JPH04200773A - Method for controlling emitting amount of paint in painting apparatus - Google Patents
Method for controlling emitting amount of paint in painting apparatusInfo
- Publication number
- JPH04200773A JPH04200773A JP33865290A JP33865290A JPH04200773A JP H04200773 A JPH04200773 A JP H04200773A JP 33865290 A JP33865290 A JP 33865290A JP 33865290 A JP33865290 A JP 33865290A JP H04200773 A JPH04200773 A JP H04200773A
- Authority
- JP
- Japan
- Prior art keywords
- paint
- amount
- emitting amount
- painting
- total
- 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.)
- Pending
Links
- 239000003973 paint Substances 0.000 title claims abstract description 45
- 238000010422 painting Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims description 14
- 239000011248 coating agent Substances 0.000 claims abstract description 12
- 238000000576 coating method Methods 0.000 claims abstract description 12
- 238000010586 diagram Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、ロボットやレシプロケータ等の装置を用いて
塗装を行う際の塗料の吐出量の制御方法に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of controlling the amount of paint discharged when painting is performed using a device such as a robot or a reciprocator.
例えば塗装ロポントを用いて塗装作業を実施する場合、
塗装ガンのＯＮ・ＯＦＦ制御は頻繁に繰り返し実施され
る。しかも、１回当たりの吹付時間は、例えば１秒前後
と極めて短いのが通例である。For example, when performing painting work using a painting robot,
ON/OFF control of the coating gun is frequently repeated. Moreover, the time for each spraying is usually extremely short, for example around 1 second.
このような状況下において、従来の塗料の吐出量制御で
は１上記のような１回当たりの吹付時間内における塗料
の吐出量を例えば流量計にて検出し、その値をフィード
バックすることにより塗料の吐出量が調節されている。Under these circumstances, conventional paint discharge amount control involves detecting the amount of paint discharged within the above-mentioned spraying time using, for example, a flow meter and feeding back that value. The discharge amount is adjusted.
このように短時間内における吐出量を検出し、その値に
基づいてフィードバック制御する方法においては、吐出
量を安定させるどころか逆に不安定になる可能性が大き
い。In this method of detecting the discharge amount within a short period of time and performing feedback control based on the detected value, there is a high possibility that the discharge amount will become unstable instead of being stabilized.
他方では、上記の場合と同様に短時間内の検出量に基づ
くフィードバック制御ではあるが、塗料の吐出の際にお
ける圧力を調整すると共に、塗料の粘度に大きな影響を
及ぼす要素の一つである温度を検出し、この検出値に基
づいて上記圧力を補正するようにした技術も提案されて
いる。On the other hand, as in the case above, feedback control is based on the amount detected within a short period of time, but in addition to adjusting the pressure during paint discharge, temperature A technique has also been proposed in which the pressure is corrected based on the detected value.
〔発明が解決しようとする課Ｈ］
ところが、上記したような従来の！ＩＩ？１１方法にお
いては、いずれも短時間内において頻繁に吐出量が制御
されることから、結果的には吐出量が不安定となって、
塗装厚みの不均一や塗装ムラ等の不具合を招くこととな
っていた。[Problem H that the invention seeks to solve] However, the conventional problems as described above! II? In all of the 11 methods, the discharge amount is controlled frequently within a short period of time, resulting in the discharge amount becoming unstable.
This resulted in problems such as uneven coating thickness and uneven coating.
そこで１本発明の目的とするところは５塗装作業におい
て、塗料の吐出量を安定させて比較的均質な状態の塗面
を得ることのできる塗装装置における塗料の吐出量制御
方法を提供することである。Therefore, it is an object of the present invention to provide a method for controlling the amount of paint discharged in a coating device that can stabilize the amount of paint discharged and obtain a relatively homogeneous painted surface during painting work. be.
上記目的を達成するために１本発明が採用する主たる手
段は、その要旨とするところが、一連の塗装作業に先立
って予測される塗料の総吐出量とこの一連の塗装作業に
おいて実際に使用された塗料の総吐出量との差が所定回
数の塗装作業に関して連続して所定量越えた時１次回か
らの塗装作業における塗料の総吐出量をその差に応じて
補正するようにした点に係る塗装装置における塗料の吐
出量制御方法である。In order to achieve the above object, the main means adopted by the present invention is to calculate the total amount of paint to be ejected in advance of a series of painting operations and the amount actually used in this series of painting operations. Painting in which the total amount of paint discharged from the first painting operation is corrected according to the difference when the difference between the total amount of paint discharged exceeds a predetermined amount for a predetermined number of painting operations consecutively. This is a method for controlling the amount of paint discharged in an apparatus.
〔実施例）
以下添付図面を参照して１本発明を具体化した実施例に
つき説明し１本発明の理解に供する。尚。[Example] Hereinafter, an example embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention. still.
以下の実施例は１本発明を具体化した一例であって１本
発明の技術的範囲を限定する性格のものではない。The following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.
ここに、第１図は本発明の一実施例に係る吐出量制御方
法を実施することのできる塗装装置の制御系における要
部概略ブロック図である。Here, FIG. 1 is a schematic block diagram of main parts in a control system of a coating apparatus that can implement a discharge amount control method according to an embodiment of the present invention.
本発明に係る吐出量制御方法では、予め実際の塗装作業
に先立って、サイクル毎の一連の塗装作業において予測
される基準となる塗料の総吐出量が算出される。これは
２例えば塗面の総面積、塗膜の厚み寸法、吐出時間その
塗装作業における雰囲気温度、更にはその状況下におけ
る塗料の粘度等のデータに基づいて理論的に算出される
。In the discharge amount control method according to the present invention, prior to the actual painting operation, the total amount of paint discharged as a reference is calculated in advance for a series of painting operations in each cycle. This is theoretically calculated based on data such as the total area of the coated surface, the thickness of the coated film, the discharge time, the atmospheric temperature during the coating operation, and the viscosity of the paint under the circumstances.
上記のようにして算出された基準となる総吐出量は、目
標値（基準吐出量）として第１図に示す制御装置１内の
メモリ２に予め記憶される。The reference total discharge amount calculated as described above is stored in advance in the memory 2 in the control device 1 shown in FIG. 1 as a target value (reference discharge amount).
引き続き、予め設定された所定のプログラムに沿って、
塗装ロボットが制御され、被塗装物に対して塗装作業が
実施される。そして、この場合。Then, according to the preset program,
The painting robot is controlled and paint work is performed on the object to be painted. And in this case.
塗料の供給を行う配管系に設置された流量計３にて、こ
の一連の塗装作業において実際に使用された塗料の総吐
出量が検出される。この値は、上記メモリ２内に予め記
憶されている基準吐出量と比較され、予め設定された所
定量以上の変化幅があると判断された場合、この状態が
例えばメモリ内のフラグを１にすることによって記憶さ
れる。A flow meter 3 installed in a piping system for supplying paint detects the total discharge amount of paint actually used in this series of painting operations. This value is compared with the reference discharge amount previously stored in the memory 2, and if it is determined that the variation range is greater than a preset amount, this state indicates that the flag in the memory is set to 1, for example. be remembered by doing.
このような操作が以降の所定回数の塗装作業に関して随
時実施され、その回数分連続して前記塗料の基準吐出量
と実際に使用された塗料の総吐出量との間の変化幅が所
定量を越えていると判断された場合、その変化幅の値に
応じて吐出量の指令値に係る定数が補正される。そして
、上記流量計３と共に設けられた圧力センサ４からの圧
力値に基づいてレギュレータ５が調節され、上記塗料の
吐出圧力が調整される。その結果１次回からの塗装作業
における塗料の総吐出量が補正され、この総吐出量にみ
あった単位時間当たりの吐出量にて塗料の吹付けが行な
われる。尚この場合、温度センサ６にて検出される塗料
の温度も前記指令値の補正に際して考慮がなされる。Such operations are carried out at any time for a predetermined number of coating operations thereafter, and the range of change between the standard discharge amount of the paint and the total discharge amount of the paint actually used exceeds the predetermined amount. If it is determined that it exceeds the range, the constant related to the command value of the discharge amount is corrected according to the value of the change range. Then, the regulator 5 is adjusted based on the pressure value from the pressure sensor 4 provided together with the flow meter 3, and the discharge pressure of the paint is adjusted. As a result, the total amount of paint discharged in the first painting operation is corrected, and paint is sprayed at an amount of paint discharged per unit time that matches this total amount of paint discharged. In this case, the temperature of the paint detected by the temperature sensor 6 is also taken into consideration when correcting the command value.
本実施例に係る制御方法においては、上述の如く過去の
実績に基づく塗料の総吐出量を複数回に渡る塗装作業に
関して検証され、その結果に基づいて次回からの塗装作
業における塗料の総吐出量ならびにこの総吐出量に基づ
く単位時間当たりの吐出量が決定されて吐出量制御が成
される為、従来の制御方法の場合よりも塗料の吐出量が
安定し。In the control method according to this embodiment, as described above, the total amount of paint discharged based on past results is verified for multiple painting operations, and the total amount of paint discharged in the next painting operation is determined based on the results. Furthermore, since the discharge amount per unit time is determined based on this total discharge amount and the discharge amount is controlled, the paint discharge amount is more stable than in the case of conventional control methods.
比較的均質な状態の塗面を得ることができる。A relatively homogeneous painted surface can be obtained.
本発明は、上記したように、一連の塗装作業に先立って
予測される塗料の総吐出量とこの一連の塗装作業におい
て実際に使用された塗料の総吐出量との差が所定回数の
塗装作業に関して連続して所定量越えた時１次回からの
塗装作業における塗料の総吐出量をその差に応じて補正
するようにしたことを特徴とする塗装装置における塗料
の吐出量制御方法であるから、塗装作業において、塗料
の吐出量を安定させて比較的均質な状態の塗面を得るこ
とができる。As described above, the present invention provides that the difference between the total amount of paint discharged that is predicted in advance of a series of painting operations and the total amount of paint actually used in this series of painting operations is determined by a predetermined number of painting operations. This is a method for controlling the amount of paint discharged in a coating device, characterized in that when the amount of paint continuously exceeds a predetermined amount, the total amount of paint discharged from the first painting operation is corrected according to the difference. During painting work, the amount of paint discharged can be stabilized and a relatively homogeneous painted surface can be obtained.
第１図は本発明の一実施例に係る吐出量制御方法を実施
することのできる塗装装置の制御系における要部概略ブ
ロック図である。
〔符号の説明〕FIG. 1 is a schematic block diagram of main parts of a control system of a coating apparatus that can implement a discharge amount control method according to an embodiment of the present invention. [Explanation of symbols]
Claims (1)
量とこの一連の塗装作業において実際に使用された塗料
の総吐出量との差が所定回数の塗装作業に関して連続し
て所定量越えた時、次回からの塗装作業における塗料の
総吐出量をその差に応じて補正するようにしたことを特
徴とする塗装装置における塗料の吐出量制御方法。1. The difference between the total amount of paint discharged that is predicted prior to a series of painting operations and the total amount of paint actually used in this series of painting operations exceeds a predetermined amount for a predetermined number of painting operations. 1. A method for controlling the amount of paint discharged in a coating device, characterized in that when the difference occurs, the total amount of paint discharged in the next painting operation is corrected according to the difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33865290A JPH04200773A (en) | 1990-11-30 | 1990-11-30 | Method for controlling emitting amount of paint in painting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33865290A JPH04200773A (en) | 1990-11-30 | 1990-11-30 | Method for controlling emitting amount of paint in painting apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04200773A true JPH04200773A (en) | 1992-07-21 |
Family
ID=18320191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33865290A Pending JPH04200773A (en) | 1990-11-30 | 1990-11-30 | Method for controlling emitting amount of paint in painting apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04200773A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6235350B1 (en) | 1998-05-29 | 2001-05-22 | Topack Verpackungstechnik Ag | Method for the application of adhesive spots to intermittently transported objects |
| JP2015186782A (en) * | 2014-03-26 | 2015-10-29 | 株式会社ウレタンメンテナンスサービス | Solution supply monitor |
-
1990
- 1990-11-30 JP JP33865290A patent/JPH04200773A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6235350B1 (en) | 1998-05-29 | 2001-05-22 | Topack Verpackungstechnik Ag | Method for the application of adhesive spots to intermittently transported objects |
| US6589347B2 (en) | 1998-05-29 | 2003-07-08 | Topack Verpackungstechnik Ag | Method of and apparatus for the application of adhesive spots to intermittently transported objects |
| JP2015186782A (en) * | 2014-03-26 | 2015-10-29 | 株式会社ウレタンメンテナンスサービス | Solution supply monitor |
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