JPH0631233A - Teaching method for painting robot - Google Patents
Teaching method for painting robotInfo
- Publication number
- JPH0631233A JPH0631233A JP20740292A JP20740292A JPH0631233A JP H0631233 A JPH0631233 A JP H0631233A JP 20740292 A JP20740292 A JP 20740292A JP 20740292 A JP20740292 A JP 20740292A JP H0631233 A JPH0631233 A JP H0631233A
- Authority
- JP
- Japan
- Prior art keywords
- coating
- teaching
- shape
- cursor
- displayed
- 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
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、予め記憶された経路に
従つて塗装ガンを自動的に移動させつつ被塗物に向けて
塗料を噴出させる塗装ロボツトに対して、その塗装ガン
の移動経路を記憶させるためのテイーチング方法に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating robot moving path for a coating robot which automatically moves the coating gun according to a pre-stored route and sprays the coating toward an object to be coated. It relates to a teaching method for storing.
【０００２】[0002]
【従来の技術】塗装ロボツトにテイーチングする際、被
塗物にＣＡＤデータがある場合はそれを利用することが
できるが、ＣＡＤデータがないものについては、塗装位
置において、作業者が被塗物に合わせて塗装ガンを実際
に移動させて、その移動ガンの軌跡を移動経路として記
憶させる方法が採られていた。2. Description of the Related Art When teaching a coating robot, CAD data can be used if the object has a CAD data. However, if there is no CAD data, the operator does not have the CAD data at the coating position. At the same time, the method of actually moving the coating gun and memorizing the trajectory of the moving gun as the movement route was adopted.
【０００３】[0003]
【発明が解決しようとする課題】しかしながらこのよう
なテイーチング方法では、実際に塗装ガンを移動させね
ばならないので作業が面倒であり、また、塗装ロボツト
の塗装ガン自身を用いるのであるから、そのつどライン
を止めるか、あるいは、ラインの稼働終了後に行う必要
があつて、生産能率が低下したり、残業を行う等の作業
者の時間的な負担増が避け得なかつた。However, in such a teaching method, since the coating gun has to be actually moved, the work is troublesome, and since the coating gun itself of the coating robot is used, the line gun is used each time. Since it is necessary to stop the work or perform it after the operation of the line is finished, it is unavoidable that the production efficiency is lowered and the time burden on the worker such as overtime work is increased.
【０００４】[0004]
【課題を解決するための手段】本発明の塗装ロボツトの
テイーチング方法は、叙上の点に鑑み完成されたもので
あつて、被塗物の形状をセンサにより検出してその検出
形状をパソコンのデイスプレイの画像処理画面に表示
し、その画像処理画面上に塗装ガンと対応して設けられ
たカーソルを、マウス操作等により表示形状上で移動さ
せて、そのカーソルの軌跡を塗装ガンの塗装時の移動経
路として塗装ロボツトに記憶させる構成とした。The method for teaching a coating robot of the present invention has been completed in view of the above points, and the shape of an object to be coated is detected by a sensor and the detected shape is detected by a personal computer. It is displayed on the image processing screen of the display, and the cursor provided corresponding to the painting gun on the image processing screen is moved on the display shape by mouse operation etc., and the locus of the cursor is displayed when painting the painting gun. As a moving route, it is configured to be stored in the painting robot.
【０００５】[0005]
【作用】被塗物の形状がセンサによつて検出されると、
その検出形状がパソコンのデイスプレイの画像処理画面
に表示される。そして、その画像処理画面に塗装ガンと
対応して設けられたカーソルを、マウス等を利用して被
塗物の表示形状上で所望の塗装経路に従つて移動させる
と、そのカーソルの軌跡が、塗装ガンの塗装時における
移動経路として塗装ロボツトに記憶される。When the shape of the object to be coated is detected by the sensor,
The detected shape is displayed on the display image processing screen of the personal computer. Then, when the cursor provided corresponding to the coating gun on the image processing screen is moved according to the desired coating path on the display shape of the object to be coated using a mouse or the like, the trajectory of the cursor is It is stored in the painting robot as a moving route during painting of the painting gun.
【０００６】[0006]
【実施例】以下、本発明の一実施例を添付図面を参照し
て説明する。図１は本発明方法を実施するテイーチング
システムの概要を示し、被塗物ａはコンベア１で吊り下
げられて塗装ロボツト２を装置した塗装位置に順次に搬
送されるようになつており、その塗装位置の搬送方向の
手前側にテイーチング位置が設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows an outline of a teaching system for carrying out the method of the present invention. An object to be coated a is hung by a conveyor 1 and sequentially conveyed to a coating position where a coating robot 2 is installed. A teaching position is provided on the front side of the position in the transport direction.
【０００７】そのテイーチング位置には、被塗物ａの形
状を３次元的に検出するマルチフオトセンサ３が設置さ
れ、そのマルチフオトセンサ３が所定のテイーチングプ
ログラムを内蔵したパソコン４に接続され、その出力端
子が塗装ロボツト２の移動経路記憶用の記憶部に接続さ
れている。At the teaching position, a multi-photo sensor 3 for three-dimensionally detecting the shape of the object a to be coated is installed, and the multi-photo sensor 3 is connected to a personal computer 4 containing a predetermined teaching program. The output terminal is connected to a storage unit for storing the moving path of the coating robot 2.
【０００８】次に、本実施例方法を図２のフローチヤー
トに基づいて説明する。被塗物ａがマルチフオトセンサ
３を通過すると、その検出形状の３次元データがパソコ
ン４に入力される。パソコン４がそのデータを受ける
と、デイスプレイ５のテイーチング用の画像処理画面６
に、図３に示すように、被塗物ａの正面形状ａ1 と、平
面形状ａ2 及び側面形状ａ3 の３つの検出形状が表示さ
れる。Next, the method of this embodiment will be described based on the flow chart of FIG. When the article a passes through the multi-photo sensor 3, the three-dimensional data of the detected shape is input to the personal computer 4. When the personal computer 4 receives the data, the image processing screen 6 for teaching of the display 5 is displayed.
As shown in FIG. 3, three detection shapes, that is, the front shape a 1 of the article a, the plane shape a 2 and the side shape a 3 are displayed.
【０００９】その画像処理画面６上に現れたカーソル７
ａ〜７ｃは、塗装ロボツト２の塗装ガンの位置と対応し
ている。平面形状ａ2 に配されたカーソル７ｂを矢線方
向に移動させることによつて、塗装ガンと被塗物ａの中
心Ｘとの間の距離が設定され、また、側面形状ａ3 に配
されたカーソル７ｃを矢線方向に移動させることによ
り、塗装ガンの傾倒角度が設定される。それらの数値
は、デイスプレイ５上に表示されて目視できる。A cursor 7 appearing on the image processing screen 6
A to 7c correspond to the positions of the coating guns of the coating robot 2. By moving the cursor 7b arranged in the plane shape a 2 in the direction of the arrow, the distance between the coating gun and the center X of the object a is set, and the side shape a 3 is arranged. The tilt angle of the coating gun is set by moving the cursor 7c in the direction of the arrow. These numerical values are displayed on the display 5 and can be visually checked.
【００１０】次に、正面形状ａ1 に配されたカーソル７
ａを、パソコン４に接続したマウス８を利用して正面形
状ａ1 上で図３の鎖線に示すような所望の塗装経路に従
つて移動させると、そのカーソル７ａの軌跡が、上記の
塗装ガンの被塗物からの距離と傾倒角度のデータととも
に、塗装ガンの塗装時における移動経路として、塗装ロ
ボツト２の記憶部に記憶される。Next, the cursor 7 placed on the front shape a 1.
When a is moved along the desired painting path as shown by the chain line in FIG. 3 on the front shape a 1 using the mouse 8 connected to the personal computer 4, the locus of the cursor 7a is changed to the above painting gun. The data of the distance from the object to be coated and the tilt angle are stored in the storage unit of the coating robot 2 as the movement path of the coating gun during coating.
【００１１】もちろん、正面形状ａ1 上でカーソル７ａ
を移動させる途中で、塗装ガンの被塗物からの距離と傾
動角度を変更することも可能である。Of course, the cursor 7a is placed on the front shape a 1.
It is possible to change the distance of the coating gun from the object to be coated and the tilt angle while moving the.
【００１２】上記の操作と併せて、キーボード９により
被塗物ａの種類に対応したコード番号を入力すると、コ
ード番号と対応して上記の移動経路が記憶される。When a code number corresponding to the type of the article a is input with the keyboard 9 in addition to the above operation, the above moving path is stored in correspondence with the code number.
【００１３】これによりテイーチングが完了し、塗装時
において被塗物ａのコード番号を入力すると、対応する
移動経路が呼び出されて塗装ガンがそれに従つて移動制
御される。As a result, when the teaching is completed and the code number of the object to be coated a is input at the time of coating, the corresponding movement path is called and the movement of the coating gun is controlled accordingly.
【００１４】[0014]
【発明の効果】すなわち本発明方法によれば、パソコン
を利用してそのデイスプレイの画像処理画面上でカーソ
ルを移動させるだけでテイーチングができるから、作業
がきわめて簡単となる。また、テイーチングに際して塗
装ガンを用いないために、テイーチング作業を、ライン
における塗装位置の手前側等の塗装位置とは別の位置で
行うことができ、すなわち、ラインを稼働させたままで
テーチング作業を行うことができるから、ライン停止に
伴う生産能率の低下を防止でき、また、ライン稼働停止
後にテイーチング作業を行わねばならない作業者の負担
を削減することができる効果がある。That is, according to the method of the present invention, since the teaching can be performed by simply moving the cursor on the image processing screen of the display by using the personal computer, the work is extremely simple. Also, since the painting gun is not used for teaching, the teaching work can be performed at a position different from the painting position such as the front side of the painting position on the line, that is, the teaching work is performed while the line is operating. As a result, it is possible to prevent the production efficiency from being lowered due to the line stop, and to reduce the burden on the operator who has to perform the teaching work after the line operation is stopped.
【図１】本発明の一実施例に係るテイーチングシステム
の概要図である。FIG. 1 is a schematic diagram of a teaching system according to an embodiment of the present invention.
【図２】そのフローチヤートである。FIG. 2 is the flow chart.
【図３】画像処理の説明図である。FIG. 3 is an explanatory diagram of image processing.
３：マルチフオトセンサ ４：パソコン ５：デイスプ
レイ ６：画像処理画面 ７ａ〜７ｃ：カーソル ８：
マウス ａ：被塗物 ａ1〜ａ3：：検出形状3: Multi-photo sensor 4: Personal computer 5: Display 6: Image processing screen 7a-7c: Cursor 8:
Mouse a: object to be coated a 1 to a 3 :: detection shape
Claims (1)
自動的に移動させつつ被塗物に向けて塗料を噴出させる
塗装ロボツトに対して、前記塗装ガンの移動経路を記憶
させるためのテイーチング方法であつて、 被塗物の形状をセンサにより検出して該検出形状をパソ
コンのデイスプレイの画像処理画面に表示し、該画像処
理画面上に前記塗装ガンと対応して設けられたカーソル
を、マウス操作等により前記表示形状上で移動させて、
該カーソルの軌跡を前記塗装ガンの塗装時の移動経路と
して前記塗装ロボツトに記憶させることを特徴とする塗
装ロボツトのテイーチング方法。1. A teaching for memorizing a moving path of the coating gun for a coating robot which automatically moves the coating gun according to a pre-stored path and sprays the paint toward an object to be coated. In the method, the shape of the object to be coated is detected by a sensor, the detected shape is displayed on a display image processing screen of a personal computer, and a cursor provided corresponding to the coating gun on the image processing screen is displayed. Move on the display shape by mouse operation etc.,
A coating robot teaching method, characterized in that the locus of the cursor is stored in the coating robot as a movement path of the coating gun during coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20740292A JPH0631233A (en) | 1992-07-10 | 1992-07-10 | Teaching method for painting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20740292A JPH0631233A (en) | 1992-07-10 | 1992-07-10 | Teaching method for painting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0631233A true JPH0631233A (en) | 1994-02-08 |
Family
ID=16539151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20740292A Pending JPH0631233A (en) | 1992-07-10 | 1992-07-10 | Teaching method for painting robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0631233A (en) |
-
1992
- 1992-07-10 JP JP20740292A patent/JPH0631233A/en active Pending
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