JPH0624655B2 - Control device for automatic coating line for plate-shaped workpieces - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to an automatic coating line for plate-like works, and in particular, even if different works are mixed and carried into a transfer line at the same time, they are automatically coated. The present invention relates to a control device for an automatic coating line for plate-shaped workpieces.

Conventional technology: An automatic coating line is provided in which a plurality of booths are cascaded along a transfer line, and when a work is loaded into one of these booths, a specific part of the work is automatically painted in each booth. Are known. The work at this time is, for example, a plate-like work, and is hung and carried by a chain conveyor type transfer line.
The back surface, the left side surface, the right side surface, and the like are sequentially coated, and by passing through a drying line subsequent to the final booth, it is possible to discharge the resin in a state in which all predetermined coating processing steps are completed.

In such a plate-like work automatic coating line, it is premised that a work having a specific shape and dimension is processed. That is, generally, the operating conditions of the coating robots arranged in each booth must be optimally determined according to the shape and size of the workpiece to be mounted, but this operating condition depends on the booth controller installed in each booth. In case of setting for each booth via the general controller located above these booth controllers, it may be set collectively for all booths.In any case, once set the operating conditions are: It is commonly used for one lot of works that are successively set.

Problems to be Solved by the Invention According to such a conventional technique, there is a problem that even if it is good in a large-scale production factory with a large lot unit, it is not possible to cope with production in a small lot unit. In other words, when changing the work to be set, it is necessary to change the setting of the operating conditions of the coating robot of each booth.If this is done via each booth controller, the setting work will be extremely complicated, Even if it is done via the controller, the operating conditions set there are commonly used for all booths, so setting work can be performed only after all workpieces on the transfer line have been discharged, and therefore lot switching In that case, the problem of excessive waiting time was inevitable.

Therefore, in view of the problem of the prior art, an object of the present invention is to determine the coating condition data for determining the coating condition data for each individual work on the transfer line, and to determine the coating condition data according to the progress of the work. By providing the overall controller with the data sending means for sending to the booth controller, even if works with different shapes and sizes are mixed and set up, it is possible to automatically and smoothly perform plate-like work processing. It is to provide a control device for a painting line.

Means for Solving the Problems The structure of the present invention for achieving such an object is a general controller and a plurality of booth controllers attached to each booth arranged along a transfer line and controlling a coating robot of each booth. The overall controller is an arrival detection means for detecting that an arbitrary work on the continuously traveling transfer line has reached an arbitrary booth, and a coating condition determination means for calculating the coating condition data of the work for each work. According to the work arrival signal from the arrival detection means,
The booth controller is provided with a data sending means for sending the painting condition data to a predetermined booth controller, and the booth controller inputs the painting condition data from the general controller and creates a control data creating means for creating control data for controlling the painting robot. The point is to prepare.

The booth controller is equipped with a paint condition setting device.
The control data creating means may be configured such that instead of the painting condition data from the general controller, the set painting condition data from the painting condition setter can be switched and used, and this set painting condition data is sent to the booth controller on the downstream side. It may be transferable.

Further, the booth controller may include a correction setting device that sets the correction coating condition data and outputs it to the control data creating means.

According to the structure of the invention, the general controller is
The arrival detection means detects that a specific work has reached a specific booth, and the coating condition determination means calculates the painting condition data corresponding to each work for each work, and the work arrival signal from the arrival detection means. Can be sent to a predetermined booth controller. On the other hand, the booth controller can use the painting condition data from the general controller to create control data for controlling the painting robot. Therefore, in this system, the work positions set on the transfer line are individually traced at the transfer position, and the coating condition data is calculated individually. Is sent to the booth controller corresponding to.

Therefore, the booth controller determines the control data in accordance with the coating condition data from the general controller, so that each time a specific work arrives at the specific booth, the booth's painting robot can be operated so as to match the work. it can. That is, the coating robot in each booth can appropriately handle each work even if works with different shapes and sizes are mixed.

If the booth controller is equipped with a painting condition setting device, control data can be created by switching and using the set painting condition data instead of the painting condition data from the general controller. Therefore, without using the general controller,
Manual control operation for each booth can be realized.
If the set coating condition data can be transferred to the booth controller on the downstream side, the set coating condition data set on the upstream side is sequentially applied to the booth on the downstream side as the work is transported to the downstream side. Can control the painting robot.

Also, if the booth controller is equipped with a correction setting device, control data can be created using the correction coating condition data in addition to the coating condition data or the set coating condition data. Even in the case of work, etc., it is possible to respond more accurately.

Example Hereinafter, an example will be described with reference to the drawings.

The control device of the automatic coating line for the plate-shaped work includes a general controller 10 and a plurality of booth controllers 20, 20 ...
And are combined (FIGS. 1 and 2). However, it is assumed that the booth controllers 20, 20 ... Are arranged corresponding to the plurality of booths B, B ... Arranged along the continuously traveling transport line L.

The transfer line L is, for example, an endless circulating type chain conveyor, and can suspend a large number of plate-shaped works and continuously transfer the works. The carrying line L is provided with a carry-in station WS1 and a carry-out station WS2, and the work set on the carry line L at the carry-in station WS1 is carried in the direction of arrow K in FIG. By passing through the DB, a series of coating dry finishing processes are performed and discharged at the carry-out station WS2. However,
The booths B, B, ... Are, for example, booths for painting on the ground, painting for the front, painting for the back, painting for the right side, and painting for the left side, from the upstream side, and are continuously conveyed. Painting robot B1 for painting the specified surface of the work
Is equipped with.

A position sensor P is installed near the exit of the carry-in station WS1.
S is provided (FIGS. 2 and 3). Position sensor P
S is, for example, a combination of a light projector PS1 and a light receiver PS2, and a chain conveyor C forming a transport line L.
When driving and driving HL, dogs D1 projecting at an equal pitch on the chain conveyor CHL with respect to its optical axis PS3,
By intersecting D1 ..., It is possible to detect the transport position of the plate-shaped work W transported by the transport line L.

A gate-shaped sensor gate G is arranged on the upstream side of the booths B, B ... (FIGS. 2 and 4), and on the sensor gate G,
Multiple light emitters GS1, GS1 ..., Light receivers GS2, GS2
Gate sensors GS composed of a combination of ... Are arranged vertically. However, it is assumed that the work W transported by the transport line L crosses the optical axes GS3, GS3 ... Of the gate sensor GS when passing through the sensor gate G.

The general controller 10 includes work position detecting means 11 and 1.
, 1, arrival detecting means 12, 12, ..., Data sending means 13, 13, ..., And coating condition determining means 14 are the main elements (FIG. 5).

It is assumed that the work position detecting means 11, 11, ... Are provided with a number equal to the maximum number of works W, W ... Loaded on the transfer line L at one time. , A work carry-in signal S1 transmitted every time the work W is carried in from the carrying station WS1. The outputs of the work position detecting means 11, 11, ... Are compared with the comparing means 12a, 12 of the arrival detecting means 12, 12 ,.
The input is branched to a ...

It is assumed that the arrival detecting means 12, 12, ... Are provided in the same number as the total number of booths B, B.
Is composed of a combination of the comparison means 12a and the booth position setting device 12b. The outputs of the comparison means 12a, 12a ... Are input to the same number of data transmission means 13, 13 ... As the booths B, B ... As work arrival signals Sw.

The output of the position sensor PS is also branched and input to the work width detection means 15 together with the output of the gate sensor GS, and the output thereof is input to the coating condition determination means 14. The output of the gate sensor GS is branched and input to the coating condition determining means 14, and a color designating signal S2 designated via an operator console (not shown) is also input, and the output of the coating condition determining means 14 is , As the painting condition data Pd, which are extracted to the outside through the data sending means 13, 13. However, it is assumed that the coating condition data Pd output from the data sending means 13, 13 ... Also includes the work arrival signal Sw from the arrival detection means 12, 12.

Painting condition data Pd, Pd from the general controller 10
... and the work arrival signals Sw, Sw ... Are distributed to the booth controllers 20, 20 ... (Fig. 1). Each booth controller 20 has a control data creating means 21.
And a coating condition setting device 22, a correction setting device, and a pressure setting device 24 (FIG. 6).
The coating condition data Pd and the workpiece arrival signal Sw from
It is input to the control data creating means 21. Further, the control data creating means 21 includes the setting coating condition data Pd1 from the coating condition setting device 22, the corrected coating condition data Pd2 from the correction setting device 23, the pressure setting data Ps from the pressure setting device 24, and the upstream side. The setting coating data Pd1 sent from the booth controller 20 of FIG. The control data creating means 21 further includes a changeover switch SW1,
SW2 is connected.

The output of the control data creating means 21 is output to the corresponding booth B as the control data Cd, and the set coating condition data Pd1 is sent to the booth controller 20 on the downstream side (FIG. 1).

Each of the booths B, B ... Has a coating robot B1 with a coating gun B11, B11 ..., The coating guns B11, B11 ... Are supplied with pressure air from a common air source AC via a pressure regulating valve PV. Is being supplied. Further, in the booth B, paint tanks B2, B2 ... With different colors, and paints from the paint tanks B2 are applied to the coating guns B11, B11.
, And paint pumps B21, B21, ... The control data Cd from the booth controller 20 is
It is branched and input to the coating robot B1, the switching valve CV, and the pressure adjusting valve PV.

The operation of the control device of the automatic coating line for plate-like works having such a configuration is as follows.

When the transport line L is operated, the position sensor PS emits a pulse train according to the mounting pitch of the dogs D1, D1 ... On the other hand, when the work W is carried into the carrying line L at the carry-in station WS1, it is assumed that the work carry-in signal S1 is transmitted to the general controller 10 (5th embodiment).
The work position detection means 11, 11 ... Detects the transfer position of an arbitrary work W on the transfer line L by counting the pulse train from the position sensor PS after the time when the work carry-in signal S1 is input. can do. However, the work position detecting means 11, 11, ... Corresponds to different works W, W ... On the transfer line L, respectively, and detects and outputs the respective transfer positions. The pulse train from the position sensor PS can realize a detection resolution different from the mounting pitch of the dogs D1, D1 ... By appropriately dividing or multiplying the pulse train.

In this way, the work position detecting means 11, 11 ... Detects the positions of the works W, W.
2, 12 ... Are work position detecting means 11, 1 respectively.
It is possible to detect that the arbitrary work W has reached the arbitrary booth B by using the outputs of 1 ... and output the work arrival signal Sw. That is, the arrival detecting means 12 compares the contents of the booth position setting device 12b for setting and storing the position of the specific booth B with the comparing means 12a and the contents of the work position detecting means 11, 11 ... When performing, the work W corresponding to the work position detecting means 11
However, it can be determined that the vehicle has reached the booth B corresponding to the arrival detection means 12.

On the other hand, the gate sensor GS can detect the length h of the work W passing through the sensor gate G, and the work width detection means 15 uses the output of the position sensor PS and the output of the gate sensor GS. Thus, the width w of the work W can be detected. That is, the work width detecting means 15 counts the pulse train from the position sensor PS in a state in which one or more of the projectors GS1, GS1 ... And the light receivers GS2, GS2 ... Forming the gate sensor GS are in operation. Thus, the width w of the work W is detected. However, the detection resolution of the width w at this time is also the dog D
It may be the same as the mounting pitch of 1, D1 ...
You can make them different.

The coating condition determining means 14 determines the width w and the length h of the workpiece W thus detected and the color designation signal S separately designated.
2 and the coating condition data P for the work W based on
Calculate and determine d. However, here, the coating condition data P
d is the basic data for determining the operating conditions of the coating robot B1 in a specific booth B. For example, the coating robot B1 moves the coating guns B11, B11 ... When coating the front surface of the work W conveyed to (FIG. 7), the coatable area B1a of each coating gun B11, the conveyance speed of the work W and the coating gun B11,
Vertical movement speed ratio of B11 ... (Paint gun B11 in FIG. 7)
Of the relative movement locus B1b), the required number of reciprocations of the coating robot B1 determined in consideration of the width w of the work W, etc., and the main data, and also includes the designation information of the paint used based on the color designation signal S2. .

The coating condition data Pd may be common to the booths B, B ... However, if the specifications of the coating robot B1 and the coating guns B11, B11 ... The content may be different for each B.

The coating condition data Pd determined in this way is calculated for each work W and is output to the data sending means 13, 13 .... On the other hand, arrival detection means 1
Since the work arrival signal Sw indicating that the particular work W has reached the particular booth B is output from 2, 12, ..., The data sending means 13, 13, ... Corresponds to the booth B where the work W has arrived. For the booth controller 20
It is possible to output the painting condition data Pd regarding the arrived work W and the work arrival signal Sw. At this time,
Booth B for work W with the same painting condition data Pd
If it is different for each, the data sending means 13,
13 outputs predetermined coating condition data Pd for each booth B, B ...

The control data creating means 21 of the booth controller 20 is
Using the painting condition data Pd from the general controller 10, control data Cd for controlling the painting robot B1 in the booth B is created. At this time, the control data creating means 21 uses the painting condition data Pd from the general controller 10 when the changeover switch SW1 is on the automatic side, but when it is on the manual side, it is set in the painting condition setting device 22. The set coating condition data Pd1 is used.

Further, the control data creating means 21 refers to the correction coating condition data Pd2 set in the correction setter 23 when creating the control data Cd. Here, the correction coating condition data Pd2 refers to the correction dimensions δ1a, δ1b, δ2a, δ2b ... In the positive and negative directions at the upper, lower, left and right peripheral portions of the work W (FIG. 7), and by setting this. The control data creating means 21 controls the control data C so that the coating guns B11, B11, ... Operate only on the relative movement locus B1b, for example, within a frame-shaped range indicated by a dashed line in FIG.
d can be determined.

The control data Cd includes the set pressure Ps set in the pressure setter 24, and further the work arrival signal Sw.
Based on the start signal of the painting robot B1 and the color designation signal S2
It is assumed that the control conditions for all the equipment in the booth B are included, such as the color designation information based on the above, the painting condition data Pd or the required number of round trips of the painting robot B1 based on the set painting condition data Pd1.

The booth controller 20 is supplied with the set coating condition data Pd1 from the booth controller 20 on the upstream side.
Is switched to the shift side, the control data creating means 21 transfers the set painting condition data Pd1 from the painting condition setting device 22 to the booth controller 20 on the downstream side. When the changeover switch SW1 is on the manual side and the preset coating condition data Pd1 is supplied from the booth controller 20 on the upstream side, the control data creating means 21 sets the coating condition in the booth controller 20 to which it belongs. The setting paint condition data Pd1 from the container 22 is not used, but the data from the booth controller 20 on the upstream side is used.

That is, when the changeover switch SW2 is switched to the independent side, the set coating condition data Pd1 is used only in the booth controller 20, but the changeover switch SW2 is used.
Is on the shift side, the same set coating condition data P
The d1 can be transferred to the booth controller 20 on the downstream side and can be commonly used there. Therefore, the setting device condition data Pd1 is manually set in the coating condition setting device 22 corresponding to the upstream booth B, so that the coating condition setting device 2 corresponding to the downstream booths B, B ...
It is possible to omit duplicate manual setting for 2, 22, ....

When the control data Cd is supplied from the booth controller 20, the coating robot B1 or the like in the booth B immediately starts its operation and executes the coating work on the predetermined portion of the work W that has reached the booth B. At this time, the pressure adjusting valve P
V is controlled according to the set pressure Ps set in the pressure setter 24, and the changeover valve CV and the paint pump B are set.
21, B21 ... Can operate so as to send the paint in the predetermined paint tank B2 to the coating guns B11, B11 ... Based on the color designation information contained in the control data Cd. Therefore, when the changeover switch SW1 is on the automatic side, the work W is subjected to predetermined coating based on the painting condition data Pd from the general controller 10, and when the changeover switch SW1 is on the manual side, the corresponding booth is used. It is possible to execute the painting work based on the set painting condition data Pd1 from the painting condition setting device 22 of the controller 20 or the booth controller 20 on the upstream side thereof.

The above operation contents are directly applied when an arbitrary work W on the transfer line L reaches an arbitrary booth B.
That is, in this system, even if the workpieces W, W ... Set on the transfer line L have different shapes and dimensions, as long as the changeover switch SW1 is on the automatic side, the operating conditions of the coating robot B1 and the like in each booth B are Then, it is determined based on the coating condition data Pd calculated for each work W, and can be adapted for each work W.

In the above description, the coating condition determining means 14 may use data other than the width w and the length h of the work W when creating the coating condition data Pd. For example, in the booth B for painting on the ground, the control data Cd includes information for arranging the coating guns B11, B11 ... In the thickness direction of the work W, and controlling the number of actuations depending on the thickness of the work W. In that case, the output of the sensor for detecting the thickness of the work W may be also input to the coating condition determining means 14.

EFFECTS OF THE INVENTION As described above, according to the present invention, the general controller and the booth controller are combined, and the former detects that each work on the transfer line has reached a specific booth, and the shape of the work is detected. By distributing the painting condition data based on dimensions etc. to each booth controller together with the work arrival signal, the latter creates control data for controlling the painting robot etc. in each booth based on this painting condition data, The position of the work set on the transfer line is traced individually, and the operating conditions suitable for the work can be realized for each booth that reaches it, so that works with different shapes and sizes are mixed and transferred simultaneously. Even if it is set up on the line, it is possible to smoothly perform accurate painting work for each work, It has an excellent effect that it can be suitably applied to a small production line.

[Brief description of drawings]

1 to 7 show an embodiment, FIG. 1 is an overall system diagram, FIG. 2 is a schematic configuration diagram of the system, FIGS. 3 and 4 are perspective explanatory views of main parts, and FIG. 5 and FIG. FIG. 6 is a main part system diagram, and FIG. 7 is an operation explanatory diagram. W …… Work L …… Transfer line B …… Booth B1 …… Painting robot Pd …… Painting condition data Pd1 …… Setting painting condition data Pd2 …… Correcting painting condition data Cd …… Control data Sw ・ ・ ・ Work arrival signal 10 ...... General controller 12 ...... Arrival detection means 13 ...... Data transmission means 14 ...... Coating condition determination means 20 ...... Booth controller 21 ...... Control data creation means 22 ...... Coating condition setting device 23 ...... Correction setting device

Claims (4)

[Claims] 1. A general controller and a plurality of booth controllers attached to each booth arranged along a transfer line to control a coating robot of each booth, wherein the general controller is on a continuous transfer line. Arrival detection means for detecting that any work of has reached an arbitrary booth, a coating condition determination means for calculating the coating condition data of the work for each work, and a work arrival signal from the arrival detection means, Data transmission means for transmitting coating condition data to a predetermined booth controller, the booth controller inputs the coating condition data from the general controller, and control data for creating control data for controlling the coating robot. A control device for an automatic coating line for plate-like workpieces, which is provided with a creating means. 2. The booth controller includes a coating condition setting device, and the control data creating means can switch and use the setting coating condition data from the coating condition setting device instead of the coating condition data from the general controller. The control device for the automatic coating line for plate-like workpieces according to claim 1. 3. The controller for an automatic coating line for plate-like workpieces according to claim 2, wherein the booth controller can transfer the set coating condition data to the downstream booth controller. 4. The booth controller comprises a correction setting device which sets correction coating condition data and outputs the correction coating condition data to the control data creating means.
A control device for an automatic coating line for plate-like workpieces according to any one of items 1 to 3.