JPH0131941B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic painting device using a robot.

The present inventors have previously developed a method for dealing with problems such as dripping and sagging of paint using the amount of paint discharged instead of correcting the motion trajectory of the robot in an automatic painting system using a robot, and a method for dealing with problems such as dripping and splatter of paint using the amount of paint discharged. Regarding a control device (specifically, a device that counts the number of pulses of a synchronization signal having a frequency related to the operating speed of the robot emitted by the robot control device, sets the discharge amount using the cumulative number of pulses as a parameter, stores it, and reproduces it) Disclosed the invention.

Furthermore, in such a device, when setting or correcting data regarding the amount of paint discharged (hereinafter referred to as discharge force data), a timing device that can be manually operated is provided, and the output signal of this device is used to control the timing of the operation. The present invention discloses a method and a device for making an operator aware of the relationship between the area to be painted and the cumulative number of pulses by displaying the cumulative number of pulses on a display device.

According to the invention described above, the time for robot teaching and the time for correcting defective parts can be significantly reduced, and an automatic painting system superior to that of the conventional art can be constructed. However, such a device still has the following problems.

If a problem such as sagging or sagging occurs while the line is in operation, the line must be temporarily stopped in order to correct the data.

When operating the timing device, only the cumulative number of pulses corresponding to the area to be coated is displayed, so the operator has to allocate the discharge amount to the cumulative count while looking at the display, which is tedious. Moreover, problems such as incorrect settings may occur.

Timing device operations are performed while observing the robot's movements, but since the result of the operation is only displayed on the display of the cumulative number of pulses, the operator usually does not want to use the results of the operation to reflect the robot's movements. Therefore, there was a strong possibility that any operational errors or the like would go unnoticed, which could lead to erroneous settings.

Therefore, in view of the above, the present invention aims to provide an automatic painting method using a robot that can mechanically and correct data without stopping the line, etc., even while the line is in operation, and an apparatus therefor. be.

In order to achieve the above object, the present invention corresponds to the count value of synchronized pulses whose frequency changes in relation to the operating speed of the robot. The information is stored in advance in a state that is independent and modifiable from the robot's motion trajectory information, and when the robot is in regenerative operation, the stored information is reproduced and output in chronological order in synchronization with the robot's synchronization pulse to eliminate sagging and sketching. etc., an automatic painting method using a robot of the type that corrects the stored information, and a main memory unit that stores data consisting of the control information and the count number of synchronization pulses and provides it for control; A temporary storage section used when modifying the settings of the data is provided so that reading data from the main storage section and writing data to the temporary storage section can be performed independently, and writing data to the main storage section. When modifying the data in the main memory, the data in the main memory is transferred to the temporary memory, and the desired correction is made in the same temporary memory. This feature is characterized in that it is later returned to the main storage section.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

First, in FIG. 1, reference numeral 1 indicates a painting robot, and a painting gun 3 for spraying paint onto an object to be painted is provided at the tip of an arm 1a of this robot. In this example, a lamp R is removably attached to a predetermined position on the front part of the arm 1a. 2 is a robot control device, and a signal line 7
The painting robot is controlled through feedback. This robot control circuit 2 is capable of generating a digital pulse train signal (hereinafter referred to as a synchronization signal) having a frequency proportional to the reproduction speed of stored information (robot operating speed). This digital pulse train signal is used as an internal signal by the robot control device 2 and is sent to an I/O (not shown).
It is designed to be extracted and used through a circuit.

Next, reference numeral 4 denotes a discharge amount control device, which is composed of a control section 5, an operation section 6, and a count recognition circuit 11. First, the control section 5 will be explained. It includes a temporary storage section 5a, a main storage section 5a, and a main storage section 5a.
f, a processing device 5b, a counter 5c, a current value counter 5g, an output device (hereinafter referred to as I/O) 5d, a display device 14, and a data input correction device (hereinafter referred to as keyboard) 5e. Here, to explain some of the functions of the control section 5, the main memory section 5f includes a keyboard 5e and a temporary memory section 5a.
Data regarding the discharge amount, etc. are set via the . This data is the discharge amount data Qn for the count number Cn of the current value counter 5g.
Therefore, the count number cn and the corresponding discharge amount data Qn are sequentially stored in pairs in the main storage section 5f.
On the other hand, during regeneration operation, the count number Cn is set in the counter 5c, the counter 5c counts the number of pulses of the synchronization signal 8, and when the count value matches the count number Cn, a coincidence signal is sent to the processing device 5b. emits. Based on this coincidence signal, the processing device 5b reads the corresponding count number Cn from the main memory 5a.
Reads the discharge amount data Qn corresponding to
Set to d. After this, the count number data Cn+1 of the next address is read out, and this is set in the counter 5c, and thereafter the same operation as described above is repeated. (Until the count value of the counter 5c matches the count number Cn+1, the I/O 5d sends the discharge amount data Qn set thereto to the operation unit 6.) In this example, the control unit 5 In parallel with such control, input and correction of data to the temporary storage section 5a and data transfer from the temporary storage section 5a to the main storage section 5f can be performed. Therefore, in this example, the processing section 5b includes a first CPU (not shown) that mainly performs the above-mentioned processing (this will be referred to as the first mode in the explanation below), and a temporary storage section 5a.
A second CPU (not shown) is provided, which mainly performs data input and correction, etc. (this will be referred to as 2nd to 7th modes in the explanation below), and these two CPUs can distribute the processing. By doing so, the first mode and the second to seventh modes can be performed independently and simultaneously.

Next, the display device 14 will be explained. In this example, it is a CRT display, and the cumulative number of pulses Cn stored in the temporary storage section 5a is displayed.
and the status of the discharge amount data Qn are displayed. For this reason, the operator of the painting robot 1 can, for example, control the trigger 16 of the timing device 12.
It is also possible to numerically recognize the operating position of the painting robot 1 when the painting robot 1 is operated. In this example, the display device 14 is composed of a CRT display, but if necessary, it can also be composed of an LCD, a 7-segment LED, or the like.

Next, the operation section 6 will be explained. It includes an electropneumatic converter 6a, an air compressor 6b, an air operated regulator 6c, and a paint supply device 6d.
is built-in. The electro-pneumatic converter 6a is connected to the I/O
The air compressor 6b is for converting the signal of the dispensing amount Qn from 5d into an air pressure signal, and the air compressor 6b is for supplying air at a constant pressure to the electro-pneumatic converter 6a. The air pressure signal is supplied to the air operated regulator 6c, and the air operated regulator 6c is operated based on this air pressure signal so that the flow rate (discharge amount) of the paint in the air hose 9 can be controlled. It's getting old. Note that paint is supplied to the air operated regulator 6c at a constant pressure from a paint supply device 6d.

Next, the count recognition circuit 11 will be explained.
This count recognition circuit 11 includes a timing device 1
2. State change detection circuit 18, gate circuit 20, 2
1 and a latch circuit 22 as main components.
First, the timing device 12 will be explained.
This consists of a handle 12a that can be held with one hand, a trigger 16 swingably supported by the handle, a micro switch 15 that can generate a binary timing signal of H and L in response to the operation of this trigger, and a trigger 16
It consists of a spring S for urging forward. This timing device 12 is explosion-proof and is connected to a state change detection circuit 18 by a flexible cord 17. Therefore, the operator can freely move the timing device 12 while holding it. The state change detection circuit 18 is for detecting whether the trigger 16 is pulled or released, and
Timing signal from micro switch 15 is H
It is configured so that a timing pulse is output when the level changes from L to H or from L to H. Note that the timing pulse from this state change detection circuit 18 is input to gate circuits 20 and 21, respectively.

The latch circuit 22 is for temporarily holding the timing signal and the cumulative number of pulses of the current value counter 5g, which are inputted via the gate circuits 20 and 21. Gate circuits 20, 21 by pulse
The value when the gate is opened is held in the latch circuit 22. Note that the timing signal S from the gate circuit 20 is held in the latch circuit 22, for example, as 1 when the trigger 16 is pulled and as 0 when it is released. Note that when setting initial data using the timing device 12 described later, the trigger 16
The cumulative number of pulses of the latch circuit 22 when is pulled
Discharge amount data Qn input in advance from the keyboard 5e is assigned to Cn. (In some cases, the ejection amount data Qn is input after the ejection amount data Qn is inputted.), the cumulative number of pulses Cn of the latch circuit 22 is transferred to the temporary storage section 5a, and the ejection amount data Qn is assigned to the cumulative number of pulses Cn.) Data Cn and Qn are transferred from the temporary storage section 5a to the main storage section 5.
The data is transferred to the main storage section 5f, and the data in the main storage section 5f is rewritten. In addition to this, it is also possible to rewrite the cumulative number of pulses Cn in the temporary storage section 5a using the timing device 12 (at this time, it is also possible to set data indicating a discharge amount of 0 at the same time), but this rewriting method For example, the data of the cumulative pulse number closest to the cumulative pulse number Cn transferred from the latch circuit 22 is stored in the temporary storage section 5a.
Find it from within and rewrite it to Cn.

Subsequently, the action and effect will be explained.
In this example, the processing section 5b has the following modes.

1st mode: This mode mainly reads out the discharge amount data Qn stored in the main memory section 5f, and also reads out the count number Cn corresponding to this discharge amount data Qn and the cumulative pulse number of the current value counter 5g.
CT is compared, and discharge amount data Qn is output to I/O5d under the condition of Cn≦CT≦Cn+1. Note that the details of this first mode have been explained immediately.

Second mode: Discharge amount data Qn etc. input from the keyboard 5e are written into the temporary storage section 5a.

Third mode: By operating the keyboard 5e,
Part of the ejection amount data in the temporary storage section 5a is rewritten.

Fourth mode: Data in the temporary storage section 5a is written to the main storage section 5f.

Fifth mode: The storage contents of the main storage section 5f are read and written to the temporary storage section 5a.

Sixth mode: The storage contents of the temporary storage section 5a are read out and displayed on the display section 14.

Seventh mode: Input the binary signal from the timing device 12 (in this example, 0, 1), and input 0 (trigger 16).
When the trigger 16 is released), a discharge amount of 0 is assigned to the cumulative number of pulses when the trigger 16 is released, and this is written in the temporary storage section 5a. For the state), there is a function to write the cumulative number of pulses when the trigger 16 is pulled into the temporary storage section 5a (if data is immediately set in the temporary storage section 5a, the same function is available). It also has a function to rewrite the data of the cumulative number of pulses corresponding to the number of pulses.) In addition,
When the ejection amount data Qn is immediately set in the temporary storage section 5a, it also has a function in which the cumulative number of pulses when the trigger 16 is operated is sequentially assigned to this data. Note that this seventh mode is based on the premise that the painting robot 1 is operating in the first mode.

Next, specific control procedures in this example will be individually explained.

(1) When manually setting initial data.

Manual setting of initial data is performed according to the procedure shown in FIG. That is, first, in the second mode, the ejection amount data input from the keyboard 5e is written into the temporary storage section 5a, and in the sixth mode, the contents of the temporary storage section 5a are displayed on the display section 14. If it is necessary to rewrite the displayed data (such as when an input error occurs), the operator selects the third mode and rewrites the discharge amount data in the temporary storage section 5a using the keyboard 5e. After that, return to the 6th mode again,
If there is no need for rewriting, the process proceeds to the fourth mode, where the data in the temporary storage section 5a is transferred to the main storage section 5f and the data is finalized. If you want to actually move the robot and check it, please check the first step.
Select the mode and input/input the discharge amount data Qn in the main memory section 5f under the condition of Cn≦CT≦Cn+1.
Output to O5d. On the other hand, if there is no need for confirmation, or if further data correction is required after the confirmation has been completed (it may be in progress), the fifth mode is selected and the data in the main memory 5f is After being transferred to the temporary storage section 5a, the sixth
Return to mode. Note that if there is no need for correction, the routine returns to the main routine or the like. When manually setting this initial data, it is assumed that the painting robot 1 is stopped except when confirmation is required, but if necessary, the above work can be performed while operating in the first mode. You can also do

(2) When setting the initial data, the timing device 12 is operated to set a discharge amount of 0 for a predetermined cumulative count, and the specific discharge amount data is set using the keyboard 5e.

In this case, first, in the seventh mode, the timing device 12 is operated while observing the movement trajectory of the painting robot 1. That is, as with a normal spray gun, when the area where paint needs to be sprayed is reached, the trigger 16 of the timing device 12 is pulled;
Release the trigger 16 at unnecessary locations. Then, the temporary storage unit 5a stores the cumulative number of pulses CK when the trigger 16 is pulled and the cumulative number of pulses when the trigger 16 is released.
Cl is sequentially stored, and the cumulative number of pulses Cl when the trigger 16 is released is assigned data indicating a discharge amount of 0 and stored. On the other hand, ejection amount data QK is individually assigned to the cumulative number of pulses CK when the trigger 16 is pulled. As a method of allocating the discharge amount data QK and the cumulative number of pulses, if the number of operations of the trigger 16 can be known in advance, the discharge amount data QK can be assigned in advance by using the keyboard 5e at the address to which the discharge amount data QK is assigned in the temporary storage section 5a. It is sufficient to input the quantity data QK, and when the number of operations is unknown, the storage area in the temporary storage section 5a to which the discharge quantity data is allocated is left blank, and only the cumulative pulse number CK is stored. Then keyboard 5
All you have to do is input and allocate the discharge amount data QK using e.

Next, when the initial data is set in this seventh mode, the program proceeds to the sixth mode and displays the storage contents of the temporary storage section 5a on the display section 14, and then proceeds to the third mode to display the data stored in the temporary storage section 5a. Make it rewritable. Here, if rewriting is not necessary, perform the rewriting by operating the keyboard 5e, and if rewriting is not necessary, proceed directly to the sixth mode. Note that the sixth mode and subsequent modes are the same as the case of manually setting the initial data described above, so the explanation will be omitted.

(3) When modifying the set data In this case, in the fifth mode, first read the memory contents of the main memory section 5f and store them in the temporary memory section 5f.
Write in a. Next, proceeding to the sixth mode, the contents of the temporary storage section 5a are read out and displayed on the display section 14.
After the display is displayed, the program proceeds to the third mode and a part of the data in the temporary storage section 5a is rewritten by operating the keyboard 5e. The subsequent steps are the same as those for manually setting the initial data, so the explanation will be omitted. Note that when modifying this set data, it is assumed that the painting robot 1 is operating in the first mode. (Accordingly, data can be corrected without stopping the line or the like.) It goes without saying that the painting robot 1 may be stopped if necessary.

(4) When modifying data, the timing device 12
When referring to the integrated pulse number using .

In this case, the procedure is similar to that shown in FIG. 4 described above. That is, in the seventh mode,
The timing device 12 is operated while watching the motion trajectory of the painting robot 1. This operation only needs to be performed at locations where problems such as sagging or scratches have occurred. When this operation is performed, the data in the temporary storage section 5a is corrected, and the process proceeds to the sixth mode, where the stored contents of the temporary storage section 5a (including the corrected data) are displayed on the display section 14. That is, the operator can refer to the corrected data (integrated pulse number). Incidentally, since the subsequent explanation is the same as the explanation based on FIG. 4 described above, the explanation thereof will be omitted.

In this way, according to this example, the painting robot 1
Since the discharge amount data can be corrected while the line is in operation, even if a problem occurs in the coating area while the line is in operation, the problem can be corrected without stopping the line or the like.

In addition, when setting the initial data, the timing device 12 can be used to set the cumulative pulse number and zero discharge amount data, so data setting errors are much more likely to occur than when manually setting from the keyboard 5e. In addition, the time required for setting can be significantly shortened.

Furthermore, even when setting data using the timing device 12, the same data can be used to immediately cause the robot 1 to perform a confirmation operation for painting, thereby preventing problems such as operation errors being overlooked. will be prevented.

In the above embodiment, control of the painting robot 1 (i.e., the first mode) and data input and correction (i.e., the second to seventh modes) are performed separately.
Although we have explained the method of distributing processing using the CPU, there are also ways to improve the efficiency of processing by using multitasking, DMAC, and interrupts.
It is also possible to perform this on the CPU. Further, in this example, the current value counter 5g is provided in the control section 5, but it is also possible to use the counter 5g in the robot control device 8.

In other words, according to the claims of the present invention, data can be input and corrected while the robot is performing normal work, so there is no sagging, sagging, etc. on the painted area while the line is in operation. An excellent feature is that even if a problem occurs, the problem can be corrected without stopping the line in any way. Therefore, unlike the case where the line has to be stopped and data etc. corrected every time a problem occurs, the yield rate is significantly improved, which greatly contributes to improving productivity.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the overall configuration of an embodiment of the present invention, Fig. 2 is a block diagram mainly showing the discharge amount control device, and Figs. 3 to 5 are flowcharts showing each control procedure. . DESCRIPTION OF SYMBOLS 1...Painting robot, 2...Robot control device, 5...Control unit, 5a...Temporary storage unit, 5b...
...Processing unit, 5e...Data input correction device (keyboard), 5f...Main storage unit, 11...Operation unit, 1
2... Timing device, 14... Display unit.

Claims (1)

[Claims] 1. Control information for continuously changing the amount of paint discharged depending on the area to be painted is made to correspond to the count value of synchronization pulses whose frequency changes in relation to the operating speed of the robot, The information is stored in advance in a state that is independent and modifiable from the robot's motion trajectory information, and when the robot is in playback mode, the stored information is replayed and output over time in synchronization with the robot's synchronization pulse to prevent sagging, sagging, etc. This is an automatic painting method using a robot of the type that corrects the stored information,
A main memory section stores data including the control information and the count number of synchronization pulses for use in control, and a temporary memory section is used for setting and modifying the data. When writing data to the main memory section, the contents of the temporary memory section are transferred to the main memory section, and when modifying data in the main memory section, An automatic painting method using a robot, characterized in that data in a main memory is transferred to a temporary memory, desired corrections are made in the simultaneous memory, and then the data is returned to the main memory. 2. A robot having a paint gun, a robot control device that controls the robot and outputs synchronization pulses whose frequency changes in relation to the operating speed of the robot, and a robot control device that counts early synchronization pulses from the robot's operation start position. , a control section that stores and reproduces the discharge amount according to the painting area using the cumulative number of pulses obtained by this count as a parameter in a state that can be modified and independent of the robot's operation trajectory information, and a discharge amount control signal from this control section. Therefore, the automatic coating apparatus uses a robot of the type that has an operation section for controlling the amount of paint etc. discharged from the coating gun, and the control section includes a count value of the pulses and a control section related to the amount of paint etc. discharged from the coating gun. A main storage section for storing data, a temporary storage section for temporarily storing data when setting or correcting the data, a data input correction device for setting or correcting the data, and a display for displaying the data. a first mode in which the control unit recognizes the count value of the synchronization pulse, reads out data regarding the ejection amount corresponding to the count value from the main storage unit, and outputs the data to the operation unit; a second mode for writing data input from the data input correction device into the temporary storage section; and a third mode for changing the storage content of the temporary storage section in response to input from the data input correction device; a fourth mode in which the storage contents of the temporary storage section are transferred to the main storage section; a fifth mode in which the storage contents of the main storage section are read and transferred to the temporary storage section; Automatic painting using a robot, comprising a sixth mode for reading and displaying on the display device, and further having a function of simultaneously executing at least the first mode and any of the second to sixth modes. Device.