JPS614562A - Painting system of rear surface of floor for automobile body - Google Patents

Abstract

PURPOSE:To improve the painting capacity by detecting the position of a body by the counted value of pulses corresponding to the movement of a conveyor, and controlling the position of a painting robot without fixing the position of the body. CONSTITUTION:When the transmission of light to a photoelectric switch 6 is intercepted by a front fender W2 of a body W, the detected signal is outputted, the counted value in a controller 41 becomes zero, and the counting of the pulse signal from a pulse pickup 25 is started. Then when the entering of the body W into the painting zone of a robot 4 is decided by the controller 41 on the basis of the counted value, painting control by the synchronous control of a conveyor is started by the controller 41, and the painting is carried out by the robot 4 which follows synchronously the movement of the body and keeps the specified relative positional relation with the body. Since the position in the widthwise direction of the body W is controlled by a guide rail 35 and a guide roller 36, accurate and efficient painting can be carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automotive body floor coating system that greatly contributes to automation.

(Prior art) In recent years, there has been a call for stronger rust prevention, soundproofing, etc. of automobile bodies, and the work load on humans has become quite heavy when it comes to painting the underside of floors. Automation is beginning to advance rapidly.

Generally, painting robots used in automatic systems are of the teaching playback type, so when automating the system, it is necessary to monitor the relative relationship between the painting robot and the automobile body mounted on the hanger that is being transported through the painting line. Since it is necessary to perform painting while maintaining a negative positional relationship, a device for positioning is required.

Therefore, in the past, the conveyance device was power and free, and the chain was always running, so a stopper was installed on the rail, and this stopper prevented the body from entering the painting zone of the painting robot. At the same time, the hanger is stopped once, the pupil is fixed in the cylinder mechanism installed on the side of the hanger, the painting robot is mounted on the traveling device, the painting robot is equipped with a beam switch, and the painting robot is kept in a constant posture. Then, the traveling device is operated until the limit switch comes into contact with a predetermined position on the body to align the painting robot with the body, and then the painting is performed.

However, since painting does not start until the cylinder mechanism and traveling device have completed their operations after the body has stopped, this results in a loss of time. In addition, a positioning device consisting of the above-mentioned stopper, cylinder mechanism, etc. is also required for each coating zone, resulting in an overall high cost.

From this point of view, it would be possible to paint the body while it is being transported without stopping it, but mechanical play in the transport device, lateral shaking of the hanger, etc. may cause the body to move against the painting robot. This causes the problem that precise painting cannot be done because it is difficult to determine the position of the paint.

(Problems to be Solved by the Invention) As described above, in the conventional system, there is a problem in that the conveyance device must be stopped in order to determine the relative positional relationship between the body and the painting robot and perform painting. It has points.

(Problem 1 solved)
The present invention has the following configuration in order to solve the problems of the prior art described above.

That is, a painting robot installed along the painting line, a slow route extending along the painting line next to the painting line, a transport device running on the transport rail, and the transport decoration. Power·
A bunker for mounting an automobile body which is suspended from the roof and whose underside is painted by the painting robot, and a guide extending in the same direction as the transport rail on both sides of the hanger (11!1). a rail; a roller that is integrally provided with the hanger and whose running surface contacts the inside of the guide rail; and a pulse generator that generates a pulse signal in accordance with the amount of movement of the transport device. , a detector for detecting that the body has been transported to a predetermined position in the painting line, and a counter that counts the pulse signal and is reset by a detection signal from the detector, A control device for controlling various operations including positioning of the painting robot with respect to the body based on a count value of the body.

(Function) By configuring the present invention in this way, the width of the hanger can be adjusted to the same extent by the guide rail and the rollers. The body position can be recognized by the pulse signal from the pulse generator, and various relative position errors between the body position and the robot related to the transport device can be eliminated. shall be.

(Example 9 The invention will now be explained in detail with reference to illustrated embodiments.

First, in FIG. 1, a robot pedestal 2 is installed on a floor 1 of a painting line, and a traveling device 3 is installed on the pedestal 2. The painting robot 4 is installed on the traveling device 3 and is movable in the direction of the arrow A5B. 4A is an arm thereof, and 4B is a spray can attached to the tip of the arm 4A. A plurality of painting robots 4 are installed along the painting line. Further, a ball 5 is erected on the pedestal 2 at a rear position of the painting zone of the painting robot 4, and a photoelectric switch 6 is attached to the upper end of the ball 5. This photoelectric switch 6 is for detecting the body W of an automobile.

A conveyor rail 7 with a single-shaped cross section is installed along the painting line at A Pk of the painting line, and 8 is a conveyor rail 7 that has a single-shaped cross section.
This is a transport device that travels along the This conveying device 8 has a base 9, on which a driving section 10 and a driven section 1 are disposed.
1 and a conveyance control panel 12 are provided. The drive section 10 includes a keyer 16 and a mechanism section 14, the motor 13 has a pulley 15 at its output section, and the mechanism section 14
is pulley 16, 17 and both pulleys 16゜' 1
7 and a wheel 19 (see FIG. 3) that is concentrically integrated with the pulley 17. As shown in FIG. 4, this wheel 19 has its circumferential surface in contact with the upper surface of the rail 7.

A belt 20 is passed around the pulleys 15 and 16. As a result, the power of the motor 5 is transferred to the pulley 15.
, the belt 20, the pulley 16, the belt 18, and the pulley 17 in this order to the wheels 19, which run on the conveyor rail 7 and serve as the driving wheels of the conveyor device 8.

The driven portion 11 is provided with wheels 21 that run on the conveyor rail 7 similarly to the wheels 19 . Bracket members 22 are integrally formed with the driving part 10 and the driven part 11, respectively, and a guide roller 23 is rotatably supported by each bracket member 22. As shown in FIG. 4, the guide rollers 23 are in contact with both upper and lower end edges of the transport rail 7 so as to sandwich them therebetween. That is, the conveyance device 8 is supported by wheels 19.21 and guide rollers 23.23, . . . .

Further, a pulse generator 24 is installed in the drive unit 10.
The pulse generator 24 is made up of a pulse pickup 25 and a mechanism section 26, and the mechanism section 26 is equipped with a boot 1727, 28 and a belt 29 extending therebetween. The pulley 27 rotates integrally with the pulley 17, and the pulse pickup 25 is rotated by the pulley 26 to generate a pulse signal corresponding to the amount of movement of the transport device 8.

Conveyance system # board 121d: has a collector 30, and the collector 3
0 comes into contact with the conductive bar 31 extending on the conveyance rail 7, thereby obtaining the illumination for driving the motor 15 and a signal for controlling its operation, so that the conveyance device 8 performs a preset operation. It has the function of controlling gytans. The control panel 12 also includes an antenna 32 and has a function of receiving a pulse signal generated from the pulse pickup 25 via a signal line (not shown), converting it into FMi, J, and transmitting it from the antenna 32. have.

A hanger 34 is suspended from the base 9 via a neck member 33. This nozzle 34 is used to mount an automobile body W whose underfloor W violet is to be painted by the painting robot 4.

On both sides of the hanger 64, kite rails 35 extend in the same direction as the conveyor rail 7, and the inner side facing the hanger 54 is formed in a concave shape. On the other hand, Banka 34
A kite roller 36 is integrally and rotatably supported on both 11111 parts. This guide roller 36 is adapted to travel while abutting against the inside of the guide rail 55. That is, the guide rail 35 and the kite roller 36
Accordingly, the position I11 in the width direction of the body W mounted on the hanger 34 is determined. The neck member 33 supporting the hanger 34 is bent, and cover plates 37 and 38 are provided at the upper and lower portions of the bent portion, respectively. These cover plates 37 and 38 are for preventing oil etc. leaked from the conveying device 8 from falling into the hanger 34.

69 is a receiver, 40 is its antenna, and receiver 3911
-j: Receives the FM code transmitted from the transport control panel 12, performs detection demodulation, extracts and outputs the pulse signal from the pulse pickup 25. Reference numeral 41 denotes a robot control device, and this robot control device 41 has a counting unit that receives pulse signals emitted by the pulse pickup 25 via a receiver 59 and counts the pulse signals, and this counting unit includes a photoelectric switch. It is reset by the detection signal from 6. That is, this control device 41 sets the position reset by the detection signal from the photoelectric switch 6 as a reference position, and calculates the amount of movement of the conveying device 8 from there from the count value of the counter, the rotation speed of the motor, and the pulley ratio. The position of the body W is calculated based on calculations such as the moving speed of the transport device 8 and the number of pulses per rotation of the pulse pickup 25, and based on this, the position of the body W is determined together with the traveling device 3. The operation is supposed to be controlled in the same period as the movement of the hotey W. Thereby, the position of the body W in the transport direction is regulated.

Next, the action will be explained.

Photoelectric switch 6 is installed by front fender W2 of body W.
When the passage of light is interrupted, a detection signal is output from the photoelectric switch 6, the count value in the control device 41 is reset to 0 (zero), and counting of pulse signals from the pulse pickup 25 is started again. be done. Then, when the control device 41 determines that the body W has entered the coating zone of the coating robot 4 based on the counted value, the control device 41 starts coating control using well-known conveyor synchronous control, The painting robot 4 synchronizes with the movement of the body W and performs painting in a predetermined relative positional relationship. At this time, since the position of the body W in the width direction is controlled by the kite rail 65 and the guide roller 36, precise and efficient painting can be performed. By the way, 20 bodies W are used as guide rollers 36 with a diameter of 80 m.
When we measured the variation in the widthwise position of the fin, it was found to be 6.5 mm.

(Effects of the Invention) As is clear from what has been described above, according to the present invention, it is possible to regulate the position of the paint job without fixing the position of the body, so there is no need to stop the body. The precise coating will fade while it is being transported (the state in which the transport device is running continuously).
This has the effect that the painting ability can be greatly improved without adding more painting robots.

Also, since a positioning mechanism for each painting zone is not required,
The structure is accordingly simplified and costs are reduced, and the control system (sequence) is also simplified.

Furthermore, since the position of the body is recognized by the count value of pulses corresponding to the amount of movement of the transport device, it is possible to control the amusement robot precisely in response to fluctuations in the traveling speed of the transport device. Simulate the effect.

[Brief explanation of the drawing]

Fig. 1 is a conceptual diagram showing the schematic configuration of the system of the present invention;
The figure is an enlarged front view showing the structure of the transport device of the system shown in Fig. 1, Fig. 3 is an enlarged rear view of the system shown in Fig. 1, and Fig. 4 is a partially enlarged view of Fig. 3. It is. 4...Painting robot, 6...Photoelectric switch, 7...
・Transportation rail, 8...Transportation device, 24...Pulse generation a34...Hanger, 35...Guide rail, 36
River Kite Rola, W...Body Patent Applicant Toyota Motor Corporation Figure 1 Figure 23 Figure 4

Claims (1)

[Claims] (1) A painting robot installed along a painting line, a transport rail installed at a high place on the painting line and extending along the painting line, a transport device running on the transport rail, and the transport device a hanger for mounting an automobile body that is suspended from the vehicle body and whose underside is painted by the painting robot; guide rails extending in the same direction as the transport rail on both sides of the hanger; a roller that is integrally provided with the hanger and whose running surface abuts against the inside of the guide rail; a pulse generator that generates a pulse signal according to the amount of movement of the conveyance device; It has a detector that detects that the body has been transported, and a counter that counts the pulse signal and is reset by the detection signal from the detector, and the coating is performed based on the count of the counter. A control device for controlling various operations of a robot, including positioning with respect to the body. A system for painting the underside of an automobile body.