JPH04271861A - Painting robot device - Google Patents
Painting robot deviceInfo
- Publication number
- JPH04271861A JPH04271861A JP2039391A JP2039391A JPH04271861A JP H04271861 A JPH04271861 A JP H04271861A JP 2039391 A JP2039391 A JP 2039391A JP 2039391 A JP2039391 A JP 2039391A JP H04271861 A JPH04271861 A JP H04271861A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- paint
- flow rate
- arm
- robot
- 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.)
- Granted
Links
- 238000010422 painting Methods 0.000 title claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 7
- 239000003973 paint Substances 0.000 claims description 36
- 238000001514 detection method Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 abstract description 16
- 238000000576 coating method Methods 0.000 abstract description 16
- 239000000463 material Substances 0.000 abstract 2
- 230000032258 transport Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005086 pumping Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は塗装ロボットに関し、均
一な塗膜を実現したい場合に用いて有用なものである。FIELD OF INDUSTRIAL APPLICATION The present invention relates to a painting robot, and is useful when it is desired to realize a uniform coating film.
【０００２】0002
【従来の技術】コンベア等で搬送される被塗装物を塗装
ロボットで塗装を行う場合には、一定の時間或は一定の
領域内で塗装を完了することが肝要である。2. Description of the Related Art When a painting robot is used to paint an object to be painted that is transported by a conveyor or the like, it is important to complete the painting within a certain time or within a certain area.
【０００３】このため、従来技術に係る塗装ロボットの
中には、被塗装物を搬送する搬送装置の搬送速度を検出
する検出器の信号に基づき塗料を圧送供給するための加
圧空気の圧力を調節して、塗装ノズルへ供給する塗料の
流量を制御することにより一定の塗膜を形成するもの（
特公昭６１−４８９９０号公報参照）や、被塗装物の搬
送速度に合わせて同じく塗料供給ラインの流量調節バル
ブを制御し、ロボット本体による塗料塗膜を可変制御す
ることにより、搬送速度の変動によって生ずる塗膜ムラ
を確実に防止することが出来るものが提案されている（
特公昭６１−３６９９０号公報参照）。[0003] For this reason, some conventional painting robots control the pressure of pressurized air for pumping and supplying paint based on a signal from a detector that detects the transport speed of a transport device that transports the object to be painted. A device that forms a constant coating film by adjusting and controlling the flow rate of paint supplied to the coating nozzle (
(Refer to Japanese Patent Publication No. 61-48990), the flow control valve of the paint supply line is also controlled according to the conveyance speed of the object to be coated, and the paint film applied by the robot body is variably controlled. A method has been proposed that can reliably prevent the uneven coating film that occurs (
(See Japanese Patent Publication No. 61-36990).
【０００４】0004
【発明が解決しようとする課題】上記従来技術において
は、塗料圧送用の加圧空気を制御したり、流量調節弁の
開度を選択・制御するとによって塗料の供給量を制御す
るために、塗料の正確な供給量の制御が出来ず塗装ムラ
が生ずる。これは、塗料は外気温によって粘度等の性質
が変化し、その結果正確な塗料の流量で塗装を施工でき
ず、均一な塗膜で塗布することが困難になるからである
。[Problems to be Solved by the Invention] In the above-mentioned prior art, in order to control the amount of paint supplied by controlling the pressurized air for pumping the paint or by selecting and controlling the opening degree of the flow control valve, it is necessary to It is not possible to accurately control the supply amount, resulting in uneven coating. This is because the viscosity and other properties of the paint change depending on the outside temperature, and as a result, it is not possible to apply the paint with an accurate flow rate, making it difficult to apply a uniform film.
【０００５】本発明は、上記従来技術に鑑み、均一な塗
膜を形成し得る塗装ロボット装置を提供することを目的
とする。SUMMARY OF THE INVENTION In view of the above-mentioned prior art, it is an object of the present invention to provide a coating robot device capable of forming a uniform coating film.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成する本発
明の構成は、被塗装物に塗料をスプレーガンで吹付塗装
しながら移動するロボットのアームと、前記塗料の供給
量を測定する流量検出手段と、流量検出手段で検出され
た値に対応する予め記憶された値に基づき前記ロボット
のアームの移動速度を制御する制御手段とを有すること
、及びこれらの要件に加え流量検出手段で検出した塗料
供給量が所定値の範囲を越える場合に被塗装物を搬送す
る搬送装置の速度を変更するようにしたことを特徴とす
る。[Means for Solving the Problems] The configuration of the present invention that achieves the above object includes a robot arm that moves while spraying paint onto an object to be painted with a spray gun, and a flow rate sensor that measures the amount of paint supplied. and a control means for controlling the movement speed of the arm of the robot based on a pre-stored value corresponding to the value detected by the flow rate detection means, and in addition to these requirements, the flow rate detected by the flow rate detection means The present invention is characterized in that the speed of the conveyance device that conveys the object to be coated is changed when the amount of paint supplied exceeds a predetermined value range.
【０００７】[0007]
【作用】上記構成の本発明によれば、スプレーガンに供
給する塗料の流量を検出して、この流量に対応する速度
でロボットのアームの移動速度を制御する。すなわち、
流量が少ないときにはロボットのアームの移動速度を遅
くし、反対に多いときには速くして塗膜を一定にする。According to the present invention having the above structure, the flow rate of paint supplied to the spray gun is detected, and the moving speed of the robot arm is controlled at a speed corresponding to the detected flow rate. That is,
When the flow rate is low, the movement speed of the robot arm is slowed down, and when the flow rate is high, it is moved faster to maintain a constant coating film.
【０００８】更に塗料供給量が所定値の範囲を越える場
合に、搬送装置の速度を変えて均一の塗膜を得る。Furthermore, when the paint supply amount exceeds a predetermined value range, the speed of the conveying device is changed to obtain a uniform coating film.
【０００９】[0009]
【実施例】以下本発明の実施例を図面に基づき詳細に説
明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below in detail with reference to the drawings.
【００１０】図１は本発明の実施例を、塗装作業時の態
様において概念的に示す説明図である。同図に示すよう
に、駆動モータ１０等で駆動される搬送装置１１には適
宜の間隔で被塗装物１が垂下されていて常時移動してい
る。このとき、搬送装置１１は速度検出器１２で検出し
た速度情報に基づき所定の速度になるように搬送制御装
置１３で制御するようになっている。FIG. 1 is an explanatory diagram conceptually showing an embodiment of the present invention in a painting operation mode. As shown in the figure, objects 1 to be coated are suspended from a conveying device 11 driven by a drive motor 10 or the like at appropriate intervals and are constantly moving. At this time, the transport device 11 is controlled by the transport control device 13 to maintain a predetermined speed based on speed information detected by the speed detector 12.
【００１１】塗装ロボット装置１００はアーム７、この
アーム７の駆動装置５及び制御装置３で構成しており、
被塗装物１を塗装する為に、制御装置３の制御信号で駆
動装置５を介してアーム７が所定の方向に、所定の速度
で移動するようになっている。アーム７の先端にはスプ
レーガン９が取り付けられていて、このスプレーガン９
からは、塗料タンク２からポンプ（定量ポンプ）４によ
って一定量供給される塗料を被塗装物１に吹き付けるよ
うになっている。塗料の供給量は流量検出器６で検出し
、この検出値は制御装置３に入力するようになっている
。The painting robot device 100 is composed of an arm 7, a drive device 5 for the arm 7, and a control device 3.
In order to coat the object 1 to be coated, the arm 7 is moved in a predetermined direction at a predetermined speed via a drive device 5 in response to a control signal from a control device 3. A spray gun 9 is attached to the tip of the arm 7.
From then on, a fixed amount of paint supplied from a paint tank 2 by a pump (metering pump) 4 is sprayed onto the object 1 to be coated. The amount of paint supplied is detected by a flow rate detector 6, and this detected value is input to the control device 3.
【００１２】ポンプ４で供給する流量は搬送制御器１３
からの信号で設定するようになっている。The flow rate supplied by the pump 4 is determined by the transfer controller 13.
It is designed to be set using a signal from.
【００１３】次に、上記実施例の作用について説明する
。搬送装置１１の速度は、被塗装物１の種類、塗装ロボ
ット装置１００の塗装速度等によって決定され、この速
度となるように速度検出器１２と搬送制御器１３で速度
の制御を行なう。この搬送装置１１の速度は予め定めら
れた塗料の流量となるようにポンプ４を制御する。Next, the operation of the above embodiment will be explained. The speed of the conveyance device 11 is determined by the type of the object to be painted 1, the coating speed of the painting robot device 100, etc., and the speed is controlled by the speed detector 12 and the conveyance controller 13 so as to maintain this speed. The pump 4 is controlled so that the speed of the conveyance device 11 is a predetermined paint flow rate.
【００１４】ポンプ４の流量設定は、必ずしも上記のよ
うにする必要はなく、搬送装置１１の速度を見て手動で
設定してもよい。The flow rate setting of the pump 4 does not necessarily have to be as described above, and may be set manually based on the speed of the conveying device 11.
【００１５】ポンプ４からの塗料供給量は流量検出器６
で検出され、塗料はスプレーガン９を介して被塗装物１
に塗布される。流量検出器６で検出した塗料流量値を表
わす信号は制御装置３に入力される。この結果、制御装
置３では、塗料温度の変化による粘度等が変わることに
よって設定されたポンプ４からの供給量の変動を補正す
るための演算を行い、ロボットのアーム７の移動速度を
決定する。すなわち、図３に示すように、予め塗料供給
量（横軸）とアーム７の速度（縦軸）の関係を制御装置
３の記憶部に記憶させておき、前記流量検出器６で検出
された塗料供給量値に対応するアーム７の速度で駆動装
置５を介してアーム７を移動させる。The amount of paint supplied from the pump 4 is measured by a flow rate detector 6.
, and the paint is applied to the object 1 to be coated via the spray gun 9.
is applied to. A signal representing the paint flow rate detected by the flow rate detector 6 is input to the control device 3. As a result, the control device 3 performs calculations to correct fluctuations in the set supply amount from the pump 4 due to changes in viscosity and the like due to changes in paint temperature, and determines the moving speed of the robot arm 7. That is, as shown in FIG. 3, the relationship between the paint supply amount (horizontal axis) and the speed of the arm 7 (vertical axis) is stored in advance in the storage section of the control device 3, and the relationship between the paint supply amount (horizontal axis) and the speed of the arm 7 (vertical axis) is stored in advance, and the relationship between The arm 7 is moved via the drive device 5 at a speed of the arm 7 corresponding to the paint supply amount value.
【００１６】図２は本発明の他の実施例を、塗装作業時
の態様において概念的に示す説明図である。本実施例は
前記実施例とは搬送装置１１の形態及び制御装置３から
搬送制御装置１３へ搬送装置１４の速度を変えるための
信号を伝達している点が異なっている。即ち、被塗装物
１は搬送装置１４のバイパス１４ａに入り、被塗装物１
は静止状態で塗布される。FIG. 2 is an explanatory diagram conceptually showing another embodiment of the present invention in a painting operation mode. This embodiment differs from the previous embodiments in that the configuration of the transport device 11 and that a signal for changing the speed of the transport device 14 is transmitted from the control device 3 to the transport control device 13. That is, the object 1 to be painted enters the bypass 14a of the conveying device 14, and the object 1 to be painted enters the bypass 14a of the conveying device 14.
is applied statically.
【００１７】本実施例の如き搬送装置１４であっても、
流量検出器６で検出された塗料供給量によってロボット
のアーム７の移動速度を変えるように対応すれば良いた
め、前記実施例と同様の作用となる。[0017] Even with the conveyance device 14 as in this embodiment,
Since the movement speed of the robot arm 7 may be changed depending on the amount of paint supplied by the flow rate detector 6, the same effect as in the embodiment described above is obtained.
【００１８】一方、塗料供給量が図３に示す所定値Ｘａ
以下となったとき、ロボットのアーム７の移動速度を変
えるだけでは均一の塗膜を得ることは困難であるため、
搬送装置１１，１４の速度を減少させる。即ち、請求項
２に対応する実施例として、図３に示すように、塗料供
給量が所定以下（Ｘａ）となった時には搬送装置１１，
１４の速度Ｖａ、塗料供給量がＸａ以上Ｘｂ以下のとき
の搬送装置１１，１４の速度をＶｂとする。この様に搬
送装置１１，１４の速度を塗料供給量に対応して管理す
ることによって、更に均一の塗膜を形成することが出来
る。On the other hand, when the paint supply amount reaches a predetermined value Xa shown in FIG.
When the following conditions occur, it is difficult to obtain a uniform coating simply by changing the movement speed of the robot arm 7.
Decrease the speed of the transport devices 11, 14. That is, as an embodiment corresponding to claim 2, as shown in FIG.
14, and the speed of the conveying devices 11 and 14 when the paint supply amount is greater than or equal to Xa and less than or equal to Xb is defined as Vb. By controlling the speeds of the conveying devices 11 and 14 in accordance with the amount of paint supplied in this manner, a more uniform coating film can be formed.
【００１９】さらに、図３に於て塗料供給量が所定以上
（Ｘｂ）或は以下（Ｘａ）となった場合には、異常とし
て警報を発したり、図示していないが装置を停止させる
。Furthermore, in FIG. 3, when the paint supply amount becomes more than a predetermined value (Xb) or less than a predetermined value (Xa), an alarm is issued as an abnormality, or the apparatus is stopped (not shown).
【００２０】[0020]
【発明の効果】以上実施例とともに具体的に説明したよ
うに、本発明によれば、塗料供給量に対応するアーム速
度で被塗装物を塗布するものである為、塗料の温度変化
等による流量変動の影響を受けることなく塗布できる。
この結果、均一塗膜の製品を得ることが出来る。[Effects of the Invention] As explained above in detail with the embodiments, according to the present invention, the object to be coated is coated at an arm speed corresponding to the amount of paint supplied. Can be applied without being affected by fluctuations. As a result, a product with a uniform coating can be obtained.
【００２１】さらに、塗料供給量が所定値の範囲を越え
る場合にたいしては、搬送装置の速度を変えて塗装作業
を実施するようにしたので、このことによっても均一の
塗膜を得るものである。Furthermore, when the amount of paint supplied exceeds a predetermined value range, the speed of the conveying device is changed to carry out the painting operation, which also makes it possible to obtain a uniform coating film.
【図１】本発明の実施例を、塗装作業時の態様において
概念的に示す説明図である。FIG. 1 is an explanatory diagram conceptually showing an embodiment of the present invention in a state during painting work.
【図２】本発明の他の実施例を、塗装作業時の態様にお
いて概念的に示す説明図である。FIG. 2 is an explanatory diagram conceptually showing another embodiment of the present invention in an aspect during painting work.
【図３】上記両実施例の動作特性を示すグラフである。FIG. 3 is a graph showing the operating characteristics of both of the above embodiments.
１ 被塗装物 ２ 塗料タンク ３ 制御装置 ４ ポンプ ５ 駆動装置 ６ 流量検出器 ７ アーム ９ スプレーガン １１，１４ 搬送装置 １２ 速度検出器 １３ 搬送制御装置 １００ 塗装ロボット装置 1 Object to be painted 2 Paint tank 3 Control device 4 Pump 5 Drive device 6 Flow rate detector 7 Arm 9 Spray gun 11, 14 Conveyance device 12 Speed detector 13 Conveyance control device 100 Painting robot device
Claims (2)
塗装しながら移動するロボットのアームと、前記塗料の
供給量を測定する流量検出手段と、流量検出手段で検出
された値に対応する予め記憶された値に基づき前記ロボ
ットのアームの移動速度を制御する制御手段とを有する
ことを特徴とする塗装ロボット装置。1. An arm of a robot that moves while spraying paint onto an object to be coated with a spray gun, a flow rate detection means for measuring the amount of paint supplied, and a predetermined amount corresponding to the value detected by the flow rate detection means. A painting robot apparatus comprising: control means for controlling the moving speed of the arm of the robot based on a stored value.
所定値の範囲を越える場合に被塗装物を搬送する搬送装
置の速度を変更するようにしたことを特徴とする塗装ロ
ボット装置。2. A painting robot apparatus, characterized in that the speed of a conveyance device for conveying an object to be coated is changed when the paint supply amount detected by the flow rate detection means exceeds a predetermined value range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2039391A JP2865885B2 (en) | 1991-01-22 | 1991-01-22 | Painting robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2039391A JP2865885B2 (en) | 1991-01-22 | 1991-01-22 | Painting robot equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04271861A true JPH04271861A (en) | 1992-09-28 |
| JP2865885B2 JP2865885B2 (en) | 1999-03-08 |
Family
ID=12025776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2039391A Expired - Fee Related JP2865885B2 (en) | 1991-01-22 | 1991-01-22 | Painting robot equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2865885B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019166469A (en) * | 2018-03-23 | 2019-10-03 | 株式会社栗本鐵工所 | Powder coating method to cast iron pipe inner surface and its device |
-
1991
- 1991-01-22 JP JP2039391A patent/JP2865885B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019166469A (en) * | 2018-03-23 | 2019-10-03 | 株式会社栗本鐵工所 | Powder coating method to cast iron pipe inner surface and its device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2865885B2 (en) | 1999-03-08 |
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