JP3206849B2 - Robot coating equipment - Google Patents
Robot coating equipmentInfo
- Publication number
- JP3206849B2 JP3206849B2 JP10769993A JP10769993A JP3206849B2 JP 3206849 B2 JP3206849 B2 JP 3206849B2 JP 10769993 A JP10769993 A JP 10769993A JP 10769993 A JP10769993 A JP 10769993A JP 3206849 B2 JP3206849 B2 JP 3206849B2
- Authority
- JP
- Japan
- Prior art keywords
- shape
- coating
- stored
- program
- coated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000011248 coating agent Substances 0.000 title claims description 26
- 238000000576 coating method Methods 0.000 title claims description 26
- 238000001514 detection method Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 238000010422 painting Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、塗装ロボツトに装着し
た塗装ガンをテイーチングプログラムに基づいて移動さ
せつつ塗料を噴出させることにより被塗物の形状に対応
して自動塗装を施すようにしたロボツト塗装装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot in which a coating gun mounted on a coating robot is sprayed while moving the coating gun based on a teaching program to automatically apply the coating according to the shape of the object to be coated. Related to a coating device.
【０００２】[0002]
【従来の技術及び発明が解決しようとする課題】従来の
この種のロボツト塗装装置では、被塗物の種類ごとに各
別のテイーチングプログラムを作成して予め記憶させ、
塗装時に操作者がそのつどプログラムを選択して切り換
えるのが一般的であつたが、プログラム選択の作業が面
倒であるばかりでなく、間違いも起こしやすかつた。2. Description of the Related Art In a conventional robot coating apparatus of this type, a separate teaching program is created for each type of workpiece and stored in advance.
It was common for the operator to select and switch programs each time during painting, but the work of selecting a program was not only troublesome, but also prone to errors.
【０００３】そのため、被塗物の種類ごとに作成したテ
イーチングプログラムと対応する被塗物の形状の特徴を
示す信号とを夫々組にして記憶しておくとともに、塗装
位置の手前で被塗物の形状を自動検出してそのデータを
画像処理することにより形状の特徴を抽出し、その抽出
信号がどの特徴信号に該当するかを判定して対応するテ
イーチングプログラムを自動的に取り出す方法も一部で
実施されているが、形状検出や画像処理の技術に限界が
ある等によつて上記の判定ができない場合が往々にして
あり、その場合は、ラインを一旦停止したのち、被塗物
を確認して改めてテイーチングプログラムを選択する必
要があつて、作業能率を大幅に向上させるまでには到ら
なかつた。[0003] Therefore, a teaching program created for each type of object to be coated and a signal indicating the characteristic of the shape of the object to be coated are stored as a set, and at the same time, the position of the object to be coated before the coating position is stored. Some methods automatically detect the shape and perform image processing on the data to extract the features of the shape, determine which feature signal the extracted signal corresponds to, and automatically retrieve the corresponding teaching program. In practice, the above determination cannot often be made due to limitations in shape detection and image processing techniques.In such a case, the line must be stopped once and the object to be coated checked. It was necessary to select a teaching program again, and it was not until the work efficiency was greatly improved.
【０００４】[0004]
【課題を解決するための手段】本発明のロボツト塗装装
置は、叙上の点に鑑み完成されたものであつて、被塗物
が塗装位置に搬送される手前において被塗物の形状を検
出する形状検出手段と、その形状検出手段からの検出デ
ータを画像処理して被塗物の形状の特徴を抽出する形状
特徴抽出手段と、被塗物の種類ごとに作成したテイーチ
ングプログラムと対応する被塗物の形状の特徴を示す信
号とを夫々組にして予め記憶した記憶手段と、各テイー
チングプログラムとは別に作成した共通テイーチングプ
ログラムを予め記憶した判定不能時用記憶手段と、形状
特徴抽出手段から得た抽出信号が記憶手段に記憶された
各特徴信号のいずれに該当するかを判定して対応するテ
イーチングプログラムを出力し、また、判定不能の場合
は判定不能時用記憶手段に記憶された共通テイーチング
プログラムを出力する判定手段と、その判定手段が共通
テイーチングプログラムを出力した時にこのことを表示
する表示手段と、搬送ラインに設けられた補正塗り位置
と、を具備した構成とした。SUMMARY OF THE INVENTION A robot coating apparatus according to the present invention has been completed in view of the above points, and detects a shape of an object to be coated before the object is conveyed to a coating position. Shape detecting means for performing processing, image processing of detection data from the shape detecting means to extract characteristics of the shape of the object to be coated, and a teaching program corresponding to a teaching program created for each type of the object to be coated. From the storage means, in which signals indicating the characteristics of the shape of the painted matter are stored in advance as a set, a storage means for when determination is impossible in which a common teaching program created separately from each teaching program is stored in advance, and a shape feature extraction means. It is determined which of the characteristic signals stored in the storage means the extracted signal corresponds to, and a corresponding teaching program is outputted. A judging means for outputting a common Teichingu program stored in means, the determination means common
This is displayed when teaching program is output
Display means to be displayed and the correction paint position provided on the transport line
And a configuration provided with:
【０００５】[0005]
【作用】まず、被塗物の種類ごとにテイーチングプログ
ラムを作成するとともに、対応する被塗物の形状の特徴
を示す信号を作成して、夫々組にして予め記憶手段に記
憶させる。また、上記の各テイーチングプログラムとは
別に、例えば各被塗物に共通した形状部分等に基づいて
公約数的な共通テイーチングプログラムを作成して、判
定不能時用記憶手段に予め記憶させる。First, a teaching program is created for each type of object to be coated, and signals indicating the characteristics of the shape of the object to be coated are generated, and each set is stored in the storage means in advance. In addition to the above teaching programs, a common divisor common teaching program is created based on, for example, a shape portion common to the objects to be coated, and is stored in advance in the undeterminable storage means.
【０００６】被塗物が塗装位置の手前に来ると、形状検
出手段によりその形状が検出され、形状特徴抽出手段に
より、検出データを画像処理することによつてその被塗
物の形状の特徴が抽出される。When an object to be coated comes closer to the painting position, its shape is detected by shape detecting means, and the shape characteristics of the object to be coated are detected by performing image processing on the detected data by the shape characteristic extracting means. Is extracted.
【０００７】そうすると、判定手段が上記の形状特徴抽
出手段で得られた抽出信号が記憶手段に記憶された特徴
信号のどれに該当するかを判定し、判定が下されると対
応するテイーチングプログラムが出力される。そして、
被塗物が塗装位置に来ると、塗装ロボツトの塗装ガンが
上記の呼び出されたテイーチングプログラムにしたがつ
て制御され、被塗物の形状に対応して自動塗装される。Then, the judging means judges which of the characteristic signals stored in the storage means the extracted signal obtained by the above-mentioned shape characteristic extracting means, and when the judgment is made, the corresponding teaching program is executed. Is output. And
When the object to be painted comes to the painting position, the painting gun of the painting robot is controlled according to the above-mentioned teaching program, and is automatically painted in accordance with the shape of the object to be painted.
【０００８】一方、上記の判定ができなかつた場合は、
判定不能時用記憶手段から共通テイーチングプログラム
が呼び出されて出力され、被塗物は取り敢えずその共通
テイーチングプログラムに基づいて塗装される。On the other hand, if the above determination cannot be made,
The common teaching program is called and output from the storage unit for when determination is impossible, and the object is painted based on the common teaching program for the time being.
【０００９】その際の塗装は形状に正確に対応したもの
ではないので、例えば上記の共通テイーチングプログラ
ムが出力されると同時にそれを知らせる信号を発し、対
応する被塗物について後で補正塗り作業を行えば良い。Since the painting at that time does not exactly correspond to the shape, for example, the above-mentioned common teaching program is output and at the same time, a signal notifying it is issued, and the correction painting work for the corresponding object is performed later. Just do it.
【００１０】[0010]
【実施例】以下、本発明の一実施例を図１及び図２に基
づいて説明する。図において、符号１は被塗物ａの搬送
ラインであつて、形状を異にする多種類の被塗物ａが混
じり合つた状態で順次に塗装位置Ｐに搬送されるように
なつており、その塗装位置Ｐに設置された塗装ロボツト
２の塗装ガン３が、ロボツト制御部４に入力されたテイ
ーチングプログラムに従い、被塗物ａの前面においてそ
の形状に対応した領域でジグザグ状の軌跡で移動しつつ
塗料を噴出して、自動塗装を施すようになつている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In the drawing, reference numeral 1 denotes a conveying line for the object to be coated a, which is sequentially conveyed to the coating position P in a state where various types of objects to be coated a having different shapes are mixed, The painting gun 3 of the painting robot 2 installed at the painting position P moves in a zigzag locus in a region corresponding to the shape on the front surface of the workpiece a in accordance with the teaching program input to the robot control unit 4. It sprays paint while applying automatic painting.
【００１１】準備作業として、まず、被塗物ａの種類ご
とに塗装ガン３の移動を制御するテイーチングプログラ
ムが作成されるとともに、対応する被塗物ａの形状の特
徴を示す画像信号からなる特徴信号が作成され、夫々組
にして図２の記憶手段６に予め記憶されるようになつて
いる。As a preparatory work, first, a teaching program for controlling the movement of the coating gun 3 for each type of the object to be coated a is created, and a characteristic comprising an image signal indicating the shape characteristic of the corresponding object to be coated a. The signals are created and stored as a set in the storage means 6 of FIG. 2 in advance.
【００１２】また、上記の各テイーチングプログラムと
は別に、例えば各被塗物ａに共通する形状部分に基づく
公約数的な共通テイーチングプログラムが作成されて、
判定不能時用記憶手段７に予め記憶されるようになつて
いる。In addition to the above teaching programs, for example, a common divisor common teaching program based on a shape portion common to the workpieces a is created.
It is stored in advance in the storage unit 7 for when determination is impossible.
【００１３】一方、搬送ライン１における塗装位置Ｐの
手前側には、多数の検出素子を縦方向に列設して通過域
を識別することにより被塗物ａ形状の検出データを得る
形状検出手段９が設置されている。On the other hand, in front of the coating position P on the transport line 1, a shape detecting means for arranging a large number of detecting elements in a vertical direction to identify a passing area to obtain detection data of the shape of the object a to be coated. 9 are installed.
【００１４】この形状検出手段９には、上記の検出デー
タを画像処理して被塗物ａの形状の特徴を抽出する形状
特徴抽出手段１０が接続されている。The shape detecting means 9 is connected to a shape feature extracting means 10 for performing image processing on the detected data to extract the features of the shape of the workpiece a.
【００１５】この形状特徴抽出手段１０は、上記の記憶
手段６、判定不能時用記憶手段７とともに、判定手段１
１に接続されている。この判定手段１１は、形状特徴抽
出手段１０から抽出信号が入力されるごとに、その抽出
信号が上記の記憶手段６に記憶された各特徴信号のいず
れに該当するかを判定して対応するテイーチングプログ
ラムをロボツト制御部４に出力し、また、上記の判定が
できなかつた場合には、判定不能時用記憶手段７から共
通テイーチングプログラムを呼び出して同じくロボツト
制御部４に出力するように機能する。The shape feature extracting means 10 includes the storage means 6 and the storage means 7 for when determination is impossible, together with the determination means 1.
1 connected. Each time an extraction signal is input from the shape feature extraction means 10, the determination means 11 determines which of the characteristic signals stored in the storage means 6 corresponds to the extracted signal, and performs corresponding teaching. The program is output to the robot control unit 4. If the above determination cannot be made, the common teaching program is called from the storage unit 7 for when determination is impossible, and the program is similarly output to the robot control unit 4.
【００１６】なお、判定手段１１の出力側には、上記の
共通テイーチングプログラムが出力された場合に、その
ことをブザー、ランプ等で表示する表示手段１２が接続
されている。The output side of the judging means 11 is connected to a display means 12 for displaying the above-mentioned common teaching program by a buzzer, a lamp or the like when the above-mentioned common teaching program is outputted.
【００１７】また、搬送ライン１の搬送方向の前方に
は、補正塗りを行うための補正塗り位置が設けられてい
る。A correction painting position for performing correction painting is provided in front of the conveyance line 1 in the conveyance direction.
【００１８】次に、本実施例の作動を説明する。被塗物
ａが塗装位置Ｐに向かつて搬送されると、形状検出手段
９を通過することによりその形状が検出され、続いて形
状特徴抽出手段１０により、検出データを画像処理する
ことによつてその被塗物ａの形状の特徴が抽出される。Next, the operation of this embodiment will be described. When the object to be coated a is conveyed toward the coating position P, its shape is detected by passing through the shape detecting means 9, and then the detected data is subjected to image processing by the shape characteristic extracting means 10. The feature of the shape of the article a is extracted.
【００１９】その抽出信号が判定手段１１に入力される
と、判定手段１１はその抽出信号が記憶手段６に記憶さ
れた特徴信号のどれに該当するかを判定し、判定が下さ
れると対応するテイーチングプログラムがロボツト制御
部４に出力される。そして、被塗物ａが塗装位置Ｐに来
ると、塗装ロボツト２の塗装ガン３が上記の呼び出され
たテイーチングプログラムにしたがつて制御され、被塗
物ａの形状に対応して自動塗装される。When the extracted signal is input to the judging means 11, the judging means 11 judges which of the characteristic signals stored in the storage means 6 corresponds. The teaching program to be executed is output to the robot control unit 4. When the object a comes to the painting position P, the painting gun 3 of the painting robot 2 is controlled according to the above-mentioned teaching program, and is automatically painted in accordance with the shape of the object a. .
【００２０】上記の判定ができなかつた場合は、判定不
能時用記憶手段７から共通テイーチングプログラムが呼
び出されてロボツト制御部４に出力され、被塗物ａは取
り敢えずその共通テイーチングプログラムに基づいて塗
装される。If the above determination cannot be made, the common teaching program is called from the storage unit 7 for when determination is impossible and output to the robot control unit 4, and the object to be coated a is firstly painted based on the common teaching program. Is done.
【００２１】その際、表示手段１２から塗装が不完全で
あることの表示がなされ、その被塗物ａが補正塗り位置
に達したところで、補正塗りが行われる。At this time, the display means 12 indicates that the coating is incomplete, and when the object a reaches the correction coating position, the correction coating is performed.
【００２２】[0022]
【発明の効果】以上具体的に説明したように、本発明に
よれば、被塗物が塗装位置に来たときに対応するテイー
チングプログラムを自動的に呼び出して正確に塗装でき
るのはもちろんのこと、仮にそれができなかつた場合で
も、共通テイーチングプログラムを呼び出して、後での
簡単な補正塗り作業を予定した塗装を施すようにしたか
ら、ラインをいちいち止めることなく連続稼働すること
ができ、塗装作業の大幅な能率向上を図ることができる
効果がある。As described above in detail, according to the present invention, when an object to be coated comes to a coating position, a corresponding teaching program can be automatically called to perform accurate coating. Even if that is not possible, the common teaching program is called and the simple correction work later is scheduled to be applied, so that the line can be operated continuously without stopping. There is an effect that the work efficiency can be greatly improved.
【図１】本発明の一実施例の外観斜視図である。FIG. 1 is an external perspective view of one embodiment of the present invention.
【図２】そのブロツク構成図である。FIG. 2 is a block diagram of the block diagram.
ａ：被塗物 Ｐ：塗装位置 １：搬送ライン ２：塗装
ロボツト ３：塗装ガン ４：ロボツト制御部 ６：記
憶手段 ７：判定不能時用記憶手段 ９：形状検出手段
１０：形状特徴抽出手段 １１：判定手段a: Workpiece P: Painting position 1: Conveyance line 2: Painting robot 3: Painting gun 4: Robot control unit 6: Storage means 7: Storage means for when determination is impossible 9: Shape detection means 10: Shape feature extraction means 11 : Judgment means
Claims (1)
ーチングプログラムに基づいて移動させつつ塗料を噴出
させることにより被塗物の形状に対応して自動塗装を施
すようにしたロボツト塗装装置において、 被塗物が塗装位置に搬送される手前において被塗物の形
状を検出する形状検出手段と、 該形状検出手段からの検出データを画像処理して被塗物
の形状の特徴を抽出する形状特徴抽出手段と、 被塗物の種類ごとに作成したテイーチングプログラムと
対応する被塗物の形状の特徴を示す信号とを夫々組にし
て予め記憶した記憶手段と、 前記各テイーチングプログラムとは別に作成した共通テ
イーチングプログラムを予め記憶した判定不能時用記憶
手段と、 前記形状特徴抽出手段から得た抽出信号が前記記憶手段
に記憶された各特徴信号のいずれに該当するかを判定し
て対応するテイーチングプログラムを出力し、また、判
定不能の場合は前記判定不能時用記憶手段に記憶された
共通テイーチングプログラムを出力する判定手段と、該判定手段が共通テイーチングプログラムを出力した時
にこのことを表示する表示手段と、 搬送ラインに設けられた補正塗り位置と、 を具備したことを特徴とするロボツト塗装装置。1. A robot coating apparatus, wherein a coating gun mounted on a coating robot is moved based on a teaching program to spray a coating material to automatically apply the coating according to the shape of the object to be coated. Shape detection means for detecting the shape of the object to be coated before the object is conveyed to the coating position; and shape feature extraction means for performing image processing on the detection data from the shape detection means to extract the characteristics of the shape of the object to be coated. Storage means for pre-stored a teaching program created for each type of workpiece and a signal indicating the characteristic of the shape of the workpiece, and a common teaching program created separately from the teaching programs. Storage means for when determination is impossible in which a program is stored in advance, and each characteristic signal stored in the storage means in which an extraction signal obtained from the shape characteristic extraction means is stored. Outputs Teichingu program corresponding to determined whether to correspond to any, also the determination unit when the determination impossible for outputting a common Teichingu program stored in the storage means for when the unidentifiable, the determination means common When a teaching program is output
And a correction coating position provided on the transport line .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10769993A JP3206849B2 (en) | 1993-04-09 | 1993-04-09 | Robot coating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10769993A JP3206849B2 (en) | 1993-04-09 | 1993-04-09 | Robot coating equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06292847A JPH06292847A (en) | 1994-10-21 |
| JP3206849B2 true JP3206849B2 (en) | 2001-09-10 |
Family
ID=14465716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10769993A Expired - Fee Related JP3206849B2 (en) | 1993-04-09 | 1993-04-09 | Robot coating equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3206849B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015231892A (en) * | 2014-06-09 | 2015-12-24 | 東芝エレベータ株式会社 | Elevator panel coating system |
-
1993
- 1993-04-09 JP JP10769993A patent/JP3206849B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06292847A (en) | 1994-10-21 |
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