JPH0677714B2 - Conveyor interlocking method for painting robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is a method for automatically coating an object to be continuously conveyed by a conveyor by a coating robot, which has an expensive conveyor follow-up function. It can be easily implemented at low cost without using a painting robot with functions.
In particular, the present invention relates to a method of interlocking a conveyor of a painting robot that facilitates teaching.

[Prior Art] A method of driving a coating robot with a pre-teached content on an object to be continuously conveyed by a conveyor is to apply a motion corresponding to the moving position of the object to the coating robot. There are several possibilities.

In the conventional painting robot, the most common method is to install a pulse transmitter in the drive section of the conveyor and automatically store the movement amount with the starting point at the teaching position as a starting point. A method has been employed in which the position and the position currently in operation are compared and calculated, and work is performed according to the position accompanying the movement of the object to be coated.

Therefore, when teaching the work to the painting robot with the object to be coated stopped during teaching and repainting,
Work is performed in such a way that the coating robot follows the continuously moving object to be coated.Of course, the coating robot needs a conveyor follow-up function, and the conveyor is equipped with a synchronous pulse transmitter and these are connected by external wiring. You need to do it.

[Problems to be Solved by the Invention] The coating robot has high versatility and can cope with various conditions, so that it is necessary to have high functionality and cost is high. It is becoming more and more demanding on the user side that it can be used for any purpose.

In addition, when painting with a painting robot, the effect is greatly influenced by the teaching work, and the quality of the paint used, such as the finish, is good or bad.
It depends on the teaching. Therefore, whether or not the teaching work can be easily performed is extremely important in handling the painting robot. From this, it is a great advantage that the stopped object to be coated can be taught.

However, in order to perform the coating by following this on the conveyor by performing this, in the above-mentioned conventional method, the linkage with the conveyor naturally requires an expensive and highly-functional coating robot, It is necessary to attach a pulse generator unit for synchronization to the conveyor drive unit that conveys the coating material, connect it to the coating robot by external wiring, and operate the coating robot in accordance with the drive of the conveyor.

Also, because the object to be taught is stopped at an appropriate position and data is created, unlike the relative position of the object to be coated and the coating robot during actual coating, the coating robot's tracking function allows the coating robot's arm to move. It will correspond to the posture. Therefore, depending on the object to be coated, it is necessary to consider the change in the posture of the arm in advance, and the teaching at rest must be considered, which leaves skill and difficulty and requires a lot of time. It is an object of the present invention to eliminate the difficulty in teaching operation and to obtain a low-cost conveyor interlocking method that can be easily used, particularly a conveyor interlocking method that facilitates teaching.

[Means for Solving Problems] The present invention solves the above problems by a coating robot that performs a coating operation by a taught operation on an object to be coated continuously conveyed by a conveyor. As a solving means in the case of performing a teaching work using a playback type coating robot that does not have a follow-up function with the conveyor, when one of the driving shafts of the coating robot is operating, it is discriminated during operation. And outputs the drive signal of the conveyor, and when all the drive axes of the coating robot are stopped, it is determined whether or not it is stopped, the memory of the coating robot is stopped, and the conveyor is stopped. By outputting a signal, the drive signal, the stop signal,
Along with interlocking control of driving and stopping of the conveyor,
The present invention provides a method of interlocking a conveyor of a coating robot, which reproduces the memory of the coating robot without stopping the conveyor during reproduction.

[Operation] If the coating work is taught while the arm of the coating robot is directly moved with respect to the object to be coated which is conveyed while being continuously moved by the conveyor, and the coating work is taught while following the object to be coated attached to the conveyor, When the arm is moving (during operation), that is, when one of the drive shafts of the coating robot is moving, the conveyor moves, and when the movement of the coating robot arm is stopped (stopping), the conveyor also stops. Therefore, it is possible to take a break after each work or teach while studying. Further, at the time of reproduction, the memory of the coating robot is reproduced without stopping the conveyor, and the conveyor is interlocked.

[Embodiment] FIG. 1 is a conceptual diagram for explaining an embodiment of the present invention. The coating robot 1 is an articulated playback type coating robot that does not have a function of following the conveyor. The coating robot 6 is attached to the tip of the arm 11 of the coating robot 1 to coat the object 2 to be coated. is there. In this case, the article to be coated 2 is hung on the hanger 4 of the trolley conveyor 3 and continuously conveyed. The conveyor 3 is driven by the driving device 5, but these systems are conventionally used.

The teaching work of the painting robot 1 is performed by continuous teaching (CP teaching) performed by directly moving the painting robot. The movement is memorized only when one of the driving axes of the painting robot is operating, and the conveyor is not operated during painting. Without stopping, it is played back repeatedly with exactly the same movement as the painting robot's memory. That is, when the coating robot 1 is driven, each drive axis (for example, 5 axes) is driven in its respective range, which corresponds to a complicated movement, but when even one axis is moving, it is determined to be operating. If all axes are stopped, it is determined that the axes are stopped. During these operations,
When the painting robot moves during the teaching work, the movement of the painting robot is memorized and the driving signal is output so that the driving device 5 of the conveyor 3 automatically works together. When the painting robot 1 stops the teaching work and stops, the memory of the painting robot is stopped, and a stop signal is output to automatically stop the conveyor 3 in conjunction.

However, depending on the characteristics of the conveyer 3, the movement amount corresponding to the coating time may not always be obtained. In such a case, it is necessary to measure the movement characteristics of the conveyor in advance and correct the feed amount, and this correction can be performed using a delay means by a timer.

When coating the object to be coated 2, first determine the position to be the starting point of the operation with the start limit switch 7, and then use this switch 7
The starting point is when is activated. Arm 11 of coating robot 1
When the teaching work for the article to be coated 2 is started, the movement (moving or stopped) of the arm 11 causes the conveyor 3 to be driven or stopped. That is, when the arm 11 is moved, the conveyor 3 also moves, and when the movement of the arm 11 is stopped, the conveyor 3 also stops. Therefore, the teaching can be performed without being disturbed by the movement of the conveyor 3.

In the actual teaching work, while moving the conveyor 3 at a low speed, the arm 11 of the coating robot 1 is directly moved to perform the teaching. Therefore, accurate teaching can be easily performed by slow movement.
At this time, if the arm 11 is stopped by the teaching operation, the memory of the coating robot 1 is stopped and the conveyor 3 is also stopped, so that the teaching can be conducted while sufficiently examining. In this way, based on the teaching data, when performing the regenerating operation, that is, the actual painting, increase the conveyor speed,
Accordingly, the operating speed of the coating robot 1 is increased to maintain the relative speed, and the coating can be performed while keeping the relative position constant.

As described above, according to the present invention, the linkage between the coating robot that does not have the function of following the conveyor and the conveyor that conveys the object to be coated is driven by the drive determination signal based on the operation of the coating robot. By causing the device to output as a start or stop signal, the teaching work can be simplified while resting or considering each teaching work without being disturbed by the movement of the conveyor.

Therefore, not only a conventional painting robot having an expensive conveyor follow-up function is not required, but also a synchronous pulse transmitter or the like provided on the conveyor and external wiring therefor are not required, and the cost can be greatly reduced.

Further, even when the painting work data is created, the continuous teaching is directly performed to automatically interlock with the conveyor, so that the operation is not complicated. In addition, since the relative position is maintained by interlocking the position of the object to be coated and the position of the coating robot during teaching, teaching can be done while facing the object to be coated, facilitating teaching itself. Many effects can be obtained, such as processing in time and improving work efficiency.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an outline of an apparatus for carrying out the method of the invention. 1 ... Painting robot 2 ... Object to be coated 3 ... Conveyor 5 ... Drive device

Claims (1)

[Claims] 1. A coating robot for performing a coating operation by a taught operation on an object to be coated continuously conveyed by a conveyor, which is a playback type robot having no function of following the conveyor. In a method for linking a conveyor of a coating robot, during teaching of the coating robot, when one of the driving axes of the coating robot is operating, the movement of the coating robot is stored and a determination is made during operation of the conveyor. When all the drive axes of the coating robot are stopped, it is determined that the coating robot is stopped, the memory of the coating robot is stopped, and the stop signal of the conveyor is output. Then, the drive signal and stop signal are used to interlock the drive and stop of the conveyor, and at the time of reproduction, the conveyor is stopped. Conveyor link method of painting robots to reproduce the memory of the painting robot without.