JPH10180177A - Simulation method for route and state of coating gun in automatic coating and automatic coating method - Google Patents

Simulation method for route and state of coating gun in automatic coating and automatic coating method

Info

Publication number
JPH10180177A
JPH10180177A JP34800496A JP34800496A JPH10180177A JP H10180177 A JPH10180177 A JP H10180177A JP 34800496 A JP34800496 A JP 34800496A JP 34800496 A JP34800496 A JP 34800496A JP H10180177 A JPH10180177 A JP H10180177A
Authority
JP
Japan
Prior art keywords
coating
gun
state
work
route
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
Application number
JP34800496A
Other languages
Japanese (ja)
Inventor
Koji Shimonishi
弘二 下西
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sekisui Chemical Co Ltd
Original Assignee
Sekisui Chemical Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sekisui Chemical Co Ltd filed Critical Sekisui Chemical Co Ltd
Priority to JP34800496A priority Critical patent/JPH10180177A/en
Publication of JPH10180177A publication Critical patent/JPH10180177A/en
Pending legal-status Critical Current

Links

Landscapes

  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

PROBLEM TO BE SOLVED: To carry out the sufficiently uniform coating for a work by finding the proper movement route of a coating gun and the proper state of the gun while the movement of the coating gun is image-displayed and the image display is visually observed. SOLUTION: A computer 3 is provided with a simulation means by which the proper route and the proper state of a gun are stored, based on which a handling means 1 is operated so as to move a coating gun 2. The state of the gun on a teaching point on a basic route based on the experience is input and processed following the given coated pattern information and the coating amounts on respective sites of a work are computed and displayed. The operation of the coating gun 2 is displayed by a moving image, and the state and the height of the coating gun 2 on the teaching point are so improved as to uniformize the coating amounts on respective sites of a work. The optimum route and the state and height of the gun, therefore, can be found easily by repeating the above-said operation.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は自動塗装における塗
装ガンの経路及び状態のシミュレ−ション方法並びにこ
のシミュレ−ション方法を使用した自動塗装方法に関
し、建築板材の塗装に有用なものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for simulating the path and state of a coating gun in automatic coating and an automatic coating method using the simulation method, which is useful for coating building boards.

【０００２】[0002]

【従来の技術】塗装は、防水、防食、化粧等のために行
われ、一般に均一塗布が要求される。建築板材等の大サ
イズワ−クにおいては、工業ロボット等のハンドリング
手段により塗装ガンをコンピュ−タ−制御により所定の
経路で移動させて自動的に行うことが多い。2. Description of the Related Art Coating is performed for waterproofing, anticorrosion, makeup, etc., and generally requires uniform coating. In the case of large-sized work such as building board materials, it is often performed automatically by moving the coating gun along a predetermined route under computer control by handling means such as an industrial robot.

【０００３】かかるロボットを用いる自動塗装において
は、均一塗布のための経路を繰返し塗装実験により求
め、これをロボットの駆動制御用のコンピュ−タ−に記
憶させ、その記憶させた経路で塗装ガンを移動させてい
る。しかしながら、この方法では、実際にワ−クに塗装
しなければならないので、厄介である。このため、塗装
ガンの動作状態をコンピュ−タ−でシミュレ−ション
し、均一塗装のための最適の塗装経路を求めることが知
られている（特願平４−１９８１７６号）。In automatic coating using such a robot, a path for uniform coating is repeatedly obtained by a coating experiment, and this is stored in a computer for drive control of the robot, and the coating gun is moved along the stored path. It is moving. However, this method is troublesome because the work must be actually painted. For this reason, it is known to simulate the operation state of a coating gun by a computer and to determine an optimum coating route for uniform coating (Japanese Patent Application No. 4-198176).

【０００４】[0004]

【発明が解決しようとする課題】上記塗装における塗装
ガンの状態Ｚは、基準点からの距離ｘ、被塗装面からの
高さｙ、被塗装面に対する角度θ、ガン移動速度ｖ等で
定まり、Ｚ（ｘ，ｙ，θ，ｖ）で表わすことができ、ワ
−クの塗布量は、この塗装ガンの状態Ｚ（ｘ，ｙ，θ，
ｖ）と塗布パタ−ンにより与えられる。The state Z of the coating gun in the above coating is determined by a distance x from the reference point, a height y from the surface to be coated, an angle θ with respect to the surface to be coated, a gun moving speed v, and the like. Z (x, y, θ, v), and the amount of work applied is determined by the state Z (x, y, θ,
v) and the application pattern.

【０００５】而るに、上記した塗装ガンの動作状態のシ
ミュレ−ションでは、完全に平らなワ−クを対象とし、
塗布パタ−ンも一様な狭い巾であり、ワ−ク塗布量を準
均一にできる適切な塗装ガンの移動経路及び状態（ワ−
ク塗布量を完全均一にすることは困難であり、一定のバ
ラツキ内に納め得る塗装ガンの移動経路及び状態）は基
準点からの距離ｘによっては変化しない被塗装面からの
高さｙ一定の経路、ガン移動速度ｖ一定のガン状態等で
与えられる。[0005] In the simulation of the operation state of the coating gun described above, a completely flat work is targeted.
The coating pattern also has a uniform narrow width, and the proper moving path and state of the coating gun (work area) can make the amount of work applied semi-uniform.
It is difficult to make the coating amount completely uniform, and the moving path and the state of the coating gun that can be kept within a certain variation) have a constant height y from the surface to be coated which does not change depending on the distance x from the reference point. The route, the gun moving speed v, and the like are given in a constant gun state.

【０００６】しかし、塗料の物性の如何によっては、塗
布パタ−ンが図４に示すようなド−ナツ型や円形の塗装
ガンを使用しなければならないことがあり、かかる塗布
パタ−ンになると、またワ−クが図６に示すようにｘ
面，ｙ面の両面に股がる複雑な形状になると、適切な経
路やガン状態を上記シミュレ−ションで求めることは困
難である。[0006] However, depending on the physical properties of the paint, it is necessary to use a donut-shaped or circular coating gun as shown in FIG. 4 for the coating pattern. , And the work is x as shown in FIG.
When a complicated shape is formed on both sides of the surface and the y-plane, it is difficult to obtain an appropriate route and a gun state by the above simulation.

【０００７】例えば、図６に示すワ−クに対し、図７の
（イ）に示すように、塗装ガン２’を基準点からの距離
ｘによって変化しない、被塗装面４からの一定の高さ、
ガン移動速度で一定で移動させる場合において、図７の
（ロ）で示すように、あるスプレ−角αの噴射塗料を取
り上げると、塗装ガンの進行に対して塗布が後戻りし、
塗布停滞ゾ−ンが発生し、ワ−ク塗布量が準均一の適切
な経路を求めることは容易ではない。For example, with respect to the work shown in FIG. 6, as shown in FIG. 7A, the coating gun 2 'is fixed at a certain height from the surface 4 to be coated, which does not change with the distance x from the reference point. Well,
In the case where the spray paint is taken at a certain spray angle α, as shown in FIG.
An application stagnation zone is generated, and it is not easy to find an appropriate path with a quasi-uniform work application amount.

【０００８】本発明の目的は、ロボット等のハンドリン
グ手段によりコンピュ−タにより塗装ガンを移動させて
自動塗装する場合、ワ−クが複雑な形状であったり、塗
布パタ−ンがド−ナツ型や円形等の不均一巾であって
も、シミュレ−ションによりワ−クの塗布量を準均一に
できる適切な塗装ガンの移動経路及び塗装ガンの状態を
容易に求め得、ワ−クの充分に均一な塗装を可能とする
シミュレ−ション方法と自動塗装方法を提供することに
ある。An object of the present invention is to provide an automatic coating system in which a coating gun is moved by a computer by means of a handling means such as a robot or the like, when the workpiece has a complicated shape or the coating pattern is a donut type. Even if the width is not uniform such as a circle or a circle, it is possible to easily find the appropriate moving path of the coating gun and the state of the coating gun which can make the application amount of the work quasi-uniform by simulation. It is an object of the present invention to provide a simulation method and an automatic coating method that enable uniform coating.

【０００９】[0009]

【課題を解決するための手段】本発明に係る自動塗装に
おける塗装ガンの経路及び状態のシミュレ−ション方法
は、自動塗装における塗装ガンの最適の経路及び状態を
求める方法であり、塗装ガンの基準点からの距離、被塗
装面からの高さ、被塗装面に対する角度、ガン移動速
度、塗布パタ−ンを入力してワ−クの指定された複数箇
所の塗布量を算出表示させると共に塗装ガンの動きを画
像表示させ、その画像表示を目視しながら塗装ガンの適
切な移動経路とガン状態とを求めることを特徴とする構
成である。According to the present invention, there is provided a method for simulating the path and state of a coating gun in automatic coating according to the present invention. The distance from the point, the height from the surface to be coated, the angle to the surface to be coated, the gun moving speed, and the coating pattern are input to calculate and display the coating amount at a plurality of designated locations on the work, and the coating gun Is displayed as an image, and an appropriate moving path and a gun state of the coating gun are determined while visually observing the image display.

【００１０】本発明に係る自動塗装方法は、ロボット等
のハンドリング手段により塗装ガンを移動させて塗装す
る方法において、塗装ガンの基準点からの距離、被塗装
面からの高さ、被塗装面に対する角度、ガン移動速度、
塗布パタ−ンを入力してワ−クの指定された複数箇所の
塗布量を算出表示させると共に塗装ガンの動きを画像表
示させ、その画像表示を目視しながら塗装ガンの適切な
移動経路とガン状態とを求め、この移動経路とガン状態
で上記ハンドリング手段により塗装ガンを移動させるこ
とを特徴とする構成である。An automatic coating method according to the present invention is directed to a method of coating by moving a coating gun by a handling means such as a robot, wherein the distance from the reference point of the coating gun, the height from the surface to be coated, and the height relative to the surface to be coated. Angle, gun moving speed,
The application pattern is input to calculate and display the application amount of a plurality of designated portions of the work, and the movement of the coating gun is displayed as an image. A state is determined, and the coating gun is moved by the handling means in the moving path and the gun state.

【００１１】[0011]

【発明の実施の形態】以下、図面を参照しつつ本発明の
実施の形態について説明する。図１は本発明において使
用する自動塗装装置を示している。図１において、１は
ハンドリング手段、２はハンドリング手段１によって移
動される塗装ガン、３はハンドリング手段１を制御する
コンピュ−タであり、シミュレ−ション手段を備え、こ
のシミュレ−ション手段により求められた適切な経路並
びにガン状態を記憶し、この記憶デ−タに基づき塗装ガ
ン２を移動させるように、ハンドリング手段１が操作さ
れる。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an automatic coating apparatus used in the present invention. In FIG. 1, 1 is a handling means, 2 is a coating gun moved by the handling means 1, and 3 is a computer for controlling the handling means 1, which is provided with a simulation means and which is obtained by the simulation means. The appropriate route and the gun state are stored, and the handling means 1 is operated to move the coating gun 2 based on the stored data.

【００１２】上記塗装ガンが実際にある経路で移動され
たときのワ−クの塗布量は、塗装ガンの移動経路とその
移動中でのガンの状態と塗布パタ−ンによって定まる。
而るに、ある位置での塗装ガンの状態は、塗装ガンの被
塗装面からの高さｙ（高さが高くなるほど、塗料の噴射
の広がりが大きくなる）、被塗装面に対する角度θ、ガ
ン移動速度ｖ、塗料吐出量ｑ、塗布パタ−ンａ等により
定まり、また、塗装ガンの位置は、基準点からの距離ｘ
と被塗装面からの高さｙにより与えられる。The amount of work applied when the coating gun is actually moved along a certain path is determined by the moving path of the coating gun, the state of the gun during the movement, and the coating pattern.
The state of the coating gun at a certain position includes the height y of the coating gun from the surface to be coated (the higher the height, the greater the spread of the spray of the coating), the angle θ with respect to the surface to be coated, and the gun. It is determined by the moving speed v, the paint discharge amount q, the coating pattern a, and the like, and the position of the coating gun is the distance x from the reference point.
And the height y from the surface to be coated.

【００１３】そして、塗装ガンがある経路で移動したと
きのワ−クの塗布状態は、上記経路とこの経路移動中の
塗装ガンの状態により定まる。ここで、ワ−ク上の塗布
状態が最も均一になるときの最適の経路とガン状態を、
経路については、Ｙ（ｘ）で示し、ガン状態について
は、塗布パタ−ンａ及びｘの関数である被塗装面からの
高さｙ（ｘ）や被塗装面に対する角度θ（ｘ）やガン移
動速度ｖ（ｘ）等に基づく関数Ｚ〔ａ，ｙ（ｘ），θ
（ｘ），ｖ（ｘ）〕で示すことにする（塗料吐出量ｑは
一定としてある）。The state of application of the work when the coating gun moves along a certain path is determined by the path and the state of the coating gun moving along this path. Here, the optimal path and the gun state when the coating state on the work becomes the most uniform are as follows.
The path is indicated by Y (x), and the gun state is the height y (x) from the surface to be coated, which is a function of the coating patterns a and x, the angle θ (x) with respect to the surface to be coated, and the gun. Function Z [a, y (x), θ based on moving speed v (x), etc.
(X), v (x)] (the paint discharge amount q is fixed).

【００１４】本発明に係る自動塗装方法においては、塗
装ガンの最適の経路Ｙ（ｘ）とガン状態Ｚ〔ａ，ｙ
（ｘ），θ（ｘ），ｖ（ｘ）〕をコンピュ−タに記憶さ
せ、コンピュ−タで上記ハンドリング手段を制御し、塗
装ガンを経路Ｙ（ｘ），状態Ｚ〔ａ，ｙ（ｘ），θ
（ｘ），ｖ（ｘ）〕で移動させていく。図２はこの塗装
ガンの最適の経路とガン状態を求めるためのシミュレ−
ション手段のアルゴリズムを示し、経験則に基づく基本
経路（高さ一定）における数点（教示点）でのガン状態
（被塗装面からの高さ、被塗装面に対する角度及びガン
移動速度とも一定）を入力し、所定の塗布パタ−ン情報
のもとで処理し、ワ−クの各箇所（例えば、図３におけ
る箇所１〜箇所１３）における塗布量を算出表示させる
と共に塗装ガンの動作を動画像で表示させ、ワ−ク各場
所の塗布量を等しくするように、上記教示点における塗
装ガンの状態及び高さを修正し、これを繰り返して、塗
装ガンの最適の経路Ｙ（ｘ）とガン状態Ｚ〔ｙ（ｘ），
θ（ｘ），ｖ（ｘ）〕を求めて行く。In the automatic coating method according to the present invention, the optimum path Y (x) of the coating gun and the gun state Z [a, y
(X), θ (x), v (x)] is stored in the computer, the above-mentioned handling means is controlled by the computer, and the coating gun is moved along the path Y (x) and the state Z [a, y (x ), Θ
(X), v (x)]. Fig. 2 shows a simulation for finding the optimal route and gun condition for this coating gun.
The algorithm of the application means is shown, and the gun state at several points (teaching points) on the basic route (constant height) based on empirical rules (the height from the surface to be coated, the angle to the surface to be coated, and the gun moving speed are also constant) Is processed based on predetermined application pattern information to calculate and display the amount of application at each location of the work (for example, locations 1 to 13 in FIG. 3) and to display the motion of the coating gun as a moving image. The state and height of the coating gun at the above-mentioned teaching point are corrected so that the amount of application at each location of the work is equalized by displaying an image, and this is repeated to obtain the optimum path Y (x) of the coating gun. Cancer state Z [y (x),
θ (x), v (x)].

【００１５】この場合、「ワ−クの各箇所における塗布
量」の数値及び「塗装ガンの動作」の動画より、塗装ガ
ンの状態（被塗装面からの高さや被塗装面に対する角度
やガン移動速度等）がどのようになれば、ワ−クのどの
部分がどう塗られていくかを理解でき、均一塗装のため
の要因を容易に把握できる。従って、本発明によれば、
実際の塗装を行うことなく、均一塗装のための要因を検
討しつつ、入力デ−タ（教示点でのガン状態）を適確に
修正でき、この繰返しにより容易に最適の経路・ガン状
態を求めることができる。In this case, the state of the coating gun (the height from the surface to be coated, the angle with respect to the surface to be coated, the movement of the gun, etc.) can be obtained from the numerical value of the “amount of application at each part of the work” and the moving image of “operation of the coating gun”. Speed, etc.), it is possible to understand what part of the work is being applied and how, and it is easy to understand the factors for uniform coating. Thus, according to the present invention,
The input data (gun condition at the teaching point) can be properly corrected while examining the factors for uniform coating without actually painting, and the optimum route and gun condition can be easily adjusted by repeating this process. You can ask.

【００１６】[0016]

【実施例】塗布パタ−ンを図４に示すド−ナツ型とし、
ワ−クは図３に示す形状のものとした。 〔比較例〕経験則に基づく、図５の（イ）に示すガン経
路で、ガン角度、ガン高さ、ガン速度がほぼ一定のもの
を入力初期値とした。初期入力に対するワ−クの各点の
塗布量は表１の通りであり、最大値と最小値の差は３６
２、バラツキは８．８５７％であった。EXAMPLE The coating pattern was a donut type shown in FIG.
The work had the shape shown in FIG. [Comparative Example] Based on empirical rules, a gun path shown in FIG. 5A and having a substantially constant gun angle, gun height, and gun speed was used as an input initial value. The application amount of each point of the work with respect to the initial input is as shown in Table 1, and the difference between the maximum value and the minimum value is 36.
2. The variation was 8.857%.

【００１７】[0017]

【表１】 [Table 1]

【００１８】〔実施例〕図５の（ロ）は、ガン経路及び
ガン状態（ただし、ガン移動速度は一定とした）が最適
になったと判断したときのガン経路、すなわち適切経路
を示している。適切経路でのワ−クの各点（点１〜点１
３）における塗布量は表２の通りであり、最大値と最小
値の差は１２３、バラツキは２．６９２％であった。[Embodiment] FIG. 5B shows a gun route when it is determined that the gun route and the gun state (provided that the gun moving speed is constant) are optimal, that is, an appropriate route. . Each point of the work on the appropriate route (point 1 to point 1
The coating amount in 3) is as shown in Table 2, and the difference between the maximum value and the minimum value was 123, and the variation was 2.692%.

【００１９】[0019]

【表２】 [Table 2]

【００２０】この実施例と比較例との対比から、本発明
によれば、塗布パタ−ンがド−ナツ型で、かつワ−クが
ｘｙ２面に股がる複雑な形状でも、塗布量のバラツキが
極めて小さい適正なガン経路・ガン状態を導きだせる。
表１及び表２において、下段は塗布量平均値を１００と
したときの箇所１〜３、箇所４〜６、箇所７〜９、箇所
１０〜１１、箇所１２〜１３の塗布量の平均値も示して
いるが、これらの比較からも、本発明によれば、塗布量
のバラツキが極めて小さい適正なガン経路・ガン状態を
導きだせることが明らかである。From the comparison between the embodiment and the comparative example, according to the present invention, even if the coating pattern is of a donut type and the work has a complicated shape in which the crotch extends along the xy2 plane, the coating amount can be reduced. It can derive an appropriate gun route and state with extremely small variations.
In Tables 1 and 2, the lower row also shows the average values of the coating amounts at the locations 1 to 3, the locations 4 to 6, the locations 7 to 9, the locations 10 to 11, and the locations 12 to 13 when the average application amount is 100. However, it is clear from these comparisons that according to the present invention, it is possible to derive an appropriate gun route and a proper gun state in which the variation in the coating amount is extremely small.

【００２１】[0021]

【発明の効果】本発明によれば、ロボット等のハンドリ
ング手段により塗装ガンを移動させてスプレ−塗装する
場合、塗布パタ−ンがド−ナツ型パタ−ン等の特殊パタ
−ンや、ワ−クが二平面に股がる複雑な形状の場合で
も、実際に塗装することなく不均一塗装の原因を調査し
つつ均一塗装をするための塗装ガンの経路や状態を容易
に決定することができる。また、塗装実験では見つけ難
いような最適経路を容易に求めることができ、作業の迅
速化、充実化を図ることができる。According to the present invention, when the spray gun is moved by moving the coating gun by a handling means such as a robot, the coating pattern is a special pattern such as a donut type pattern or a wafer. -Even if the shaft has a complicated shape that extends into two planes, it is possible to easily determine the path and condition of the coating gun for uniform coating while investigating the cause of uneven coating without actually painting. it can. In addition, it is possible to easily find an optimum route that is difficult to find in a coating experiment, and to speed up and enrich the work.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明において使用する塗装装置を示す図面で
ある。FIG. 1 is a drawing showing a coating apparatus used in the present invention.

【図２】本発明において使用するシュミレ−ト手段のフ
ロ−チャ−トである。FIG. 2 is a flowchart of a simulation means used in the present invention.

【図３】本発明における塗装対象のワ−クの塗布量算出
箇所を示す図面である。FIG. 3 is a view showing a portion where a coating amount of a work to be coated is calculated in the present invention.

【図４】本発明における塗装パタ−ンの一例を示す図面
である。FIG. 4 is a drawing showing an example of a coating pattern according to the present invention.

【図５】図５の（イ）は経験則に基づく塗装ガンの移動
経路を示す図面、図５の（ロ）は本発明により求められ
た塗装ガンの移動経路を示す図面である。5A is a drawing showing a moving path of the coating gun based on an empirical rule, and FIG. 5B is a drawing showing a moving path of the coating gun obtained by the present invention.

【図６】本発明における塗装対象のワ−クの一例を示す
図面である。FIG. 6 is a drawing showing an example of a work to be coated in the present invention.

【図７】塗装ガンの従来の移動経路を示す図面である。FIG. 7 is a view showing a conventional movement path of a coating gun.

【符号の説明】[Explanation of symbols]

１ ハンドリング手段 ２ 塗装ガン ３ コンピュ−タ DESCRIPTION OF SYMBOLS 1 Handling means 2 Painting gun 3 Computer

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】自動塗装における塗装ガンの適切な経路及
び状態を求める方法であり、塗装ガンの基準点からの距
離、被塗装面からの高さ、被塗装面に対する角度、ガン
移動速度、塗布パタ−ンを入力してワ−クの指定された
複数箇所の塗布量を算出表示させると共に塗装ガンの動
きを画像表示させ、その画像表示を目視しながら塗装ガ
ンの適切な移動経路とガン状態を求めることを特徴とす
る自動塗装における塗装ガンの経路及び状態のシミュレ
−ション方法。The present invention relates to a method for determining an appropriate route and state of a coating gun in automatic coating, which includes a distance from a reference point of the coating gun, a height from a surface to be coated, an angle with respect to the surface to be coated, a gun moving speed, and a coating speed. A pattern is input to calculate and display the application amount at a plurality of designated locations of the work, and the movement of the coating gun is displayed as an image. And a method for simulating the path and state of a coating gun in automatic coating. 【請求項２】ロボット等のハンドリング手段により塗装
ガンを移動させて塗装する方法において、塗装ガンの基
準点からの距離、被塗装面からの高さ、被塗装面に対す
る角度、ガン移動速度、塗布パタ−ンを入力してワ−ク
の指定された複数箇所の塗布量を算出表示させると共に
塗装ガンの動きを画像表示させ、その画像表示を目視し
ながら塗装ガンの適切な移動経路とガン状態を求め、こ
の移動経路とガン状態で上記ハンドリング手段により塗
装ガンを移動させることを特徴とする自動塗装方法。2. A method in which a coating gun is moved by a handling means such as a robot to perform coating, wherein a distance from a reference point of the coating gun, a height from a surface to be coated, an angle with respect to the surface to be coated, a gun moving speed, and a coating speed. A pattern is input to calculate and display the application amount at a plurality of designated locations of the work, and the movement of the coating gun is displayed as an image. An automatic painting method comprising: moving the coating gun by the above-mentioned handling means in the moving path and the gun state.
JP34800496A 1996-12-26 1996-12-26 Simulation method for route and state of coating gun in automatic coating and automatic coating method Pending JPH10180177A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP34800496A JPH10180177A (en) 1996-12-26 1996-12-26 Simulation method for route and state of coating gun in automatic coating and automatic coating method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP34800496A JPH10180177A (en) 1996-12-26 1996-12-26 Simulation method for route and state of coating gun in automatic coating and automatic coating method

Publications (1)

Publication Number Publication Date
JPH10180177A true JPH10180177A (en) 1998-07-07

Family

ID=18394093

Family Applications (1)

Application Number Title Priority Date Filing Date
JP34800496A Pending JPH10180177A (en) 1996-12-26 1996-12-26 Simulation method for route and state of coating gun in automatic coating and automatic coating method

Country Status (1)

Country Link
JP (1) JPH10180177A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190014176A (en) 2017-07-27 2019-02-12 두림야스카와(주) Method for simulation of vehicle painting robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190014176A (en) 2017-07-27 2019-02-12 두림야스카와(주) Method for simulation of vehicle painting robot

Similar Documents

Publication Publication Date Title
US8706300B2 (en) Method of controlling a robotic tool
CN104841593B (en) Control method of robot automatic spraying system
US5814375A (en) Process and device for automatically coating objects with a sprayer
US11717937B2 (en) Automatic polishing system
JP2008132487A (en) Method for determining injection parameter for controlling coating instrument using injection means
JP2004213672A (en) Method and system for programming industrial robot
CN106607312A (en) Gluing device and gluing method
US6519507B1 (en) Method of teaching robot with traveling axis off-line
JPH10180177A (en) Simulation method for route and state of coating gun in automatic coating and automatic coating method
CN109773336B (en) Laser processing method, controller and robot system
JP3378834B2 (en) Finishing method and equipment
CN113474132B (en) Automatic teaching system
WO2013031492A1 (en) Program generation device and method
US20040149706A1 (en) Laser modification of complex objects
JP2024000461A (en) Coating work management device, coating work management method and program
JP3073341B2 (en) Robot positioning method and device
US20180221903A1 (en) Method and Device for Coating Frame Sealant
TWI803593B (en) Continuous marking laser marking system
ATE321154T1 (en) METHOD AND DEVICE FOR PRODUCING FILM
TWM583788U (en) Laser marking system for continuous bounded marking
CN111822866B (en) Laser marking system for branching continuous marking
US20230047775A1 (en) Robot programming device
JPH0639339A (en) Coating method
US7807941B2 (en) Method and device for producing a cavity in a workpiece
CN115981380B (en) Camera motion control method and device