JPH0334984B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for controlling coating conditions for a coating robot device, and in particular, a coating robot device suitable for controlling coating conditions using a playback type coating robot device. This invention relates to a method for controlling coating conditions.

[Conventional technology]

When a playback type robot device is used to paint the body of an automobile, etc., a teaching operation is performed in advance to make the robot memorize its movement locus. This teaching work usually involves teaching the general movement of the robot, then actually painting the workpiece using that movement, and correcting any areas where problems such as sagging or scratches occur. For this reason, teaching work is often viewed as a problem as it takes a considerable amount of time. Therefore, as described in Japanese Patent Application Laid-Open No. 60-12167, an automatic coating system that can quickly correct any defects such as sagging or sagging without requiring special effort is proposed. A method was proposed. In this method, information for continuously changing the coating discharge amount according to the part to be painted is stored in advance in a state that can be modified independently of the robot's operation trajectory information, and when the robot is regenerated, the stored information is is played back and output in chronological order in synchronization with the robot playback speed, and the stored information is corrected to deal with sagging, scratches, etc.

By the way, when painting a vehicle body or the like, it is often necessary to change the discharge amount, etc. at the painting part on the way between the inner teach points on the body surface. That is, in order to paint the body surface finely, it is necessary to change the painting conditions at each painting location between the teach points.

[Problem that the invention seeks to solve]

However, in robot painting in PTP control mode, only the position of the teach point is managed, and the position information between the teach points is not managed.
It has been difficult to change the coating conditions at a specific coating area between teach points using a robot device in PTP control mode. That is, although it is easy to output a teach point arrival signal from the robot device, it is difficult to output position information on the way to the teach point, so it is difficult to set the switching timing of coating conditions in the coating device.

The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to accurately change coating conditions using only the position information of the teach point arrival signal when the robot reaches the teach point. An object of the present invention is to provide a method for controlling coating conditions of a coating robot device.

[Means for solving problems]

In order to achieve the above object, the present invention, as shown in FIG. 1, calculates the cumulative number of constant frequency pulses by using the timing from the start of robot regeneration to the time when each teach point is reached as synchronization reference data before robot regeneration. (Step 100), and set the switching timing of the coating conditions for each coating part of the teach point in association with the cumulative count of constant frequency pulses (Step 102), so that the robot starts moving when the robot is regenerated. starts counting constant frequency pulses in synchronization with (step 104),
The accumulated number of constant frequency pulses is forcibly corrected to the value of the synchronization reference data at each teach point using each teach point arrival signal from the robot (step 106).
Then, the corrected constant frequency pulse count number is sequentially added to the constant frequency pulse count number over time as the robot moves (step
108), which adopts a coating condition control method for a coating robot device in which the coating condition is switched (step 110) when this cumulative count matches the cumulative count as the coating condition switching timing. It is.

[Effect]

Before robot regeneration, the timing from the start of robot regeneration to the time each teach point is reached is set as synchronization reference data in association with the cumulative count of constant frequency pulses, and the coating conditions are switched for each painting area between the teach points. Set the timing in correspondence with the loaded count number of constant frequency pulses. Then, when the robot is regenerated, the cumulative count of constant frequency pulses is started in synchronization with the robot's start of movement, and the cumulative count of constant frequency pulses is set to the value of the synchronization reference data at each teach point by each teach point arrival signal from the robot. Forcibly correct the fixed frequency pulse and sequentially add the corrected constant frequency pulse count over time as the robot moves, and use this cumulative count to switch the coating conditions. Switching of coating conditions is executed when the cumulative count number coincides with the timing.

[Embodiments of the invention]

Hereinafter, preferred embodiments of the present invention will be described based on the drawings.

FIG. 2 shows the configuration of an embodiment to which the present invention is applied. In FIG. 2, a painting robot 10 has an arm 12, and a painting gun 14 is attached to the tip of this arm 12. The painting robot 10 can operate the arm 12 in response to a command from the robot control panel 16 and move the painting gun 14 to a specific welding site. The coating gun 14 is connected to a coating condition control device 20 via a hose 18.
It is configured to form a predetermined spray pattern using air supplied from the coating condition control device 20 and apply coating to the surface of a workpiece such as a vehicle body.

The coating condition control device 20 has a constant frequency pulse oscillator 22, an arithmetic control section 24, and an adjustment section 26, and the arithmetic control section 24 is supplied with a synchronization signal as a teach point arrival signal from the robot control panel 16. , a constant frequency pulse is supplied from a constant frequency pulse oscillator 22.

The arithmetic control unit 24 is composed of a microcomputer having a CPU, ROM, RAM, etc.
The ROM contains the painting condition data shown in Figure 3,
Various data such as the synchronization reference data shown in FIG. 4 are stored. Here, C ₁ , C ₂ ……Cn is the cumulative count of constant frequency pulses set as the switching timing of coating conditions at each painting part between teach points, and D ₁ , D ₂ ……Dn is the paint discharge amount. ,
Coating data such as paint atomization air amount, T ₁ and T ₂
. . . Tn indicates synchronization reference data that is set in association with the cumulative count of constant frequency pulses as the timing from the time when the robot starts reproducing to the time when each teach point is reached. The calculation control unit 24 is configured to perform various calculations based on the constant frequency pulse from the constant frequency pulse oscillator 22 and the synchronization signal from the robot control panel 16, and output a control signal for controlling the operation of the adjustment unit 26. ing.

The adjustment unit 26 includes a converter that converts the control signal from the calculation control unit 24 into an air pressure signal, an air compressor that supplies constant air pressure to the converter, and discharges paint based on the air pressure signal from the converter. The air operated regulator has an air operated regulator and a paint supply device that supplies paint to the air operated regulator, and a hose 18 is connected to the air operated regulator. That is, the adjustment section 2
6 is configured to supply paint to the coating gun 14 in an amount discharged according to a control signal from the arithmetic control section 24 .

The present embodiment has the above-mentioned configuration, and its operation will be explained next based on the flowchart of FIG. 5.

First, after the teaching work for the painting robot 10 is completed, the arithmetic control unit 24 monitors the output signal from the robot control panel 16 and determines whether or not the robot should start regenerating (step 200). When it is determined that the robot has started regeneration based on a command from the robot control panel 16, the first integrated count variable is set.
CO ₁ and the second cumulative count variable CO ₂ are set to 0, and both the coating condition index n and the teach point index i are set to 1 (step 202). Next, it is determined whether or not a constant frequency pulse is input from the constant frequency pulse oscillator 22 (step 204), and when a constant frequency pulse is input, the first cumulative count variable CO ₁ =CO ₁ +1 is set to the second The cumulative count variable CO ₂ =CO ₂ +1 is set (step 206). Next, it is determined whether CO ₁ >Ti (step 208). That is, the painting robot 10
The first cumulative count variable CO ₁ is the cumulative count of constant frequency pulses from the start of playback, and the sixth
Reference data at teach point i shown in the figure
The magnitude is compared with the cumulative count of constant frequency pulses set as Ti. NO at this step
If it is determined that
If it is determined that this is the case, the process moves to step 210.
In step 210, a process is performed to set CO ₁ =Ti. That is, in steps 208 and 210, when the cumulative count of constant frequency pulses exceeds the synchronization reference data Ti at the teach point i, the value of the first cumulative count variable is forcibly changed to the synchronization reference data.
Set to the value of Ti.

Also, in step 212, it is determined whether or not a teach point arrival signal has been input from the robot control panel 16. If the step is determined to be NO, the process moves to step 216, and if it is determined to be YES, the process proceeds to step 214. Move. In step 214, processing is performed to set the first integrated count variable CO ₁ =Ti ₁ and synchronization correction data Ti = CO, and to set the teach point index i = i+1.
That is, in steps 212 and 214, regardless of the cumulative count number of constant frequency pulses, when the teach point arrival signal is input from the robot control panel 16, the first cumulative count variable CO ₁ is set as the synchronization reference data.
Forcibly set to the value of Ti. Therefore, in this embodiment, if the operation of the painting robot 10 is delayed, the processing in steps 208 and 210 is performed, and when the operation of the painting robot 10 becomes faster, the processing in steps 212 and 214 is performed. It is possible to reduce the reproduction error of the robot playback speed, and to prevent the reproduction error of the robot playback speed from being accumulated across teach points.

Next, in step 216, it is determined whether the first integrated count variable CO ₁ ≧the number of coating condition changing pulses Cn. That is, in this step, it is determined whether or not the change point C has been reached after passing the teach point i. And with this step YES
When judged as
Painting is applied to the vehicle body in accordance with this painting condition Dn. Then, the coating condition index n=n+1 is set and the process moves to step 22. In step 220, it is determined whether or not the painting of each welded area has been completed through the processing in steps 202 to 218. If the determination is NO, the process moves to step 202, and if the determination is YES, the process proceeds to step 220. Move.

As described above, in this embodiment, when the robot is regenerated, the cumulative counting of constant frequency pulses is started in synchronization with the start of movement of the painting robot 10, and the constant frequency pulses are controlled by each teach point arrival signal from the robot control panel 16. The cumulative count is forcibly corrected to the value of the synchronization reference data at each teach point, and the fixed frequency pulse count that follows the movement of the painting robot 10 is sequentially added to the modified constant frequency pulse count. And this cumulative count number,
Since the switching of the coating conditions is executed when the accumulated count number as the switching timing of the coating conditions matches, the accumulation of constant frequency pulses at the teach points i and i+1 is Even if the count changes from the state shown in a to the state shown in b in FIG. 6, the timing from the time when the teach point i is reached to the time when the welding conditions are switched can be kept the same. can.

However, when the cumulative count of constant-frequency pulses at teach point i deviates, and the cumulative count of constant-frequency pulses at teach point i+1 also deviates, the above-described processing does not allow accurate switching of coating conditions. It can be done, but
When the teach points i and i+1 shift from the state a in FIG. 6 to the state b in FIG. 6, it is not possible to switch the coating conditions at an accurate timing just by the above-described processing. Therefore, in this embodiment, correction processing is performed in the case where the cumulative counts of constant frequency pulses at a plurality of teach points deviate through the processing in steps 222 to 234.

That is, in step 222, the coating condition index n=1 and the teach point index i=1.
Then, the process moves to step 222. In step 224, it is determined whether the number of coating condition changing pulses Cn≦the synchronization reference data Ti+1 at the teach point i+1. with this step
If it is determined as YES, the number of coating condition change pulses in the next robot regeneration cycle Cn'=T'i+1-(Ti+1-Cn)
Processing is performed to obtain T'i+1-T'i/Ti+1-Ti. That is, in step 226, the change in coating conditions shown in c of FIG.
Assuming the switching timing of coating conditions at C′ as Cn,
The cumulative count of constant frequency pulses set as the switching timing of the coating condition is calculated in proportion to the synchronization reference data before execution of the regeneration cycle and the synchronization reference data after execution of the regeneration cycle. In addition,
Ti' and T'i+1 are associated with the cumulative count of constant frequency pulses from the time of robot regeneration that are not corrected in the processing of steps 202 to 220.

Next, proceed to step 228 where Cn=Cn', n=n+
After performing the process of setting the value to 1, the process moves to step 230. In step 230, it is determined whether or not the painting condition data has been completed.
If the determination is NO, the process returns to step 224, and if the determination is YES, the process returns to step 224.
Let's move on to processing 232. In step 232, Ti=
T'i, i=i+1 is set, and the process moves to step 234. In step 234, it is determined whether the modification of the synchronization reference data of each teach point to be used in the next reproduction cycle has been completed, and if the determination is NO, the process returns to step 224.
When the determination is YES, all processing in this routine ends.

As described above, in this embodiment, at the end of each regeneration cycle, the cumulative count of constant frequency pulses set as the switching timing of coating conditions is calculated based on the synchronization reference data before the regeneration cycle and the synchronization reference after the regeneration cycle. Proportional allocation calculation is performed using the data to calculate the synchronization reference data for the next regeneration cycle and the cumulative count of constant frequency pulses as the switching timing of coating conditions, and the next regeneration cycle is executed based on this calculated value. Therefore, even if you intentionally change the robot regeneration speed setting due to a change in production takt, etc., you only need to perform a test run once, and from the second regeneration, changes in painting conditions will follow the changes in the robot regeneration speed setting. Can be done.

〔Effect of the invention〕

As explained above, according to the present invention, the cumulative count of constant frequency pulses is started in synchronization with the start of movement of the robot during robot playback, and the cumulative count of constant frequency pulses is calculated by each teach point arrival signal from the robot. Forcibly correcting the synchronization reference data value at each teach point, and sequentially integrating the corrected integrated constant frequency pulse count with the constant frequency pulse count over time as the robot moves, When this cumulative count matches the cumulative count as the coating condition switching timing, the painting condition is switched, so the position of the teach point arrival signal from the painting robot can be adjusted regardless of the painting robot model. The excellent effect of being able to accurately switch coating conditions using only information and contributing to improved versatility can be obtained.

[Brief explanation of drawings]

FIG. 1 is a flowchart for explaining the present invention, FIG. 2 is a configuration diagram of an embodiment to which the present invention is applied, FIG. 3 is a memory map of painting condition data, FIG. 4 is a memory map of synchronization reference data, FIG. 5 is a flow chart for explaining the operation of the apparatus according to the present invention, and FIG. 6 is a diagram for explaining the operation according to the present invention. 10...Painting robot, 14...Painting gun, 1
6... Robot control panel, 20... Painting condition control device, 22... Constant frequency pulse oscillator, 24... Arithmetic control section, 26... Adjustment section.

Claims (1)

[Claims] 1. Before robot regeneration, the timing from the start of robot regeneration to the time when each teach point is reached is set as synchronization reference data in association with the cumulative count of constant frequency pulses, and the timing between each teach point is set as synchronization reference data. The switching timing of the coating conditions in the painting area is set in correspondence with the cumulative count of constant frequency pulses, and the cumulative count of constant frequency pulses is started in synchronization with the start of movement of the robot during robot regeneration, and each teach point from the robot is The arrival signal forcibly corrects the cumulative count of the constant frequency pulse to the value of the synchronization reference data at each teach point, and adjusts the modified constant frequency pulse's cumulative count as time passes as the robot moves. Sequentially integrate the constant frequency pulse counts, and use this integrated count as
A method for controlling coating conditions for a coating robot device, characterized in that switching of coating conditions is executed when a cumulative count as a timing for switching coating conditions matches. 2. At the end of each regeneration cycle, the cumulative count of constant frequency pulses set as the switching timing of coating conditions is proportionally distributed using the synchronization reference data before execution of the regeneration cycle and the synchronization reference data after execution of the regeneration cycle. Calculate the cumulative count of constant frequency pulses as synchronization reference data and coating condition switching timing in the regeneration cycle of
A method for controlling coating conditions for a coating robot according to claim 1, characterized in that the next regeneration cycle is executed based on this calculated value.