JPH0411263B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention detects the shape of the object to be painted while conveying it on a hanging conveyor, and then controls the spraying of paint by a painting gun that reciprocates up and down. The present invention relates to an automatic painting device that controls and paints objects to be painted.

(Prior art) This type of automatic painting equipment has been improved to reduce the burden on workers by automating painting work, and to perform painting with no waste and unevenness depending on the shape of the object to be painted. I've been exposed to it. For example, Tokuko Sho 59
JP-A-1381 discloses an automatic coating agent spray coating device. However, the shape detector in this conventional device detects the presence or absence of the object to be painted by moving one photoelectric sensor up and down continuously over a constant stroke covering the height of the object to be painted, and turns it on and off. The stroke is divided into a number of sections, and each section is identified by a pulse signal, which is output from a pulse transmitter in conjunction with the vertical movement of the photoelectric sensor. Based on these signals, the object to be coated is detected. The shape of the image is detected. Therefore, the structure of the shape detector is also complicated and large. In addition, in order to ensure that the outer edges of the object to be coated, that is, the corners, are coated, the detected shape is corrected by expanding or reducing the spray width in the vertical and horizontal directions. It is necessary to perform the process manually each time, which is not only complicated, but also does not necessarily suit the shape of each object to be coated. Therefore, the amount of sprayed paint tends to be too much or too little, and especially when the corners of the object to be coated are bent on the back side and have different depths, there is a drawback that proper coating cannot be obtained.

In addition, with conventional automatic painting equipment, when painting the back side of an object, the object is reversed 180 degrees, but since the shape of the object is often asymmetrical, another shape detection method is required. It is necessary to detect the shape again using the device to control the coating gun, and for this reason, two sets of shape detectors are required.

(Problems to be Solved by the Invention) An object of the present invention is to be able to detect the shape of an object to be painted using a small shape detector with a simple structure, and to correct the painting of the corners of the object to be painted. It is an object of the present invention to provide an automatic painting device that can automatically perform coating without using too much or too little paint. Also,
To provide an automatic coating device capable of coating an object to be coated without detecting its shape again even when the back surface is coated by inverting the object.

(Means for Solving the Problem) The shape detector has a large number of photoelectric conversion elements arranged facing the object to be painted, which is being conveyed, and the shape detector has a plurality of photoelectric conversion elements that are arranged facing the object to be painted, and the object to be painted is separated by a predetermined width in the direction of movement and in the vertical direction. It consists of a solid-state imaging device that outputs detection signals corresponding to each field of view divided into a predetermined number, and a control device that receives pulse signals synchronized with the rotation of the conveyor drive device and controls the arrival of the object to be coated at the coating position. a time point calculation means for calculating a time point; a shape memory device that receives a detection signal from the shape detector and stores data representing the two-dimensional shape of the object to be painted; A corner part shape determination means that determines the part type of the object to be painted by referring to a prepared corner pattern table and determines the corresponding depth shape of the corner part; a correction means for correcting the two-dimensional shape data of the object to be painted, and controlling paint spraying of the painting gun based on the corrected two-dimensional shape data of the object to be painted and the time point of arrival of the object to be painted at the coating position from the time calculation means. It includes spray control means for issuing a control signal.

In addition, in order to continue painting the back side of the object to be painted, a reversal signal generator that detects when the object to be painted is turned over by 180 degrees and outputs a reversal signal, and a storage device that responds to the reversal signal are required. Reversed shape processing means that processes the stored two-dimensional shape data of the object to be painted to create reversed shape data of the object to be painted, and painting the back side of the object from the reversed shape data of the object to be painted and the time calculation means. A spray control means is provided for controlling the paint spray of the paint gun based on the time of arrival at the location.

(Function) A solid-state imaging device having photoelectric conversion elements arranged facing the object to be painted scans the object in the opposite direction to the direction of movement of the object to be painted, and captures the two-dimensional image of the object to be painted. The shape is detected, and the detected two-dimensional detection data is stored in a shape memory device. The corner shape determining means determines the depth shape of the corner of the workpiece by referring to the two-dimensional shape data with the corner pattern table, and the correction means corrects the two-dimensional shape data based on this corner data. The paint spraying of the paint gun is then controlled based on the corrected two-dimensional shape data and the time point of arrival of the object to be painted at the coating position calculated by the time point calculation means.

Furthermore, when the surface of the object to be coated is completed and the object is turned over 180 degrees, a reversal signal is output from the reversal signal generator. In response to this inversion signal, the inversion shape processing means inverts the order of the two-dimensional shape data stored in the shape memory device to create inversion shape data, and the paint gun sprays the paint according to this inversion shape data. Based on this control, the back side of the object to be coated is coated.

(Example) FIG. 2 is an example of a coating line for coating objects to be coated that are suspended by a hanging conveyor in the automatic coating apparatus of the present invention.
Painted objects of various shapes P0, P1, P2...P4
is suspended from a hanging conveyor 1 and conveyed continuously or intermittently in the direction of the arrow.
A shape detection position S1, a painting position (front side) S2, a front/back surface reversal position S3, and a painting position (back side) S5 are determined along the conveyance route, and a solid-state imaging sensor serving as a shape detector is set in accordance with these positions. A device 2, a paint gun 3a, a reversing device 4, and a paint gun 3b for backside painting are respectively arranged. In the conventional device, there is a shape detection position (back side) S4 next to the front and back surface inversion position S3, and another shape detector 2a is required at that position.

Shape detector 2 in the automatic painting device of the present invention
consists of a solid-state imaging device having a large number of photoelectric conversion elements arranged one-dimensionally in the vertical direction of the object to be painted P, and as shown in FIG. , and divides the vertical field of view of the object P to be painted into a predetermined number, for example, 32,
Detect the object P to be painted. Therefore, due to the relative movement of the object P, a detection signal corresponding to each field of view divided into 32 fields in the vertical direction with a predetermined width in the moving direction of the object P is output, and the object P Detect the two-dimensional shape of In this case, the object to be painted P is illuminated from behind by the floodlight 2b.

The painting guns 3a and 3b are conventional ones and are driven to continuously reciprocate up and down. The reversing device 4 is a device that rotates the surface of the object P to be coated by 180 degrees around a vertical axis after the painting is completed, and a switch ( (not shown) is provided.

FIG. 1 is a block diagram of an automatic coating apparatus of the present invention. The control device that controls paint spraying includes a calculation unit (CPU) 6, a storage device (ROM, RAM) 7,
and an input/output interface 8, each of which receives input signals from a pulse transmitter 1a, a shape detector 2, and a reversal signal generator 4a, which are provided in the drive device of the hanging conveyor and output pulse signals synchronized with the rotation of the conveyor. Also, a paint spray control signal is supplied to the paint guns 3a and 3b. Further, the operation and stop states of the conveyor drive device, the paint gun drive device, etc. are displayed by the display lamp 9, and the painting control data, the progress state of the painting work, etc. can be monitored by the CRT 10. Keyboard 11 is used for manually entering control data.

The operation of the automatic painting apparatus will be explained with reference to the flowchart shown in FIG. When the suspended conveyor 1 starts operating, the object to be coated P0 suspended thereon begins to move along a predetermined path, and the conveyor pulse transmitter 1a synchronizes with the rotation of the conveyor drive device (not shown). Based on the pulse signal from
The calculation starts at the point when the step
20). When the object to be painted P0 passes through the shape detection position S1, the two-dimensional shape of the object to be painted P0 is detected by the shape detector 2, and the shape data is stored in the shape memory device 7a (step 21). The data is referred to in the corner pattern table 7c prepared in advance in the storage device 7, the part type of the object to be painted P0 is determined, and the depth shape of the corner part is determined from this part type.
twenty two). Next, the two-dimensional shape data is corrected based on this corner depth data (step
twenty five). In this case, there is no signal from the inverted signal generator 4a (step 23, NO). When the object to be painted P0 moves further and arrives at the painting position S2, the result of the time point calculation becomes the arrival point (step
26), a paint spraying control signal corrected for the corner portion is sent to the coating gun 3a (step 27), and the object P1 to be coated is sequentially reciprocated up and down from the end in the moving direction by the coating gun 3a. be painted.
In this case, the depth shape of the corner part is also automatically corrected, and for example, in the object to be painted P1, the deep part L1 is painted by spraying a large amount of paint by starting the spraying operation of the painting gun 3a early. To eliminate unevenness, the shallow depth part L2 is
Spraying operation is slower than 1, reducing paint consumption. In this manner, this correction modifies the on/off timing of the electromagnetic valve of the coating gun by the time determined by the product of the degree of depth (dimension) and a predetermined coefficient.

When the object P2, whose front surface has been painted, arrives at the front/back surface reversal position S3, the reversing device 4 is activated to reverse the object P2 180 degrees, and at the same time a reversal signal is input (step 23). In response to this inversion signal, the arithmetic unit 6 performs inversion processing on the two-dimensional shape data previously detected at the shape detection position S1 for surface painting (step 24). This inversion process is
This is done by changing the order of extraction of the two-dimensional shape data stored in the shape memory device 7a, and this inverted shape data corresponding to the shape of the back surface of the object to be painted P2 is stored in the inverted shape memory device 7b. .
In the conventional apparatus, as mentioned above, it was necessary to detect the shape again using the shape detection device in order to paint the back surface. The corners of the object to be painted P2 are automatically corrected and painted when the surface is painted, but if necessary, correction data can be entered manually from the keyboard 11 to correct them. I can do it. When it is found as a result of the time calculation that the object to be painted P3 has moved further and arrived at the painting position S5 on the back side (step 27), a paint spraying control signal based on the inverted shape data is sent to the painting gun 3b (step 27). 27), the back side is painted.

In the above embodiments, a solid-state imaging device in which photoelectric conversion elements are arranged in one dimension is used as a shape detector, but one in which photoelectric conversion elements are arranged in two dimensions may also be used.

(Effects) The shape detector that detects the shape of the object to be painted is more effective than the conventional one, which uses a single photoelectric sensor that moves up and down continuously, or has many photoelectric sensors arranged vertically up to the height of the object. Since a solid-state imaging device in which a large number of photoelectric conversion elements are arranged is used, the structure is simple and compact.

In addition, in the control device that controls the spraying of the painting gun, the detected two-dimensional shape of the object to be painted is referred to the corner pattern table stored in the storage device to determine the part type of the object to be painted, and the corner Since the part depth shape is automatically corrected, even if various parts to be painted flow irregularly along the painting line, the paint spraying at the corners of each part can be corrected quickly and accurately. It will be done.

In addition, when painting the back side of the object after painting the front side, there is no need to detect the shape of the back side again using a shape detector, and calculate the two-dimensional shape detection data detected during front painting. Since it can be obtained by simply performing a reversal process in the apparatus, there is no need to provide two sets of shape detectors, reducing equipment costs and making the painting process more efficient.

[Brief explanation of drawings]

Fig. 1 is a block diagram of the automatic coating device of the present invention, Fig. 2 is an explanatory diagram of the coating line, and Fig. 3 is
In the present invention, the side view of the shape detector used in FIG. 4 is a flowchart. In the figure, 1... Suspended conveyor, 2... Shape detector, 3a, 3b... Paint gun, 4a... Reversing signal generator, 6... Arithmetic device, 7... Memory device (shape memory device... ...7a, Inverted shape memory device...
7b, corner pattern table...7c).

Claims (1)

[Claims] 1. A shape detector that detects the shape of an object to be painted, which is conveyed by a hanging conveyor along a certain route, before it reaches a predetermined coating position; and In an automatic painting device including a control device that controls paint spraying from a paint gun installed at the painting position based on a detection signal, the shape detector is arranged in a large number facing the object to be painted that is being transported. The control device includes a solid-state imaging device having a photoelectric conversion element and outputting a detection signal corresponding to each field of view divided into a predetermined width in the moving direction and a predetermined number of vertical directions of the object to be coated; a time calculation means that receives a pulse signal synchronized with the rotation of the conveyor drive device and calculates the arrival time of the object to be painted at the coating position; and a two-dimensional object that receives a detection signal from the shape detector. A shape memory device stores data representing the shape, and the two-dimensional shape data from the shape memory device is referred to a pre-prepared corner pattern table to determine the part type of the object to be painted, and the corresponding corner part is determined. a corner shape determining means for determining the depth shape of the object; a correcting means for correcting the two-dimensional shape data of the object to be coated based on the corner data from the corner shape determining means; Automatic painting characterized by comprising a spray control means for outputting a paint spray control signal to the coating gun based on two-dimensional shape data and a signal indicating the arrival time of the object to be coated at the coating position from the time point calculation means. Device. 2. A shape detector that detects the shape of the object to be painted, which is conveyed by a hanging conveyor along a certain route, before it reaches a predetermined painting position, and In an automatic painting device including a control device for controlling paint spraying of a paint gun provided at a painting position, the shape detector has a large number of photoelectric conversion elements arranged facing the object to be transported. , a solid-state imaging device that outputs a detection signal corresponding to each field of view divided into a predetermined width in the moving direction of the object to be coated and a predetermined number in the vertical direction; and the control device is configured to drive the conveyor. a time calculation means for calculating the arrival time of the object to be painted at the predetermined coating position in response to a pulse signal synchronized with the rotation of the device; and data representing a two-dimensional shape of the object to be painted in response to a detection signal from the shape detector. a shape memory device that stores the information, a reversal signal generator that detects that the object to be coated has been reversed by 180 degrees for painting its back side and outputs a reversal signal; and a reversal signal generator that responds to the reversal signal from the reversal signal generator. an inverted shape processing means for processing the two-dimensional shape data of the object to be painted stored in the shape memory device to generate inverted shape data corresponding to the shape of the back side of the object to be painted; and the inverted shape processing means spraying control means for outputting a paint spraying control signal to the painting gun based on the inverted shape data of the object to be painted and the signal from the time point calculating means indicating the time point of arrival at the rear surface coating position of the object to be painted; Characteristic automatic painting equipment.