JPS5834065A - Controlling method for ejection amount of paint - Google Patents
Controlling method for ejection amount of paintInfo
- Publication number
- JPS5834065A JPS5834065A JP13292281A JP13292281A JPS5834065A JP S5834065 A JPS5834065 A JP S5834065A JP 13292281 A JP13292281 A JP 13292281A JP 13292281 A JP13292281 A JP 13292281A JP S5834065 A JPS5834065 A JP S5834065A
- Authority
- JP
- Japan
- Prior art keywords
- paint
- ejection amount
- temperature
- coated
- painting
- 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
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
- Coating Apparatus (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、塗装ロボットを用いた自動塗装における塗料
の吐出量制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling the amount of paint discharged in automatic painting using a painting robot.
従来、塗装ロボットを用いて自動塗装を行なう場合、次
のような問題点があった。Conventionally, when performing automatic painting using a painting robot, there have been the following problems.
１）塗装中に塗料温度が周囲の環境等により変化しやす
く、塗料粘度が変わり、塗料の吐出量がその影響を受け
て変化し、塗装品質が安定しにくいという欠点がある。1) During painting, the temperature of the paint tends to change due to the surrounding environment, etc., the viscosity of the paint changes, the amount of paint discharged changes under the influence, and the quality of the paint is difficult to stabilize.
２）従来の自動塗装ガンでは、塗料吐出量が吹付中調節
できず、そのため、車体の複雑形状部位への塗膜の形成
が均一に行なえないという欠点がある。2) Conventional automatic painting guns have the disadvantage that the amount of paint discharged cannot be adjusted during spraying, and as a result, it is not possible to uniformly form a paint film on complex-shaped parts of the vehicle body.
本発明は、上記の点に鑑みてなされたもので、自動塗装
ガンより吐出される塗料の量を塗装作業中、任意に制御
できる小型で安価な装置を用いるとともに、塗料がカラ
ーチェンジバルブに入る前にその温度を検知し、検知信
号を制御盤に送り、塗料の粘度を演算して吐出圧力を適
宜修正することにより、吐出量のコントロールを可能と
し、塗料に温度変化が生じても、塗装ガンから常に安定
した吐出量の吐出を行なうように制御を行ない、車体の
複雑形状部位に対しても高品質な塗装を可能とすること
を目的とする。The present invention was made in view of the above points, and uses a small and inexpensive device that can arbitrarily control the amount of paint discharged from an automatic paint gun during painting work, and also uses a small and inexpensive device that allows paint to enter the color change valve. By detecting the temperature beforehand, sending a detection signal to the control panel, calculating the viscosity of the paint, and adjusting the discharge pressure accordingly, it is possible to control the discharge amount. The purpose is to perform control so that the gun always discharges a stable amount of discharge, and to enable high-quality painting even on complex-shaped parts of the car body.
次に、本発明の実施例につき、図面に基づいて説明する
。Next, embodiments of the present invention will be described based on the drawings.
第１図において、塗装ロボット１に取り付けた塗装ガン
２には、塗料ホース３．霧化エア用ホース２５．ニード
ル開閉用エアホース２６が接続される。塗料ホース３の
他端は、カラーチェンジバルブ４に接続される。カラー
チェンジバルブ４には、複数個の塗料配管５が接続され
ている。In FIG. 1, a paint gun 2 attached to a paint robot 1 has a paint hose 3. Atomizing air hose 25. An air hose 26 for opening and closing the needle is connected. The other end of the paint hose 3 is connected to a color change valve 4. A plurality of paint pipes 5 are connected to the color change valve 4.
制御盤２０より出力される信号を色指示用制御線３０を
介して送ることにより、指定されたカラーの塗料を塗料
ホース３に吐出する機能を、カラーチェンジバルブ４は
有している。The color change valve 4 has a function of discharging paint of a designated color to the paint hose 3 by sending a signal output from the control panel 20 via a color instruction control line 30.
一方、塗料タンク１１内の塗料は１．配管１０を通り、
ポンプ９で圧送されて塗料循環配管８に送られる。塗料
循環配管８の途中に塗料の温度を検知する温度センサ４
０を設け、その信号は配線４１により制御盤２０′へ送
られる。また、塗料循環配管８から取り出された枝管７
と塗料配管５との間には、エア駆動レギュレータ６があ
る。エア駆動レギュレータ６は、エア配管１２より入力
されるエア圧力信号に応じた圧力に塗料圧を調整する。On the other hand, the paint in the paint tank 11 is 1. Pass through the pipe 10,
The paint is pumped by the pump 9 and sent to the paint circulation pipe 8 . A temperature sensor 4 that detects the temperature of the paint in the middle of the paint circulation pipe 8
0 is provided, and the signal is sent to the control panel 20' via wiring 41. Also, a branch pipe 7 taken out from the paint circulation pipe 8
An air drive regulator 6 is located between the paint pipe 5 and the paint pipe 5. The air drive regulator 6 adjusts the paint pressure to a pressure according to an air pressure signal input from the air pipe 12.
このエア圧力信号は、制御盤２０からの電気信号を、塗
料圧調圧信号用制御線１８を介して電空変換ｉ１３で変
換して得ている。This air pressure signal is obtained by converting an electrical signal from the control panel 20 via an electro-pneumatic converter i13 via a paint pressure regulation signal control line 18.
エアは、工業用エア源１γより配管１６を経て、圧力レ
ギュレータ１５で一定圧に調圧した後、配管１４により
エア用電磁弁２７．２８に接続されている。Air is supplied from an industrial air source 1γ through a pipe 16, regulated to a constant pressure by a pressure regulator 15, and then connected to air solenoid valves 27, 28 via a pipe 14.
また、制御盤２０からは、電気信号が霧化エア開閉用制
御線３１を介してエア用電磁弁２Ｔへ、ニードル開閉用
信号線３２を介してエア用電磁弁２８へ各々送られてい
る。同じく、制御用の電気信号は、制御盤２０から塗装
ロボット駆動用信じ・線３３な介して塗装シボットト＼
送られる。Furthermore, electric signals are sent from the control panel 20 to the air solenoid valve 2T via the atomizing air opening/closing control line 31 and to the air electromagnetic valve 28 via the needle opening/closing signal line 32. Similarly, electrical signals for control are sent from the control panel 20 to the painting robot via the painting robot drive line 33.
Sent.
次に、上記の構成に基づく本発明の作用について説明す
る。Next, the operation of the present invention based on the above configuration will be explained.
自動車の車体２２を塗装する場合の各機器の動作は次の
ようである。制御盤２０には、塗装ロボット１の動作順
序が記憶されており、これに従って塗装ロボット１は塗
装ガン２を作動する。The operations of each device when painting the car body 22 of an automobile are as follows. The control panel 20 stores the operation order of the painting robot 1, and the painting robot 1 operates the painting gun 2 in accordance with this.
塗料は、自動車の車体２２の仕様に応じて、制御盤２０
がカラーチェンジバルブ４に信号を発し、所望の色が選
択される。また、車体の塗装部位に応じて、制御盤２０
より電空変換器１３に出力される電流が変えられるため
、塗料の圧力が制御され、はぼ塗料圧の平方根に比例し
た塗料吐出量が得られる。The paint is applied to the control panel 20 according to the specifications of the car body 22.
issues a signal to the color change valve 4, and the desired color is selected. Also, depending on the painted part of the vehicle body, the control panel 20
Since the current output to the electro-pneumatic converter 13 is changed, the pressure of the paint is controlled, and a paint discharge amount proportional to the square root of the paint pressure can be obtained.
温度変化により塗料の粘度が変わる例を第２図に示した
が、この温度変化による吐出量の制御は、温度センサ４
０よりの信号を配線４１を介して制御盤２０に伝えるこ
とにより、制御盤２０で温度に対応したその塗料の粘度
を演算する。第３図に例を示したが、吐出圧力と吐出量
は一定の関係にあるので、塗料の粘度が決まると、設定
された吐出量を出すための吐出圧力が制御盤で演算され
、これに対応する電流信号を電空変換器１３に出力する
。Figure 2 shows an example in which the viscosity of the paint changes due to temperature changes.
By transmitting the signal from 0 to the control panel 20 via the wiring 41, the control panel 20 calculates the viscosity of the paint corresponding to the temperature. As shown in Figure 3, there is a fixed relationship between discharge pressure and discharge rate, so once the viscosity of the paint is determined, the control panel calculates the discharge pressure to produce the set discharge rate. A corresponding current signal is output to the electro-pneumatic converter 13.
以上の説明で明らかなように、本発明は、塗装ロボット
を用いて自動車の車体の表面を塗装するにあたり１自動
車の車体の塗装部位に応じて予め塗装ガンの吐出量を設
定しておき、制御盤よりの各信号により、設定したとお
りの塗装を塗装部位に確実に時間的ロスのないように施
すとともに、塗料の温度が変化した場合にもそれを検知
し、制御盤で校正することにより−きわめて生産性の高
い塗装を各種の色わけを行ないながらできるという特有
の効果を有する。As is clear from the above description, when painting the surface of a car body using a painting robot, the present invention sets the discharge amount of a paint gun in advance according to the part to be painted on the car body, and controls the Based on each signal from the control panel, the coating is applied exactly as specified to the painted area without any time loss, and even if the temperature of the paint changes, it is detected and calibrated using the control panel. It has the unique effect of being able to perform painting with extremely high productivity while separating various colors.
第１図は本発明によりロボットを作動させて自動車の車
体に塗装する際の作動回路図、第２図は塗料温度と粘度
の関係を示す線図、第３図は吐出ｆ力と吐出量の関係を
示すＳ図である。
１：塗装ロボット、２：塗装ガン、３：塗料ホース、４
：カラーチェンジパルプ、２０：制御盤、４０：温度セ
ンサー０
特許出願人 トヨタ自動車工業株式会社代理人 市
川埋置
遠 藤 達 也
第１図
第２図
第３図
司りｔ斤−力Fig. 1 is an operating circuit diagram when the robot is operated according to the present invention to paint an automobile body, Fig. 2 is a diagram showing the relationship between paint temperature and viscosity, and Fig. 3 is a diagram showing the relationship between the discharge f force and the discharge amount. It is an S diagram showing the relationship. 1: Painting robot, 2: Painting gun, 3: Paint hose, 4
: Color change pulp, 20: Control panel, 40: Temperature sensor 0 Patent applicant: Toyota Motor Corporation Agent: Tatsuya Endo, Ichikawa Sekisei Figure 1 Figure 2 Figure 3
Claims (1)
塗装部位に応じて予め塗装ガンの塗料吐出量を設定して
これを制御盤に記憶させておき、再生にあたり制御盤か
らの信号に基づき設定したとおりの塗装を各塗装部位に
施す方法において、塗料の温度が変化した場合にも、そ
れを検知して制御盤で補正することにより塗料の吐出量
を制御することを特徴とする塗料の吐出量制御方法。When painting the surface of an object to be painted using a painting robot, the paint discharge amount of the painting gun is set in advance according to each part to be painted, and this is stored in the control panel. A method of applying coating to each painting area as set based on the method, the paint is characterized in that even if the temperature of the paint changes, it is detected and corrected by the control panel to control the amount of paint discharged. Discharge amount control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13292281A JPS5834065A (en) | 1981-08-25 | 1981-08-25 | Controlling method for ejection amount of paint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13292281A JPS5834065A (en) | 1981-08-25 | 1981-08-25 | Controlling method for ejection amount of paint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5834065A true JPS5834065A (en) | 1983-02-28 |
| JPH0218141B2 JPH0218141B2 (en) | 1990-04-24 |
Family
ID=15092643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13292281A Granted JPS5834065A (en) | 1981-08-25 | 1981-08-25 | Controlling method for ejection amount of paint |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5834065A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6178457A (en) * | 1984-09-21 | 1986-04-22 | Nippon Gurei Kk | Fluid supply apparatus |
| JPS61155066U (en) * | 1985-03-18 | 1986-09-26 | ||
| JPS6394559U (en) * | 1986-12-12 | 1988-06-18 |
-
1981
- 1981-08-25 JP JP13292281A patent/JPS5834065A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6178457A (en) * | 1984-09-21 | 1986-04-22 | Nippon Gurei Kk | Fluid supply apparatus |
| JPS61155066U (en) * | 1985-03-18 | 1986-09-26 | ||
| JPS6394559U (en) * | 1986-12-12 | 1988-06-18 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0218141B2 (en) | 1990-04-24 |
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