JP6791038B2 - Diagnostic system and diagnostic method for open / close valves for bell-shaped coating machines - Google Patents

Description

The present invention relates to a technique for diagnosing an on-off valve for a bell-shaped coating machine.

Conventionally, in the painting process of automobile parts, a bell-shaped painting machine (hereinafter, also simply referred to as “painting machine”) equipped with a bell cup that rotates at high speed has been used. This coating machine is configured to atomize the paint by the rotation of the bell cup and apply it to the surface to be painted of the part by using air and static electricity.

A coating apparatus including such a coating machine is disclosed in, for example, Patent Document 1. This coating device is provided with a color change valve (hereinafter referred to as "CCV") in a supply path for supplying paints of different colors to the coating machine. The CCV has a plurality of open / close valves, each of which can be turned on and off to change the color of the paint. Therefore, when the on-off valve selected from the plurality of on-off valves is opened at the time of valve switching, the paint of the color corresponding to the on-off valve is supplied to the coating machine.

Japanese Unexamined Patent Publication No. 2011-125787

By the way, in all of the above-mentioned plurality of on-off valves, since the seal portion comes into contact with the solvent and operates on and off with high frequency, parts such as springs and packing are likely to deteriorate and malfunction is likely to occur. Then, the malfunction of the on-off valve can be a factor of the quality defect of the parts. Therefore, it is conceivable to monitor the operation of the on-off valve and replace the on-off valve at the timing when the abnormal operation of the on-off valve is detected.

However, such an on-off valve has a large number of installations, and it is difficult to detect an abnormal operation of the on-off valve before a quality defect of a part occurs. Therefore, such measures have a problem that the replacement time of the on-off valve cannot be determined at an appropriate timing.
On the other hand, if all the on-off valves are replaced at regular intervals, the on-off valves that can be used without problems will be replaced even though they are in a normal state.

The present invention has been made in view of such a problem, and an object of the present invention is to provide an effective technique for early determining an abnormality of an on-off valve for a bell-shaped coating machine.

One aspect of the present invention is
It is a diagnostic system for opening / closing valves for bell-shaped coating machines for diagnosing a plurality of opening / closing valves each of which can be opened and closed in each of a plurality of supply paths for supplying paint to the bell-shaped coating machine.
A detector that detects information about the rotation speed of the motor that rotates and drives the bell cup of the bell-shaped coating machine,
A control unit that controls the opening and closing of the plurality of on-off valves and feedback-controls the motor based on the information detected by the detection unit and its target value.
With
The control unit outputs a first command signal for opening an on-off valve selected from the plurality of on-off valves, and when paint is supplied to the bell-shaped coating machine, the first command signal The response time required from the time of output to the output of the second command signal for increasing the rotation speed of the motor by the feedback control is measured, and the selected on-off valve is normal based on the measured response time. A diagnostic system for on-off valves for bell-shaped coating machines, which is configured to determine whether or not
It is in.

In addition, another aspect of the present invention is
A method for diagnosing an on-off valve for a bell-shaped coating machine for diagnosing a plurality of on-off valves each of which can be opened and closed on each of a plurality of supply paths for supplying paint to the bell-shaped coating machine.
When the paint is supplied to the bell-type coating machine by outputting a first command signal for the opening operation of the opening and closing valve selected from the plurality of opening and closing valves, from the time the output of the first command signal, the A measurement step for measuring the response time required to output a second command signal for increasing the rotation speed of the motor by feedback control of a motor that rotationally drives the bell cup of the bell-shaped coating machine .
Based on the response time measured in the measurement step, a determination step for determining whether or not the selected on-off valve is normal, and a determination step.
Diagnosis method of open / close valve for bell type coating machine,
It is in.

In the above diagnostic system, the detection unit has a function of detecting information on the rotation speed of the motor that rotationally drives the bell cup of the bell-type coating machine. The control unit has a function of controlling the opening and closing of a plurality of on-off valves and feedback-controlling the motor based on the information detected by the detection unit and its target value.

In the above diagnostic system and diagnostic method, when the first command signal for opening the on-off valve selected from a plurality of on-off valves is output and the on-off valve is opened, the supply corresponding to the on-off valve is supplied. Paint is supplied to the bell-shaped coating machine through the route. At this time, the load received by the bell cup increases due to the supply of the paint, and the rotation speed of the motor that rotationally drives the bell cup temporarily decreases. Therefore, the feedback control performs a process for returning the rotation speed of the motor, so that the rotation speed of the motor increases.

Here, if the on-off valve deteriorates and causes a malfunction, the timing at which the paint is actually supplied to the bell-shaped coating machine after the first command signal is output may be delayed or earlier than in the normal state. That is, the response time required from the output of the first command signal to the output of the second command signal is longer or shorter than that in the normal state.

Therefore, by measuring the above response time, it is possible to determine whether or not the on-off valve is normal. Moreover, by paying attention to the delay of the output timing of the second command signal with respect to the output timing of the first command signal, the sign of the abnormality of the on-off valve can be determined at an early stage before the quality defect of the parts occurs. Becomes possible.
Then, the operator may promptly replace the on-off valve that has deteriorated and is determined to be abnormal according to the determination result. As a result, it is possible to prevent quality defects of parts from occurring.

As described above, according to each of the above aspects, it is possible to provide an effective technique for early determining an abnormality of the on-off valve for a bell-shaped coating machine.

The schematic diagram of the coating apparatus which concerns on Embodiment 1. FIG. The figure which shows typically the diagnostic system of the opening / closing valve for a bell type coating machine of Embodiment 1. The flowchart of coating control in Embodiment 1. The flowchart of the on-off valve diagnostic process in Embodiment 1. A graph showing the relationship between the command value to the electropneumatic regulator and the time for each of the normal state and the deteriorated state of the on-off valve. The flowchart of the on-off valve diagnostic process in Embodiment 2.

A preferred embodiment of the above embodiment will be described.

In the "information on the rotation speed of the motor" described in the present specification, not only the rotation speed of the motor itself, but also the rotation speed of the bell cup rotationally driven by the motor, and the rotation speed of the motor and the bell cup are uniquely referred to. Information such as parameters that can be derived is included. Therefore, the target rotation speed may be a target value for the rotation speed of the motor or a target value for the rotation speed of the bell cup.

In the above diagnostic system and the above diagnostic method, when the time difference between the measured response time and the predetermined reference time is equal to or less than the determination threshold value, it is determined that the on-off valve is normal, and the time difference is for the determination. It is preferable to determine that the on-off valve is abnormal when the threshold value is exceeded. As a result, it is possible to improve the reliability of the determination by determining whether or not the on-off valve is normal by using the time difference between the measured response time and the reference time.

The diagnostic system preferably includes a notification unit that notifies the determination result determined by the control unit. As a result, the notification unit can promptly notify the operator of the replacement time of the on-off valve.

In the above diagnostic system, the bell-shaped coating machine and the plurality of opening / closing valves are both attached to the robot arm of the coating robot, and the control unit is the robot control unit that controls the movement locus of the robot arm. It is preferably configured. This makes it possible for the robot control unit to also serve as the control unit for the diagnostic system.

Hereinafter, the diagnostic system for the on-off valve for a bell-shaped coating machine of the present embodiment (hereinafter, simply referred to as “diagnostic system”) will be described with reference to the drawings.

(Embodiment 1)
As shown in FIG. 1, the painting apparatus 10 according to the first embodiment is for painting the vehicle body W. The painting device 10 includes a bell-shaped painting machine 11 (hereinafter, simply referred to as "painting machine 11"), a painting robot 20, and a robot control unit 22.

The coating machine 11 includes a bell cup 11a that is rotationally driven by a motor 13 housed in a housing 12. The coating machine 11 is configured to granulate the paint by rotating the bell cup 11a having a cup shape and to apply it to the surface to be painted of the vehicle body W by utilizing air and static electricity.

The painting robot 20 has a robot arm 21 having a plurality of rotation axes. The robot arm 21 is configured so that its movement locus is controlled by the robot control unit 22. Further, a coating machine 11 is attached to the tip portion 21a of the robot arm 21 together with a color change valve 16 described later. Therefore, the position and orientation of the painting machine 11 are changed by the robot arm 21 of the painting robot 20 moving according to the movement locus taught in advance.

As shown in FIG. 2, a flow passage 12a through which paint flows toward the bell cup 11a is provided in the housing 12 of the coating machine 11. A plurality of (three in FIG. 2) supply paths 15, which are the same number as the number of paint colors, are connected to the upstream portion of the flow passage 12a. The paint discharged from each of the plurality of pumps 14 (three in FIG. 2) flows to the flow passage 12a of the coating machine 11 through the corresponding supply path 15.

Color change valves (hereinafter referred to as "CCV") 16 are provided in the plurality of supply paths 15. The CCV 16 includes a plurality of (three in FIG. 2) on-off valves 16a. Each of the plurality of opening / closing valves 16a is provided so as to be openable / closable in each of the plurality of supply paths 15. The plurality of on-off valves 16a are all provided outside the coating machine 11.

By switching the valves of the plurality of on-off valves 16a, one on-off valve 16a is selectively opened, and the paint of the paint color corresponding to the supply path 15 is flowed through the supply path 15 corresponding to the on-off valve 16a. Is supplied to. The on-off valve 16a itself can also be called a CCV.

The numbers of the pump 14, the supply path 15, and the on-off valve 16a in FIG. 2 are appropriately changed according to the number of paint colors to be used.

The on-off valve 16a is configured as a valve that operates by the air pressure of the air supplied through the air supply path 17a. Although not particularly shown, the on-off valve 16a has a valve body and an elastic spring that urges the valve body in the closing direction. Since the seal portion of the on-off valve 16a comes into contact with the solvent and operates on and off frequently, parts such as springs and packing are likely to deteriorate and malfunction is likely to occur.

A solenoid valve 17 controlled by a control unit 30 is provided in the air supply path 17a so as to be openable and closable. The solenoid valve 17 is a known solenoid valve that operates by using an electromagnetic force, and although a description of a specific structure is omitted, the solenoid valve 17 is opened by a first command signal S1 output from the control unit 30. It is configured.

Note that FIG. 2 shows that the air supply path 17a is connected to only one on-off valve 16a for convenience of explanation, but in reality, the air supply path 17a is also connected to the other on-off valve 16a. Is connected.

The air pressure acting on the valve body of the on-off valve 16a becomes relatively high when the solenoid valve 17 is opened, while it becomes relatively low when the solenoid valve 17 is closed. Then, the air pressure overcomes the urging force of the elastic spring and the valve body moves in the opening direction, so that the opening / closing valve 16a opens. On the other hand, the opening / closing valve 16a closes when the air pressure drops and the valve body moves in the closing direction according to the urging force of the elastic spring.

The motor 13 of the coating machine 11 is configured as an air motor that rotates by the air pressure of the air supplied through the air supply path 18a. When the motor 13 rotates about the rotation shaft L, the bell cup 11a also rotates about the rotation shaft L coaxial with the motor 13.

An electro-pneumatic regulator (electro-pneumatic Reg.) 18 is provided in the air supply path 18a. The electro-pneumatic regulator 18 is a known electro-pneumatic regulator, and although description of a specific structure is omitted, it detects an electrical command signal output by the control unit 30, and the motor 13 responds to the command signal. It has a function to control the air pressure supplied to the motor. The electropneumatic regulator 18 raises the air pressure in the air supply path 18a by the second command signal S2 output from the control unit 30, while the air supply path 18a is increased by the third command signal S3 output from the control unit 30. It is configured to reduce the air pressure of the.

The detection unit 19 has a function of detecting information on the rotation speed of the motor 13 that rotationally drives the bell cup 11a of the coating machine 11. The detection unit 19 is a non-contact type rotation speed detector equipped with an LED, and obtains information on the rotation speed by detecting the reflected light that the red visible light emitted from the LED hits the rotating portion of the motor 13 and returns. It is configured to get. In addition, instead of this detection unit 19, a rotation speed detector of another detection method can be adopted.

Here, the diagnostic system 1 of the first embodiment is for diagnosing a plurality of opening / closing valves 16a of the CCV 16, and includes the detection unit 19, the control unit 30, and the notification unit 40. Further, the control unit 30 is configured as a control unit that also serves as the robot control unit 22 described above.

The control unit 30 controls the opening and closing of the plurality of on-off valves 16a, and feeds back the motor 13 based on the information detected by the detection unit 19 and its target value, that is, based on the motor 13 and its target rotation speed. It has a function to control. In order to realize this function, the control unit 30 includes a storage unit 31, a timer 32, a calculation unit 33, a determination unit 34, and a drive unit 35.

The storage unit 31 temporarily stores information detected by each of the detection unit 19 and the timer 32, information such as an calculation formula used in the calculation of the calculation unit 33 and a determination threshold value, and stores the stored information in response to a request. It has a function to output.

The timer 32 has a function of measuring the response time used when determining the on-off valve diagnostic process described later.

The calculation unit 33 has a function of performing necessary calculations using the information stored in the storage unit 31.

The determination unit 34 has a function of using the calculation result of the calculation unit 33 to determine whether or not the on-off valve 16a is normal in the on-off valve diagnosis control described later.

The drive unit 35 drives each of the solenoid valve 17, the electropneumatic regulator 18, and the notification unit 40 based on the information stored in the storage unit 31, the calculation result of the calculation unit 33, and the determination result of the determination unit 34. It has a function to output the control signal of.

The notification unit 40 has a function of notifying the determination result determined by the determination unit 34 of the control unit 30. As the notification unit 40, typically, speakers that output sound information such as alarm sounds and voices, and lamps that can be lit or blinked are used.

Next, the coating control by the control unit 30 will be specifically described with reference to FIG.

As shown in the flowchart of FIG. 3, this coating control is achieved by sequentially executing the processes from step S101 to step S106.
If necessary, another step may be added to this flowchart, or one step may be divided into a plurality of steps.

Step S101 is a step of starting the motor 13 and rotating it at a constant rotation speed. In step S101, the air pressure for achieving the target rotation speed is supplied to the motor 13 by controlling the electropneumatic regulator 18.

In step S102, the first opening operation for opening the solenoid valve 17 is performed so that the opening / closing valve 16a selected from the plurality of opening / closing valves 16a of the CCV 16 is opened at the time of valve switching based on the paint discharge command for painting. 1 This is a step of outputting the command signal S1. According to this step S102, the selected on-off valve 16a is opened, and the paint is supplied to the flow passage 12a of the coating machine 11.

Step S103 is a step of outputting a second command signal S2 for increasing the rotation speed of the motor 13 to the electropneumatic regulator 18. According to this step S103, the air pressure of the air supplied to the motor 13 through the air supply path 18a increases according to the command value of the second command signal S2.

Here, the load on the bell cup 11a is increased by supplying the paint to the flow passage 12a of the coating machine 11, and the rotation speed of the motor 13 that rotationally drives the bell cup 11a is temporarily reduced. Therefore, in step S103, the control unit 30 outputs a command value for returning the motor 13 from the reduced rotation speed to the target rotation speed by the feedback control from the control unit 30 to the electropneumatic regulator 18. As a result, the air pressure in the air supply path 18a rises, and the rotation speed of the motor 13 rises.

Step S104 is a step of determining whether or not the rotation speed of the motor 13 detected by the detection unit 19 is equal to or higher than the target rotation speed. If it is determined in step S104 that the rotation speed of the motor 13 is equal to or higher than the target rotation speed, the process proceeds to step S105, and if not, the process returns to step S103.

Step S105 is a step of outputting a third command signal S3 for lowering the rotation speed of the motor 13 to the electropneumatic regulator 18. According to this step S105, the air pressure of the air supplied to the motor 13 through the air supply path 18a decreases according to the command value of the third command signal S3. As a result, the rotation speed of the motor 13 decreases.

Step S106 is a step of determining whether or not the rotation speed of the motor 13 detected by the detection unit 19 is lower than the target rotation speed. If it is determined in step S106 that the rotation speed of the motor 13 is lower than the target rotation speed, the process returns to step S103, and if not, the process returns to step S105.

By continuously detecting the rotation speed of the motor 13 by the detection unit 19, the processes from step S103 to step S106 are repeated during the activation of the motor 3.

Next, the on-off valve diagnosis process by the control unit 30 will be specifically described with reference to FIGS. 4 and 5.

As shown in the flowchart of FIG. 4, this open / close valve diagnostic process is achieved by sequentially executing the processes from step S201 to step S207.
If necessary, another step may be added to this flowchart, or one step may be divided into a plurality of steps.

Step S201 is a step of starting the measurement of the response time according to the command value of the second command signal S2 output in step S103 in FIG. That is, according to this step S201, the timer 32 is controlled so as to start the measurement of the response time.

The "response time" here means that the opening / closing valve 16a selected from the plurality of opening / closing valves 16a at the time of valve switching outputs the first command signal S1 to the solenoid valve 17 and then gives the second command to the electropneumatic regulator 18. The time required to output the signal S2. In the normal state before the on-off valve 16a deteriorates, this response time is almost constant, but in the abnormal state where the on-off valve 16a deteriorates, this response time becomes longer or shorter than in the normal state. ..

Step S202 is a step of determining whether or not the increase width of the command value of the second command signal S2 output in step S103 in FIG. 3 is equal to or greater than the set value. As this set value, a value that can determine that the command value has been changed in the upward direction is used. According to this step S202, the process proceeds to step S203 on condition that the increase range of the command value is equal to or larger than the set value.

Step S203 is a step of stopping the measurement of the initial response time started in step S201. That is, according to this step S203, the timer 32 is controlled so as to stop the measurement of the response time.

The processing from step S201 to step S203 is a measurement for measuring the response time required from the time when the first command signal S1 is output until the second command signal S2 for increasing the rotation speed of the motor 13 is output by feedback control. It is a step.

Step S204 is a determination step of determining whether or not the selected on-off valve 16a is normal based on the response time measured in the measurement steps from step S201 to step S203. Specifically, in step S204, a value obtained by subtracting the reference time from the response time measured in step S203 is obtained as the time difference. Then, it is determined whether or not this time difference is equal to or less than the determination threshold value.

When the above time difference is equal to or less than the determination threshold value, it is determined in step S205 that the on-off valve 16a is in a normal state. On the other hand, when the above time difference exceeds the determination threshold value, it is determined in step S206 that the on-off valve 16a is in a deteriorated abnormal state, and subsequently, in step S207, the notification unit 40 is used to notify the determination result of step S206. To do. At this time, the determination result of step S205 may also be notified.

The above-mentioned on-off valve diagnosis process is executed one by one for each of the plurality of on-off valves 16a when the CCV 16 is switched, and all the on-off valves 16a are repeatedly diagnosed.

Here, an example of a time change of the command value output to the electropneumatic regulator 18 will be described with reference to FIG. In FIG. 5, the time change of the command value when the on-off valve 16a is in the normal state is shown by a broken line, and the time change of the command value when the on-off valve 16a is in an abnormal state is shown by the solid line. ing.

As shown in FIG. 5, when the on-off valve 16a is normal, the first command signal S1 for the opening operation is output to the solenoid valve 17 at time t1 (see step S102 in FIG. 3). After that, at time t2, the second command signal S2 is output to the electropneumatic regulator 18, and the command value of the second command signal S2 starts to rise from Va to Vb. Therefore, the response time in the normal state is Ta, and the response time Ta at this time is the reference time for comparison with the deterioration time (see step S204 in FIG. 4).

It is preferable to measure this reference time Ta when the coating control shown in FIG. 3 is executed for the normal opening / closing valve 16a. Alternatively, this reference time Ta may be measured in advance during the test operation of the coating apparatus 10. Then, the measured reference time Ta is temporarily stored in the storage unit 31 of the control unit 30.

On the other hand, when the on-off valve 16a is deteriorated, a first command signal S1 for opening operation is output to the solenoid valve 17 at time t1 as in the normal state (see step S102 in FIG. 3). After that, the second command signal S2 is output to the electropneumatic regulator 18 at a time t3 later than the time t2, and the command value of the second command signal S2 starts to rise from Va to Vb. Therefore, the response time at the time of deterioration is Tb (> Ta) longer than that at the normal time. Further, the time difference ΔT, which is the value obtained by subtracting the predetermined normal response time (reference time) Ta from the response time Tb at this time, is the determination threshold value M stored in advance in the storage unit 31 of the control unit 30. (See step S204 in FIG. 4). The determination threshold value M may be a value common to all of the plurality of on-off valves 16a, or may be a value individually set for each of the plurality of on-off valves 16a.

Note that FIG. 5 illustrates a case where the output timing of the second command signal S2 to the electropneumatic regulator 18 is delayed from the normal time due to the deterioration of the on-off valve 16a, but the output timing is later than the normal time. It is expected that it will be faster. In this case, since the response time Tb at the time of deterioration is shorter than the response time Ta at the normal time, the value obtained by subtracting the response time Tb from the response time Ta may be set as the time difference ΔT.

Next, the action and effect of the first embodiment will be described.

When the on-off valve 16a of the CCV 16 deteriorates and causes a malfunction in the coating device 10, the paint is actually supplied to the coating machine 11 after the first command signal S1 for opening the on-off valve 16a is output. The timing may be slower or faster than normal. That is, the response time Tb required from the output of the first command signal S1 to the output of the second command signal S2 becomes longer or shorter than the reference time Ta in the normal state.

Therefore, in the first embodiment, when the control unit 30 outputs the first command signal S1 to the solenoid valve 17 and the paint is supplied to the coating machine 11, the second command signal S2 starts from the output of the first command signal S1. Is determined whether or not the selected on-off valve 16a is normal based on the response time Tb until the output of.

Thereby, it can be determined whether or not the on-off valve 16a is normal. Moreover, by paying attention to the delay of the output timing of the second command signal S2 with respect to the output timing of the first command signal S1, the sign of the abnormality of the on-off valve can be detected at an early stage before the quality defect of the vehicle body W occurs. It becomes possible to discriminate.
Then, the operator may promptly replace the on-off valve 16a which has been determined to be deteriorated and abnormal according to the determination result. As a result, it is possible to prevent the quality defect of the vehicle body W from occurring.

In particular, in this diagnostic system 1 and the diagnostic method, when the time difference ΔT between the measured response time Tb and the predetermined reference time Ta is equal to or less than the determination threshold value M, the on-off valve 16a is normal and the time difference ΔT is determined. By determining that the on-off valve 16a is abnormal, that is, deteriorated when the threshold value M is exceeded, the reliability of the determination can be improved.

Further, according to the first embodiment, the notification unit 40 can promptly notify the operator of the replacement time of the on-off valve 16a.

Further, according to the first embodiment, the control unit 30 for the diagnostic system 1 can also be used by the robot control unit 22.

Hereinafter, other embodiments related to the first embodiment will be described with reference to the drawings. In other embodiments, the same elements as those in the first embodiment are designated by the same reference numerals, and the description of the same elements will be omitted.

(Embodiment 2)
The diagnostic system 101 of the second embodiment is composed of the same elements as the diagnostic system 1 of the first embodiment. On the other hand, the on-off valve diagnostic process by the control unit 30 of the diagnostic system 101 is different from that of the first embodiment.
Others are the same as in the first embodiment.

As shown in FIG. 6, the open / close valve diagnostic process in the second embodiment is achieved by sequentially executing the processes from step S301 to step S307. Of these, the steps S301 to S303 are the same as the steps S201 to S203 in the first embodiment, and thus the description thereof will be omitted.

Step S304 is a determination step of determining whether or not the on-off valve 16a is normal by using the response time measured in the measurement steps from step S301 to step S303. Specifically, in step S304, it is determined whether or not the response time measured in the measurement step (see the response time Tb in FIG. 5) is equal to or less than the determination threshold value N.

When the response time Tb is equal to or less than the determination threshold value N, it is determined in step S305 that the on-off valve 16a is in a normal state. On the other hand, when the above response time Tb exceeds the determination threshold value N, it is determined in step S306 that the on-off valve 16a is in a deteriorated state, and subsequently, in step S307, the notification unit 40 is used to determine the determination result in step S306. Notify. At this time, the determination result of step S305 may also be notified.

The determination threshold value N is preset and stored in the storage unit 31 of the control unit 30. The determination threshold value N may be a value common to all of the plurality of on-off valves 16a, or may be a value individually set for each of the plurality of on-off valves 16a.

According to the second embodiment, by comparing the measured response time Tb itself with the determination threshold value N, the process of measuring the reference time Ta as in the first embodiment can be omitted, so that the open / close valve diagnosis process is performed. It can be simplified.
Other than that, it has the same effect as that of the first embodiment.

The present invention is not limited to the above-mentioned typical embodiments, and various applications and modifications can be considered as long as the object of the present invention is not deviated. For example, the following embodiments to which the above embodiments are applied can also be implemented.

In the above embodiment, the case where the parameters used for the feedback control of the motor 13 are the rotation speed of the motor 13 and its target rotation speed has been illustrated, but instead, the rotation speed of the bell cup 11a and its target rotation speed have been illustrated. Can also be used for feedback control of the motor 13.

In the above embodiment, the case where the determination result determined by the determination unit 34 of the control unit 30 is notified by the notification unit 40 has been illustrated, but instead of or in addition to the notification unit 40, the above determination result is displayed on the screen. It is also possible to use monitors and printers that print out the above determination results.

In the above embodiment, the case where the control unit 30 of the diagnostic systems 1, 101 is also used as the robot control 22 has been illustrated, but instead, the control unit 30 is used as a control unit dedicated to the diagnostic systems 1, 101. You can also do it.

In the above embodiment, the case where the on-off valve diagnostic process is executed for all the on-off valves 16a of the CCV 16 has been illustrated, but instead, one or a plurality of specific on-off valves 16a out of the plurality of on-off valves 16a are opened and closed as needed. The open / close valve diagnostic process may be executed only for the valve 16a.

In the above embodiment, the command signal S1 for opening the on-off valve 16a is output to the solenoid valve 17 communicating with the on-off valve 16a, but when the solenoid valve is adopted as the on-off valve 16a, May output a command signal for opening operation to the solenoid valve itself.

In the above embodiment, the case where the motor 13 for rotationally driving the bell cup 11a of the coating machine 11 is an air motor has been illustrated, but an electric motor can be adopted instead of the motor 13. In the case of the motor 13 of the present embodiment, the command signals S2 and S3 for changing the rotation speed are output to the electropneumatic regulator 18, but in the case of the electric motor, the rotation speed is changed. The command signal may be output to the electric motor itself.

In the above embodiment, the case where the solenoid valve 17 is provided in the air supply path 17a for supplying air to the on-off valve 16a and the electropneumatic regulator 18 is provided in the air supply path 18a for supplying air to the motor 13 has been illustrated, but is necessary. Depending on the situation, at least one of the solenoid valve 17 and the electropneumatic regulator 18 can be changed to another type of valve.

In the above embodiment, the case where the opening / closing valve 16a is provided outside the coating machine 11 has been illustrated, but instead, the opening / closing valve 16a may be provided inside the housing 12 of the coating machine 11.

In the above embodiment, the case where the color of the coating machine 11 is changed by switching the on-off valve 16a provided in the paint supply path 15 has been illustrated, but instead of this, the paint is filled and the paint supply path. A plurality of cartridges each having a built-in opening / closing valve that can be opened and closed and which can be attached to and detached from the coating machine may be used, and the color of the coating machine may be changed by replacing the plurality of cartridges. In this case, a plurality of cartridges each having a built-in on-off valve are components of the painting device.

A cartridge filled with a paint of a desired color is selected from a plurality of cartridges and attached to the coating machine. As a result, the on-off valve of the selected cartridge is provided so as to be openable and closable in the supply path for supplying the paint of this color. This on-off valve can also be called an on-off valve selected from a plurality of on-off valves.

Air is supplied to the on-off valve built in the cartridge attached to the coating machine through the solenoid valve 17 and the air supply path 17a to open the on-off valve, and the extrusion liquid for extruding the paint is supplied to the cartridge. .. As a result, the paint filled in this cartridge is ejected from the coating machine. Further, the on-off valve built in this cartridge can be diagnosed by using the above-mentioned diagnostic systems 1, 101. Then, every time the cartridge is replaced with the coating machine, the on-off valve built in the cartridge can be diagnosed.

Further, in view of the above embodiment and other modified examples, the following aspects can be considered.

As one aspect
"Bell-shaped painting machine and
A plurality of on-off valves provided so that each of the plurality of supply paths for supplying paint to the bell-shaped coating machine can be opened and closed, and
A detector that detects information about the rotation speed of the motor that rotates and drives the bell cup of the bell-shaped coating machine,
A control unit that controls the opening and closing of the plurality of on-off valves and feedback-controls the motor based on the information detected by the detection unit and its target value.
With
The control unit outputs a first command signal for opening an on-off valve selected from the plurality of on-off valves, and when paint is supplied to the bell-shaped coating machine, the first command signal It is determined whether or not the selected on-off valve is normal based on the response time required from the time of output to the time when the second command signal for increasing the rotation speed of the motor is output by the feedback control. The painting equipment is configured in. "
Can be taken.
According to this aspect, it is possible to provide a coating device having a discriminating function capable of discriminating an abnormality of an on-off valve at an early stage.

As another aspect
"Bell-shaped painting machine and
A detector that detects information about the rotation speed of the motor that rotates and drives the bell cup of the bell-shaped coating machine,
A plurality of cartridges, each of which is filled with paint and has a built-in open / close valve that can open and close the supply path of the paint, are detachably attached to the bell-shaped coating machine.
The opening / closing valve of the cartridge attached to the bell-shaped coating machine is controlled to open / close by selecting from the plurality of carriages, and the motor is fed back based on the information detected by the detection unit and its target value. The control unit to control and
With
The control unit outputs a first command signal for opening the on-off valve, and when paint is supplied from the cartridge to the bell-shaped coating machine, the feedback control is performed from the time when the first command signal is output. A coating device configured to determine whether or not the on-off valve is normal based on the response time required to output a second command signal for increasing the rotation speed of the motor. .. "
Can be taken.
According to this aspect, it is possible to provide a coating apparatus having a discriminating function capable of preliminarily discriminating an abnormality of an on-off valve built in a cartridge attached to a bell-shaped coating machine.

1,101 Bell-type coating machine open / close valve diagnostic system 11 Bell-type coating machine (painting machine)
11a Bell cup 13 Motor 15 Supply path 16 Color change valve (CCV)
16a Open / close valve 19 Detection unit 20 Painting robot 21 Robot arm 22 Robot control unit 30 Control unit 40 Notification unit M, N Judgment threshold S1 1st command signal S2 2nd command signal Ta Response time (reference time)
Tb reference time ΔT time difference

Claims (6)

It is a diagnostic system for opening / closing valves for bell-shaped coating machines for diagnosing a plurality of opening / closing valves each of which can be opened and closed in each of a plurality of supply paths for supplying paint to the bell-shaped coating machine.
A detector that detects information about the rotation speed of the motor that rotates and drives the bell cup of the bell-shaped coating machine,
A control unit that controls the opening and closing of the plurality of on-off valves and feedback-controls the motor based on the information detected by the detection unit and its target value.
With
The control unit outputs a first command signal for opening an on-off valve selected from the plurality of on-off valves, and when paint is supplied to the bell-shaped coating machine, the first command signal The response time required from the time of output to the output of the second command signal for increasing the rotation speed of the motor by the feedback control is measured, and the selected on-off valve is normal based on the measured response time. A diagnostic system for on-off valves for bell-shaped coating machines that is configured to determine whether or not. The control unit determines that the on-off valve is normal when the time difference between the measured response time and the predetermined reference time is equal to or less than the determination threshold value, and when the time difference exceeds the determination threshold value. The diagnostic system for an on-off valve for a bell-shaped coating machine according to claim 1, which is configured to determine that the on-off valve is abnormal. The diagnostic system for an on-off valve for a bell-shaped coating machine according to claim 1 or 2, further comprising a notification unit for notifying a determination result determined by the control unit. Both the bell-shaped coating machine and the plurality of opening / closing valves are attached to the robot arm of the coating robot.
The diagnostic system for an on-off valve for a bell-shaped coating machine according to any one of claims 1 to 3, wherein the control unit is composed of a robot control unit that controls a movement locus of the robot arm. A method for diagnosing an on-off valve for a bell-shaped coating machine for diagnosing a plurality of on-off valves each of which can be opened and closed on each of a plurality of supply paths for supplying paint to the bell-shaped coating machine.
When the paint is supplied to the bell-type coating machine by outputting a first command signal for the opening operation of the opening and closing valve selected from the plurality of opening and closing valves, from the time the output of the first command signal, the A measurement step for measuring the response time required to output a second command signal for increasing the rotation speed of the motor by feedback control of a motor that rotationally drives the bell cup of the bell-shaped coating machine .
A determination step for determining whether or not the selected on-off valve is normal based on the response time measured in the measurement step, and
A method of diagnosing an on-off valve for a bell-shaped coating machine. In the determination step, when the time difference between the response time measured in the measurement step and the predetermined reference time is equal to or less than the determination threshold value, it is determined that the on-off valve is normal, and the time difference is for the determination. The method for diagnosing an on-off valve for a bell-shaped coating machine according to claim 5, wherein the on-off valve is determined to be abnormal when the threshold value is exceeded.

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