flow path arranged in the non-explosion-proof area, and forms the second pipe and the third flow path arranged in the non-explosion-proof area.
- the third pipes configured and arranged in the non-explosion-proof area, they may be arranged in at least two pipes.
- the robot system further includes a control device, and the control device is configured to input the flow rate of the paint detected by the non-contact type flow meter and control the operation of the transmitter.
- the control device is configured to determine whether or not an abnormality has occurred in the flow path based on the flow rate of the paint detected by the non-contact type flow meter and the presence or absence of operation of the transmitter. It may have been done.
- FIG. 14 is a schematic diagram showing a schematic configuration of the robot system according to the sixth embodiment.
- the robot system 100 according to the sixth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but connects the switch 60 and the paint supply source 10.
- the difference is that the contact type flow meter 50A, the second non-contact type flow meter 50B, and the third non-contact type flow meter 50C) are provided.
- the pipe arranged in the non-explosion-proof area 103 is referred to as the third pipe 43A
- the pipe arranged in the second explosion-proof area 102B is referred to as the pipe 43B
- the pipe arranged in the explosion-proof area 102C is referred to as a pipe 43C.
- the switch 60 may be composed of a three-way valve, or may be composed of a two-way valve arranged in each of the pipe 42B and the pipe 43B.
- the first transmitter 20A is configured to deliver the paint to the coating gun of the coating robot 30, and may be configured by, for example, a gear pump. Further, the second transmitter 20B is configured to circulate the paint, and may be configured by a plunger pump.
- the first transmitter 20A is arranged in a portion of the pipe 42B on the downstream side of the switch 60.
- the second transmitter 20B is arranged in the pipe 42C.
- the second transmitter 20B may be arranged in the pipe 43C.
- the first non-contact type flow meter 50A is arranged in the first pipe 41A
- the second non-contact type flow meter 50B is arranged in the second pipe 42A
- the third non-contact type flow meter 50C is arranged. It is arranged in the third pipe 43A.
- the first non-contact type flow meter 50A, the second non-contact type flow meter 50B, and the third non-contact type flow meter 50C are each composed of the same type of non-contact type flow meter (for example, an ultrasonic flow meter). It may be composed of different types of non-contact flowmeters (for example, an ultrasonic flowmeter and an electromagnetic flowmeter).
- the robot system of the present invention is useful because it is provided with a painting robot, the cost of the robot system can be reduced, and maintenance work can be facilitated.
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Abstract
Description
本実施の形態1に係るロボットシステムは、塗料供給源と、送出器と、塗装用ロボットと、塗料供給源から送出器を経て塗装用ロボットと接続され、その一部が非防爆エリアに位置するように配置されている流路と、流路に配置され、当該流路を通流する塗料の流量を検出するように構成されている、非接触型流量計と、を備え、塗料供給源、送出器、及び塗装用ロボットは、防爆エリアに配置され、非接触型流量計は、非防爆エリアに配置されている。
図1は、本実施の形態1に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態1に係るロボットシステム100の動作及び作用効果について、図1及び図2を参照しながら、説明する。
次に、本実施の形態1に係るロボットシステムの変形例について、図3、図4A、及び図4Bを参照しながら、説明する。
図3は、本実施の形態1における変形例1のロボットシステムの概略構成を示す模式図である。
次に、本変形例1のロボットシステム100の動作及び作用効果について、図3、図4A、及び図4Bを参照しながら、説明する。
本実施の形態2に係るロボットシステムは、実施の形態1に係るロボットシステムにおいて、流路が、塗料供給源と送出器を接続する第2流路を有し、非接触型流量計は、第2流路を構成し、非防爆エリアに配置されている第2配管に配設されている。
図5は、本実施の形態2に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態2に係るロボットシステムの変形例について、図6を参照しながら、説明する。なお、本実施の形態2における変形例1のロボットシステムの動作は、実施の形態1における変形例1のロボットシステム100と同様に実行されるため、その詳細な説明は省略する。
図6は、本実施の形態2における変形例1のロボットシステムの概略構成を示す模式図である。
本実施の形態3に係るロボットシステムは、実施の形態1又は実施の形態2に係るロボットシステムにおいて、流路が、塗料供給源と送出器を接続する第2流路を有し、非接触型流量計は、第2流路を構成し、非防爆エリアに配置されている第2配管に配設されている。
図7は、本実施の形態3に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態3に係るロボットシステム100の動作及び作用効果について、図7~図9Cを参照しながら、説明する。
本実施の形態4に係るロボットシステムは、実施の形態1~3(変形例を含む)のうち、いずれか1つの実施の形態に係るロボットシステムにおいて、流路が、送出器と塗装用ロボットを接続する第1流路を有し、非接触型流量計は、第1流路を構成し、非防爆エリアに配置されている第1配管に配設されていてもよい。
図10は、本実施の形態4に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態4に係るロボットシステム100の動作及び作用効果について、図10~図11Cを参照しながら、説明する。
本実施の形態5に係るロボットシステムは、実施の形態1~4(変形例を含む)のうち、いずれか1つの実施の形態に係るロボットシステムにおいて、流路が、送出器と塗装用ロボットを接続する第1流路を有し、非接触型流量計は、第1流路を構成し、非防爆エリアに配置されている第1配管に配設されていてもよい。
図12は、本実施の形態5に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態5に係るロボットシステム100の動作及び作用効果について、図12~図13Cを参照しながら、説明する。
本実施の形態6に係るロボットシステムは、実施の形態1~5(変形例を含む)のうち、いずれか1つの実施の形態に係るロボットシステムにおいて、流路が、送出器と塗装用ロボットを接続する第1流路を有し、非接触型流量計は、第1流路を構成し、非防爆エリアに配置されている第1配管に配設されていてもよい。
図14は、本実施の形態6に係るロボットシステムの概略構成を示す模式図である。
20 送出器
20A 第1送出器
20B 第2送出器
30 塗装用ロボット
40 流路
41 第1流路
41A 第1配管
41B 配管
42 第2流路
42A 第2配管
42B 配管
42C 配管
43 第3流路
43A 第3配管
43B 配管
43C 配管
50 非接触型流量計
50A 第1非接触型流量計
50B 第2非接触型流量計
50C 第3非接触型流量計
60 切替器
70 制御装置
80 継手
81 隔壁部材
100 ロボットシステム
101 ブース壁
101A ブース壁
101B ブース壁
102 防爆エリア
102B 第2防爆エリア
102C 第1防爆エリア
103 非防爆エリア
Claims (8)
- 塗料供給源と、
送出器と、
塗装用ロボットと、
前記塗料供給源から前記送出器を経て前記塗装用ロボットと接続され、その一部が非防爆エリアに位置するように配置されている流路と、
前記流路に配置され、当該流路を通流する塗料の流量を検出するように構成されている、非接触型流量計と、を備え、
前記塗料供給源、前記送出器、及び前記塗装用ロボットは、防爆エリアに配置され、
前記非接触型流量計は、前記非防爆エリアに配置されている、ロボットシステム。 - 前記流路は、前記送出器と前記塗装用ロボットを接続する第1流路を有し、
前記非接触型流量計は、前記第1流路を構成し、前記非防爆エリアに配置されている第1配管に配設されている、請求項1に記載のロボットシステム。 - 前記流路は、前記塗料供給源と前記送出器を接続する第2流路を有し、
前記非接触型流量計は、前記第2流路を構成し、前記非防爆エリアに配置されている第2配管に配設されている、請求項1又は2に記載のロボットシステム。 - 前記流路は、前記塗料供給源と前記送出器を接続する第2流路と、第3流路と、を有し、
前記第2流路の途中には、切替器が配設されていて、
前記第3流路は、前記切替器と前記塗料供給源を接続するように構成されていて、
前記非接触型流量計は、前記第3流路を構成し、前記非防爆エリアに配置されている第3配管に配設されている、請求項2又は3に記載のロボットシステム。 - 制御装置をさらに備え、
前記制御装置は、前記非接触型流量計が検出した前記塗料の流量が入力され、かつ、前記送出器の動作を制御するように構成されていて、
前記制御装置は、前記非接触型流量計が検出した前記塗料の流量と、前記送出器の動作の有無と、を基に、前記流路に異常が発生しているか否かを判定するように構成されている、請求項1~4のいずれか1項に記載のロボットシステム。 - 塗料供給源と、
送出器と、
塗装用ロボットと、
前記塗料供給源から前記送出器を経て前記塗装用ロボットと接続され、その一部が非防爆エリアに位置するように配置されている流路と、
前記流路に配置され、当該流路を通流する塗料の流量を検出するように構成されている、非接触型流量計と、を備え、
前記流路が、前記送出器と前記塗装用ロボットを接続する第1流路と、前記塗料供給源と前記送出器を接続する第2流路と、前記第3流路と、を有し、
前記第2流路の途中には、切替器が配設されていて、
前記第3流路は、前記切替器と前記塗料供給源を接続するように構成されていて、
前記非接触型流量計は、前記第1流路を構成し、前記非防爆エリアに配置されている第1配管、前記第2流路を構成し、前記非防爆エリアに配置されている第2配管、及び前記第3流路を構成し、前記非防爆エリアに配置されている第3配管のうち、少なくとも2つの配管に配設されている、ロボットシステム。 - 塗料供給源と、
送出器と、
塗装用ロボットと、
前記塗料供給源から前記送出器を経て前記塗装用ロボットと接続され、その一部が非防爆エリアに位置するように配置されている流路と、
前記流路に配置され、当該流路を通流する塗料の流量を検出するように構成されている、非接触型流量計と、を備え、
前記流路が、前記送出器と前記塗装用ロボットを接続する第1流路と、前記塗料供給源と前記送出器を接続する第2流路と、前記第3流路と、を有し、
前記第2流路の途中には、切替器が配設されていて、
前記第3流路は、前記切替器と前記塗料供給源を接続するように構成されていて、
前記非接触型流量計は、前記第2流路を構成し、前記非防爆エリアに配置されている第2配管、及び前記第3流路を構成し、前記非防爆エリアに配置されている第3配管のそれぞれに配設されている、ロボットシステム。 - 前記非防爆エリアに配置されている配管は、金属で構成されている、請求項2~7のいずれか1項に記載のロボットシステム。
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JP2020515055A JP6814909B1 (ja) | 2019-10-25 | 2020-03-11 | 塗装用ロボットを備える、ロボットシステム |
US17/610,354 US20220241809A1 (en) | 2019-10-25 | 2020-03-11 | Robot system provided with painting robot |
KR1020227016862A KR20220084161A (ko) | 2019-10-25 | 2020-03-11 | 도장용 로봇을 구비하는 로봇 시스템 |
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