JPH0321363A - Painting robot - Google Patents

Abstract

PURPOSE:To bond a film having a uniform thickness on the entire surface of a work by making it possible to automatically correct the revolving position of a spray pattern corresponding to the moving direction of a painting gun. CONSTITUTION:A painting gun 16 is controlled on the basis of preliminarily inputted data so as to move along a predetermined operating locus. The spray pattern correcting means 18E of a control apparatus 18 corrects the revolving position of a spray pattern so that the oval spray pattern sprayed from the gun 16 holds a definite direction with respect to the moving direction of the gun 16. As a result, teaching operation is simplified as compared with a conventional apparatus and can be completed within a shorter time. Further, the shift of the revolving position of the spray pattern can be reduced and a film having a uniform thickness can be bonded and formed on the entire surface of a work.

Description

[Detailed Description of the Invention] Industrial Icheon Demarcation The present invention relates to a robot equipped with %i*, especially when the spray pattern of paint sprayed from a paint gun is transferred from the paint gun.
The present invention relates to a painting robot configured to automatically correct according to the ZJ direction.

Conventional technology In the Kawaguchi pot painting system, which applies coating to a workpiece as an object to be painted, when the workpiece is conveyed to the painting station by a conveyor system etc., a pre-eached painting operation is performed on the workpiece. ．． 0 bottles for this type of painting
In this case, a paint gun that sprays paint is installed at the tip of the 7-m, and each movable part such as an arm moves in a predetermined manner, and the paint gun is moved to spray a mist of paint over the entire surface of the workpiece. Spray. In this way, the φ gun that sprays the paint (
For example, a spray outlet for a pattern sprayer 7 is provided near the paint outlet, and the atomized paint sprayed from the paint outlet is sprayed so that the pattern spray pattern is elliptical. The direction is defined by υ1.

Then, the paint gun sprays the paint film onto the workpiece!
In order to make the thickness uniform, the paint is sprayed from a direction perpendicular to the surface of the work to be covered, and the paint is applied while moving in the short axis direction of the spray pattern.

Problems to be Solved by the Invention In conventional painting robots, a teaching operation is performed in advance so as to perform a painting operation according to the shape of the workpiece.

In this teaching operation, the operating angle, ann speed, etc. of the 8 moving parts of the painting Kawaguchi pot are taught so that the painting gun coats the entire surface of the workpiece, and
The operating angle of the wrist mechanism that supports the paint gun at the tip of the 7-arm is adjusted so that the spray direction of the paint gun is perpendicular to the workpiece painting surface and the short axis direction of the smudge pattern matches the moving direction of the paint gun. 7 each had to be done. In this way, conventional painting robots perform predetermined painting operations while following the transport of the workpiece, so the spray pattern of the painting gun must be corrected during teaching according to the @ movement angle of each movable part. That Daveng operation
Not only is this troublesome, but it also hinders the shortening of the teaching and fixing time.

Therefore, the present invention provides a painting robot IIi! that solves the above problems. The purpose is to provide

Means for Solving the Problems The present invention provides the above-mentioned painting Kawaguchi bot, which rotates the soot pattern so that the elliptical soot pattern sprayed from the paint gun has a constant direction with respect to the moving direction of the paint gun. 40v! A blur pattern correction means to correct l! 3
I get raped.

0 River spray pattern @ For painting excluding positioning costs [The teaching operation is completed just by teaching the painting operation of one bot, and the direction of the spray pattern is maintained in a constant direction with respect to the moving direction of the painting gun. is automatically corrected, eliminating the need for deeding operations to correct the spray pattern.

The present invention is shown in Example 1 W4 and FIG. 2! ! ! An example of a wearable robot is shown.

In both figures, the workpiece 1 to be coated is conveyor 1i1!
In the painting process where the paint is transported in the direction of arrow xh by 2,
A painting robot 3 is installed near the conveyor device 2, and the painting robot 3 has a training W 118 to be described later, each movable part is tugged by a control equipment 18, and the workpiece 1 is At the same time as passing through the ψ mounting station, predetermined painting work that has been set in advance is carried out.

In FIG. 1, a swing drive section 5 is provided on a base 4. As shown in FIG. A swing base 6 is provided above the swing part 5 and rotates around an axis MA fixed to the base 4. A bracket 6a on the swing base 6 is provided with a support 7 that rotates around an axis B perpendicular to the axis 11A of the swing base 6. In addition, the turning base 6
A support column 7 is provided that rotates around an axis 11B that is orthogonal to the axis 8 of the column. Further, a support column driving section 8 is provided on the bracket 6a on the swing base 6.

The upper end of the support 7 is connected to the axis B of the support 7 and the upper end of the support 7.
A 7-arm 9 that rotates about an axis C is provided so as to be freely rotatable. There is a U at the connection between arm 9 and support 7, arm drive! ! One part 10 is provided. Also, arm 9
A wrist drive section 11 is provided at the rear of the wrist. Furthermore, a wrist mechanism 12 is provided at the tip of the arm 9. U to wrist mechanism 12, case 13.14 and installation @15
is set up. The case 13 is configured to rotate around an axis D parallel to the axis mc of the arm 9.

The case 14 rotates around an axis E that is perpendicular to the axis 1i1D of the case 13. Mounting shaft 15
is the mounting part of the Φ mounted gun 16, and the axis E of the case 14 is
The object is centered on the axis 1i1F that is perpendicular to .

As shown in FIG. 3, the coating gun 16 is held on a mounting shaft 15 at the tip of the arm 9, and rotates together with this mounting shaft 15. At the tip of the paint gun 16 is a sprayer 01 that sprays paint.
6a, and a pair of protrusions F[I16b, 16c that protrude forward from both diagonals of the liquid outlet 16a. A pair of protrusions 16b. 16c, there are air outlets 16b, .
1 6C1 is open.

Therefore, the paint U sprayed in a mist form from the paint outlet 16a of the paint no.
c. The condensed air blown out restricts the soot pattern 17 to a substantially elliptical shape. This spray pattern 1
7, as shown in FIG.
The direction perpendicular to is the long axis b that is not defined by the pattern air. When the mounting shaft 15 supporting the painting gun 16 rotates, for example, 90 degrees around the axis F, the spray pattern 17 changes from the V horizontal pattern shown by the solid line in FIG. 4 to the vertical pattern shown by the dashed line. Switch.

18 is l. lJ I! At I'Affi, teaching data is stored and the operation of the t-equipped robot 3 is controlled in conjunction with the transport of the workpiece 1. Therefore, each drive part of the painting robot 3 is driven by the command from the rI4 control device 17, and the rotating base 6. Pillar 7. Each movable part such as the arm 9 and the wrist device 112 operates. A coating gun 16 provided at the tip of the arm 9 applies coating to the workpiece 1 by moving to each point A, 8.0, . . . J, as shown in FIG. 4, for example.

In FIG. 2, a control device N18 controls each painting robot 3 configured as described above to perform a predetermined painting operation based on teaching data inputted in advance. ! A control circuit 18A that controls the A moving part υ1, a motor drive circuit 1813 that outputs drive signals to each drive part of the painting robot 3 according to instructions from the control circuit 18A, and each movable part of the painting robot 3.
It has a teaching data manual device ff18c for inputting teaching data such as the operating angle and operating speed of the J section, and a memory 180 for storing teaching data and the like. or,
As described later, the control IIlt@route 18A controls the moving direction of the paint gun 16 based on the teaching date and also controls the rotation angle of the paint gun 16 in the direction of the arrow F to rotate the spray pattern 17. Spray pattern correction means 18E is provided to automatically correct the position.

Reference numeral 19 denotes a workpiece detection switch that detects when the workpiece 1 is at the painting work position 631, and is installed near the conveyor equipment 2 on the upstream side of the painting robot 3. And the lesson! When the detection signal from the workpiece detection switch 19 is input, the l@ path 18A controls each of the painting robots 3 so that the painting robot 3 performs a painting operation on the workpiece 1 based on the teaching data stored in the memory 18D&-.
! ! Control the wJ club.

The painting robot with the above configuration is a playback type that repeats painting operations taught in advance, and the teaching method is, for example, P'TP (PO[MT To P
OINr) teaching method is adopted. Therefore, when performing the painting operation on the workpiece 1, the paint gun 16 should always spray the paint from the direction perpendicular to the surface of the workpiece 1 to be painted.
Any point position ffiA on the work0' trajectory. [3. C.
...Teach only J. In addition, in the apparatus of the present invention, the rotation of the spray pattern 17 is automatically corrected so that the spray pattern 17 maintains a constant orientation with respect to the moving direction of the U coating gun 16. There is no need to teach the robot, which simplifies the teaching operation and shortens the teaching time.

Therefore, during teaching, teaching data other than the rotational rib position of the spray pattern is inputted from the teaching data input device ff18c for each point and stored in the memory 18D. In addition, at the time of replay (playback), the control 11 circuit 188 subdivides the taught points and directs them directly, so each movable part of the painting robot 3 is moved by the painting gun 16 at each point. A. B.・・・
・It moves smoothly and continuously between j. or,
During the teaching operation, not only the above-mentioned hook of the painting mouth bot 3, but also the position of painting ON and OFF on the movement locus of each point prisoner are taught.

Here, with reference to FIG. 5, the process executed by the lbl1 gomokuji 18A will be explained.

In FIG. 4, points 1, ! on the ribbing locus in which the coating gun 16 moves from point A to point 13 will be explained. III
t1 circuit 1 8A$J First, the ordinal number f of the current point 8 is @washed (step S1), and then the ordinal number r2 of the next point B is calculated (step 32). And Suup S
l. Points A. obtained in S2. 8 ordinal f+. The moving direction of the painting gun 16 is calculated based on fz (step S
3).

Therefore, in step S3, point A. When it is determined that the moving direction of the painting gun 16 of Bfffl is the arrow ×1 direction, in the next step S4, the orientation (rotation position δ) of the spray pattern 17 with respect to the painting gun moving direction is calculated, and the axis of the painting gun 16 is calculated. Correct the rotation angle around F. That is, when the paint gun 16 moves from point 8 to point 8, the axis a of the spray pattern 17 moves in the moving direction (arrow X+ direction).
The rotational position of the spray pattern 17 is automatically corrected so as to be in the same direction.

Therefore, paint. When the gun 16 paints the workpiece 1 while moving between points A and 81, the spray pattern 17 is set in a vertically elongated pattern as shown by the gl line at one point in FIG. Then, while the painting gun 16 moves iIe in the direction of arrow X+, the arm 9 rotates horizontally, and the wrist mechanism 12 rotates so that the paint ejected from the UP gun 16 is sprayed onto the workpiece 1 from the vertical direction. Although the spray pattern 17 operates, the spray pattern 17 is held at the @working position where the axis a coincides with the direction of movement.

Also, the paint gun 16 is point B. (When moving Jt in the direction of the arrow Yh, steps 81 to S4 are performed in the same manner as above, and the rotation of the blur pattern 17 is {i7.ff
is corrected. That is, the spray pattern 17 is rotated 90 degrees in the direction of the arrow E so that the short axis a of the spray pattern 17 coincides with the direction of the arrow Y, and the spray pattern 17 corresponds to the long pattern Ia (indicated by the solid line in FIG. 3). ).

Also, the paint gun 16 is the point c. When moving on in the arrow x 2 direction, point C. as in 1. D II! After the target is calculated, the moving direction of the coating gun 16 is calculated.

As a result, the coating gun is rotated 1190 degrees so that the minor axis a of the τ spray pattern 17 coincides with the arrow X2 direction, which is the 1!5 motion h direction. In this way, the coating gun 16 automatically corrects the initial position of the spray pattern 17 according to the direction of movement and adjusts the initial position of the spray pattern 17 at each point A. B.・-J Move lffl. Therefore, when painting workpiece 1, always use stain pattern 1.
Since the direction of the knowing wheel 7 coincides with the moving direction of the coating gun 16, a coating film of uniform thickness is formed on the surface of the workpiece 1 to be coated.

The paint is sprayed from the paint gun 16 only in the section facing the workpiece 1 in FIG.
IS+-11 questions are taught not to spray the ψ size.

Further, as described above, when the correction angle of the blur pattern 17 is f.
Since it is accurately calculated by the calculation of the lJt1 circuit 18A, the spray pattern 17 can be determined by teaching as in the conventional method.
This method has higher accuracy than the method of setting the rotational rib position, and the deviation of the workpiece 1 from the target rIIvtiMi is extremely small.
There is less occurrence of paint unevenness, etc.

In the above embodiment, since the workpiece 1 has a pure rectangular shape, the operation trace of the coating gun 16 is set in a horizontal zigzag shape, but in the actual painting process, the trace is complicated. Many of the workpieces have different shapes, and the lifting action of the lifting gun 16 is not limited to the directions of the arrows X+ and X2, but may also be upward or downward, or in diagonal directions inclined upward or downward.

In this way, even if the moving direction of the PS gun 16 is in a direction other than the horizontal direction, the rotational position of the spray pattern 17 is automatically &-corrected so that it matches the moving direction of the short aS paint gun 16. be done.

In addition, in normal painting work, painting is done so that the minor axis a of the spray pattern 17 coincides with the moving direction of the *i gun 16, but when increasing the thickness of the rI4 coating, for example, the length of the spray pattern 17 is The moving position of the spray pattern 17 is corrected so that the axis b coincides with the moving direction of the coating nozzle 16.

Effects of the Invention As described above, the coating robot according to the present invention can automatically correct the rotational position n of the spray pattern according to the moving direction of the coating gun. Since only the operation of the painting robot is taught, excluding teaching, the teaching operation is simpler than with conventional devices, and the evening operation can be completed in a shorter time. Furthermore, the rotation position aePs of the spray pattern can be calculated to accurately determine the rotation start {Q position of the spray pattern. It is possible to reduce the deviation of the rotating position of the spray pattern compared to a device that teaches It has characteristics.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an embodiment of the painting robot according to the present invention, FIG. 21) is a schematic configuration diagram of the painting robot, and FIG.
41st! ! FIG. 5, which is a front view of the workpiece showing the operation locus of the lLt painting gun, is a 70-chart for explaining the processing executed by the TSM circuit. DESCRIPTION OF SYMBOLS 1...Work, 3...Painted Kawaguchi bot, 9...Arm, 12...Wrist mechanism, 15...Mounting shaft, 16...
...Painting gun, 17...Spray pattern, 18...
Discipline control device, 18A... test circuit, 18C... deeding data manual installation, 18E... blur pattern correction means, 19... work detection switch. Figure 2 Figure 3 Figure 4 Figure 5 Mouth

Claims (1)

[Scope of Claim] In a painting robot in which a painting gun is controlled to move along a predetermined motion trajectory based on data input in advance, an elliptical shape sprayed by the painting gun in the moving direction of the painting gun. 1. A painting robot comprising a spray pattern correcting means for correcting the rotational position of the spray pattern so that the spray pattern maintains a constant direction.