JP2848932B2 - Robot path speed setting device - Google Patents

Description

The present invention relates to a robot trajectory speed setting device suitable for use in generating trajectory data of a painting robot.

[Prior Art] Conventionally, when teaching a robot trajectory, it was necessary to determine and set the operation speed of the robot in advance.

[Problems to be Solved by the Invention] In the conventional setting of the speed of the robot trajectory described above, since the painting conditions are many and complicated, know-how for determining the operation speed of the robot depends largely on experience.

Therefore, when an inexperienced instructor sets the speed of the robot trajectory, there is a disadvantage that the coating quality varies.

The present invention has been made in view of the above-described circumstances, and has as its object to provide a speed setting device for a robot trajectory capable of keeping the coating quality constant regardless of a teacher.

[Means for Solving the Problems] The present invention provides a method for controlling speed data and painting on / off of a robot.
A locus data storage device in which the off data is stored corresponding to the points of the robot locus; a coating condition input device for inputting the coating conditions of the ambient temperature and the type of the coating; and a coating condition input by the coating condition input device. A paint speed calculator that calculates the speed data of the current point based on the paint on / off data corresponding to the next point, and accelerates if the paint of the next point is off, and if it is on, based on the paint on / off data corresponding to the next point An acceleration / deceleration calculation device that calculates the speed data of the current point by comparing with the speed data corresponding to the previous point so as to decelerate, and the current point based on the painting on / off data corresponding to the current point. When the painting is on, the speed data calculated by the painting speed calculating device is stored in the locus data storage device, and the coating of the current point is performed. If off is characterized by comprising the locus data input device for storing rate data calculated by the acceleration calculation unit in said locus data storage device.

According to the present invention, first, the instructor inputs the paint condition such as the atmosphere and the paint type by using the paint condition input device.

Thus, the coating speed calculation device calculates the speed data of the current point based on the coating condition input by the coating condition input device.

In addition, the acceleration / deceleration arithmetic unit accelerates based on the coating on / off data corresponding to the next point when the next point is off, accelerates when the next point is on, and decelerates when the next point is on.
The speed data of the current point is calculated by comparing with the speed data corresponding to the previous point.

When the painting of the current point is on based on the painting on / off data corresponding to the current point, the trajectory data input device stores the speed data calculated by the painting speed calculating device in the trajectory data storage device. When the current point is off, the speed data calculated by the acceleration / deceleration calculation device is stored in the locus data storage device.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a robot trajectory speed setting device according to one embodiment of the present invention. In this figure, reference numeral 1 denotes a locus data storage device, in which point data P (robot position / posture data, speed data v, painting on / off data T), which is operation information of the robot corresponding to points on the robot locus, are all stored. The number of points is stored in order.

Moreover, 2 is the locus data output apparatus, point data P _n of the current point from the trajectory data storage device 1 (however, the speed data v _n is not set), the painting on / off data T _n for the next point _{Read +1} . 3 is a locus data analyzer analyzes the paint on / off data T _n for the point data P _n, determines the current point paint on / off. Reference numeral 4 denotes a speed buffer for storing the painting on / off data _{Tn + 1} and the speed data v _{(n-1) b of the} previous point.

Further, reference numeral 5 denotes a coating condition input device by which a teacher inputs coating conditions such as an atmospheric temperature and a type of coating, and 6 denotes speed data v of a coating operation based on the coating conditions.
a paint speed calculator for calculating _na , 7 a data adder for adding speed data v _na to the current point data P _n , 8 an acceleration / deceleration calculator, which is the next point from the paint on / off data T _{n + 1} Judgment of painting on / off of the next point, comparing with speed data v _{(n + 1) b} to accelerate if painting is off at the next point and decelerate if painting is on at the next point Calculate the optimal speed data v _nb . 9 is a data adder for adding speed data v _nb to point data P _n , and 10 is a trajectory data input device, which adds data when the painting of the current point is on based on the painting on / off data T _n. 'storing _n in the locus data storage device 1, when the coating of the current point off, point data P is outputted from the data adder 9' point data P output from the vessel 7 locus data storing _n It is stored in the device 1.

In such a configuration, the flow of the operation of the speed setting device for the robot trajectory will be described with reference to the PAD diagram shown in FIG.

First, the instructor proceeds to the process of step S1, and sets the coating conditions (atmospheric temperature, paint type, discharge amount, viscosity, spray distance,
The film thickness, pattern width, number of passes, type of coating gun) are input by the coating condition input device 5. Accordingly, the robot trajectory speed setting device proceeds to step S2.

In step S2, the coating speed calculation device 6 calculates the optimum coating operation speed data v _na at the current point based on the input coating conditions, and then proceeds to step S3.

In step S3, the trajectory data output device 2 reads the point data P of the current point from the trajectory data storage device 1.
_n (however, the speed data v _n is not set) and the painting on / off data T _{n + 1 of the} next point are read out,
Proceed to step S4.

In step S4, the trajectory data output device 2 writes the painting on / off data _{Tn + 1} in the speed buffer 4, and then proceeds to step S5.

In step S5, the locus data analyzer 3 analyzes the paint on / off data T _n for the point data P _n, determines paint on / off of the current point. If the result of this determination is "YES", that is, if the painting is on, the operation proceeds to step S6.

In step S6, the data adder 7 reads the speed data _vna from the coating speed calculation device 6, and then proceeds to step S7.

In step S7, the data adder 7 adds the speed data v _na to the current point data P _n to add the point data P ′.
After outputting as _n , the process proceeds to step S11.

On the other hand, when the determination result of step S5 is “NO”, that is,
If the painting is off, go to step S8.

In step S8, the acceleration / deceleration calculation device 8 reads the speed data v _{(n-1) b of the} previous point and the painting on / off data T _{n + 1} of the next point from the speed buffer 4, and then proceeds to step S9. move on.

In step S9, the acceleration / deceleration calculation device 8 first determines on / off of the painting at the next point from the painting on / off data _{Tn + 1} . Then, the speed data v _{(n-1) b} is compared with the speed data v _{(n-1) b so} that the optimum speed data v _nb of the current point is calculated so that the next point is accelerated when the painting is off and decelerated when the painting is on. Calculate. Then, the process proceeds to step S10.

In step S10, first, the data adder 9 outputs as the point data P _'n by adding the velocity data v _nb the current point data P _n. The acceleration / deceleration calculation device 8
Rewrites the speed data v _{(n-1) b} stored in the speed buffer 4 with the speed data _vnb , and then proceeds to step S11.

In step S11, the locus data input device 10, when painting the current point is on based on the paint on / off data T _n, the point data P _'n the locus data storage outputted from the data adder 7 stored in the apparatus 1, the painting of the current point in the case of off, after storing the point data P _'n output from the data adder 9 in the locus data storage device 1, the process proceeds to step S12.

 In step S12, 1 is added to the variable n.

Then, the trajectory data output device 2 reads the point data P _{n + 1 of the} next point (however, the speed data v _{n + 1} is not set) from the trajectory data storage device 1 and the painting on / off of the next next point. Read off data _{Tn + 2} . Hereinafter, the above-described processing is repeated until the speed data v of all points is set.

As described above, according to the above-described embodiment, the operation speed of the robot can be kept constant when painting is performed, and the robot can be moved at the highest speed when painting is not performed.

Also, just by inputting the coating conditions, the optimum operation speed is automatically determined.

[Effects of the Invention] As described above, according to the present invention, the optimum robot operation speed is automatically calculated based on the coating conditions. There is an effect that it is good.

Further, there is an effect that the coating quality becomes constant regardless of the instructor.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of a robot trajectory speed setting device according to one embodiment of the present invention, and FIG. 2 is a PAD diagram showing the flow of operation of the device. 1… locus data storage device 2… trajectory data output device 3… trajectory data analysis device 4… speed buffer
5: Painting condition input device, 6: Painting speed calculation device, 7,
9 Data adder, 8 Acceleration / deceleration calculation device, 10 Track data input device.

Continuation of the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) G05B 19/416 B25J 9/22 G05B 19/42 B05B 12/00

Claims (1)

(57) [Claims] 1. A locus data storage device in which speed data and painting on / off data of a robot are stored corresponding to points on a robot locus, a coating condition input device for inputting an atmospheric temperature and a coating condition of a kind of a paint, and A coating speed calculator for calculating the speed data of the current point based on the coating conditions input by the coating condition input device; and a coating for the next point based on the coating on / off data corresponding to the next point. Acceleration / deceleration calculation device that calculates the speed data of the current point by comparing with the speed data corresponding to the previous point so that it accelerates when off and decelerates when on If the painting at the current point is on based on the painting on / off data obtained, the speed data calculated by the painting speed calculating device is A locus data input device that stores the speed data calculated by the acceleration / deceleration arithmetic device in the locus data storage device when the current point painting is off in the locus data storage device. A speed setting device for a robot path characterized by the following.