Robotic system
By configuring explosion-proof robots in the coating room for dust removal and power removal, the problem that existing dust removal robots cannot work in explosive environments is solved, and the equipment scale is reduced and the workpiece processing efficiency is improved.
Patent Information
- Application Number
- CN202111492555.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Priority Date
- 2020-12-09
- Filing Date
- 2021-12-08
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2041-12-08
AI Technical Summary
Existing dust removal robots cannot work effectively in explosive environments, resulting in larger equipment sizes and cannot be independently configured in hazardous environments such as coating rooms.
An explosion-proof robot system is designed. By configuring an explosion-proof pretreatment robot in the coating room, the end effector is used to perform dust removal and power removal treatment, ensuring that the pre-coating of workpieces is safe and efficient in an explosive environment.
It has achieved the reduction of the equipment scale in an explosive environment, reduced the non-qualification rate of workpieces, avoided dust reattachment, and improved the processing efficiency of workpieces and the overall cost-effectiveness of the equipment.
Smart Images
Figure CN114619454B_ABST
Abstract
Description
Technical Field
[0001] Embodiments of the present disclosure relate to a robot system. Background Art
[0002] Conventionally, there is known a robot that drives a plurality of joints to perform actions. An end effector that matches the purpose of welding or gripping is mounted on the top of the robot, and the robot performs various operations such as processing and moving a workpiece.
[0003] Furthermore, there has been proposed a dust removal system that removes dust from a workpiece using a dust removal robot equipped with an end effector for dust removal (for example, see Patent Document 1).
[0004] Prior art literature
[0005] Patent Literature
[0006] Patent Document 1: Japanese Patent Application Publication No. 2010-89010 Summary of the invention
[0007] Problem that the invention aims to solve
[0008] However, the above-mentioned conventional dust removal robots are not suitable for explosive environments or hazardous environments, and therefore need to be arranged in a non-explosive environment room independent of an explosive environment such as a painting room, etc. Therefore, the overall equipment scale tends to become large.
[0009] An object of one aspect of an embodiment is to provide a robot system capable of reducing the scale of equipment.
[0010] Technical Solution
[0011] A robot system according to one embodiment includes a painting room and a pre-processing robot. The pre-processing robot performs pre-processing on a workpiece as a painting object. The pre-processing robot is an explosion-proof robot disposed in the painting room and having an end effector for the pre-processing.
[0012] Beneficial Effects
[0013] According to one aspect of the embodiment, a robot system capable of reducing the scale of equipment can be provided. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a top view schematic diagram of the robot system of the embodiment.
[0015] Figure 2 This is a three-dimensional schematic diagram of a pre-processing robot.
[0016] Figure 3This is a schematic side view of the coating room viewed from the downstream side.
[0017] Figure 4 It is an explanatory diagram showing the symmetry of the axis structure.
[0018] Figure 5 This is a perspective schematic diagram showing an example of arrangement of an end effector and a hose.
[0019] Figure 6 This is a block diagram showing the configuration of a robot system. DETAILED DESCRIPTION
[0020] Hereinafter, with reference to the accompanying drawings, an embodiment of the robot system disclosed in the present application will be described in detail. It should be noted that the present invention is not limited to the embodiments shown below. In addition, the following description will be given of a case where a vehicle such as a car is a coating object, but the coating object is not limited to a vehicle.
[0021] In the embodiments shown below, expressions such as "symmetrical", "horizontal", "vertical", "vertical", "same" or "center" are used, but these conditions do not need to be strictly met. That is, the above expressions allow deviations in manufacturing accuracy, setting accuracy, etc.
[0022] First, use Figure 1 The robot system 1 according to the embodiment will be described. Figure 1 FIG. 1 is a schematic top view of the robot system 1 according to the embodiment. Figure 1 The figure shows a three-dimensional orthogonal coordinate system including an X-axis along the long dimension (length direction) of the coating room 100, a Y-axis along the short dimension (width direction) of the coating room 100, and a Z-axis with the vertical upward direction as the positive direction. This orthogonal coordinate system is also shown in other drawings used in the following description.
[0023] In addition, hereinafter, the conveying direction (negative direction side of the X-axis) of the conveying device 110 is referred to as the "downstream side", the reverse direction is referred to as the "upstream side", the right (positive direction side of the Y-axis) along the conveying direction is referred to as the "right side", and the left (negative direction side of the Y-axis) is referred to as the "left side". In addition, the plane passing through the center of the conveying device 110 (the center of the workpiece W) along the conveying direction when viewed from above is referred to as the "conveying center plane P". It should be noted that the conveying center plane P is parallel to the XZ plane. In addition, for reference, in Figure 1 A hollow arrow indicating the conveying direction (an arrow pointing from the positive direction of the X-axis toward the negative direction) is shown in FIG.
[0024] like Figure 1As shown, the robot system 1 includes a coating room 100 and a pre-processing robot 10 for performing pre-processing on a workpiece W as a coating object. The coating room 100 is a room for coating having a space isolated from the outside and extending along the conveying direction.
[0025] A conveying device 110 such as a conveyor is provided on the bottom surface of the coating room 100. The conveying device 110 conveys the coating material in a predetermined direction (in a predetermined direction) at a predetermined speed. Figure 1 The workpiece W as the object to be coated is transported in the negative direction of the X axis in the case shown in FIG. It should be noted that the workpiece W is transported while being fixed to the movable part of the transport device 110 by a fixture (not shown) or the like.
[0026] It should be noted that Figure 1 The area shown in corresponds to the "pre-treatment area" for performing pre-treatment on the workpiece W before painting, and the "painting area" for performing painting treatment by a painting robot (not shown) or the like on the downstream side of the pre-treatment area is continuous. That is, the workpiece W that has completed the pre-painting treatment in the pre-treatment area on the upstream side is directly transported to the painting area on the downstream side by the conveying device 110 for painting treatment.
[0027] Here, the "pre-coating treatment" includes dust removal treatment to remove foreign matter such as dust attached to the workpiece W before coating and static removal treatment to remove static electricity to prevent the re-attachment of foreign matter. Figure 1 The end effector EE shown in FIG. 1 performs dust removal and static removal simultaneously. Figure 5 The details of the end effector EE will be described later.
[0028] like Figure 1 As shown, the pre-processing robot 10 is a so-called explosion-proof robot arranged in a coating room 100. In addition, the pre-processing robot 10 has an end effector EE for pre-processing before coating. Here, an "explosion-proof robot" refers to a robot that increases the internal pressure by supplying a non-flammable gas such as nitrogen to the inside to make the inside a non-explosive environment.
[0029] In this way, by using the pre-processing robot 10 as an explosion-proof robot, the pre-processing robot 10 can be arranged in the coating room 100 whose interior is an explosive environment or a dangerous environment. Therefore, the equipment scale of the coating process as a whole including the pre-coating process can be reduced. In addition, the pre-coating process and the coating process can be performed in the same coating room 100, so the re-attachment of dust entering and leaving the room can be prevented, and the defective rate of the workpiece W can be reduced.
[0030] like Figure 1As shown, two pre-processing robots 10 are installed in the coating room 100. Therefore, a letter for identification is added to the end of the reference numeral of each pre-processing robot 10.
[0031] Specifically, the pre-processing robot 10 disposed on the right side of the conveying device 110 is marked with "R", and the pre-processing robot 10 disposed on the left side is marked with "L". It should be noted that in the present embodiment, the number of pre-processing robots 10 is set to two, but it may be set to one, or may be set to three or more.
[0032] Here, the workpiece W is, for example, symmetrical about the conveying center plane P. However, the workpiece W does not need to be strictly symmetrical, and it is sufficient as long as it has the following degree of symmetry: the robot on the left side and the robot on the right side of the workpiece W can perform the pre-treatment for painting with the same action. It should be noted that the pre-treatment robot 10R operates on the right side of the workpiece W, and the pre-treatment robot 10L operates on the left side.
[0033] Since the workpiece W has a symmetrical shape about the conveyance center plane P, the preprocessing robot 10R and the preprocessing robot 10L arranged across the conveyance device 110 can perform mutually symmetrical operations and perform preprocessing of the workpiece W before painting.
[0034] Each pre-processing robot 10 is a vertical multi-joint robot. It should be noted that the pre-processing robot 10 can be installed on the side, top, or bottom of the coating room 100. Figure 1 The case where the side wall 101 is provided on the side surface is shown in FIG.
[0035] Specifically, the pre-processing robot 10 is fixed to a support, a beam, etc., which is arranged to surround the coating room 100, and a wall surface such as a side wall 101 is installed inside the fixed part of the coating room 100. It should be noted that, similarly to the case of the pre-processing robot 10, the side wall 101 on the right side of the conveying device 110 is referred to as a side wall 101R, and the side wall 101 on the left side is referred to as a side wall 101L.
[0036] like Figure 1 As shown, the preprocessing robot 10R and the preprocessing robot 10L are respectively arranged to sandwich the workpiece W in the conveying direction of the workpiece W, and their axis configurations are symmetrical with respect to the conveying center plane P along the conveying direction. Here, the "axis configuration" refers to the configuration of each axis that makes each arm turn or rotate.
[0037] In addition, the configuration of each axis includes the angle between adjacent axes and the distance between adjacent axes. That is, the difference in the shape and form of the arm is not limited. Moreover, even if the shape and form of the arm are different, as long as the configuration of each axis is relative to the symmetry plane (in Figure 1 In the case of the conveying center plane P), it is symmetrical, which can also be said to be "axially symmetrical".
[0038] In this way, by setting the pre-processing robot 10 as a robot with mutually symmetrical axis configuration, it is possible to efficiently perform operations from both sides of the workpiece W, and the teaching data can be used or re-used, which can reduce the workload of teaching (teaching work), and further reduce the cost of the robot system 1 as a whole. It should be noted that in the case of the pre-processing robot 10R and the pre-processing robot 10L with mutually symmetrical axis configurations with respect to the conveying center plane P, the teaching data can be used by reversing the Y axis of the teaching data.
[0039] The pre-processing robot 10 is further described. Figure 1 As shown, the pre-processing robot 10 includes: a first arm 11, which rotates around a first axis A1; and a second arm 12, which rotates around a second axis A2 perpendicular to the first axis A1. Moreover, each pre-processing robot 10 is configured so that in the reference posture of the first arm 11, the second arm 12 is located closer to the workpiece W than the first axis A1. It should be noted that when using Figure 2 The configuration of the distal end side of the second arm 12 will be described later.
[0040] Here, the “reference posture” of the first arm 11 refers to a posture in which the rotation angle of the first arm 11 is set to 0 degrees. It should be noted that the reference postures of the other arms are also similar. Figure 1 The postures of the pre-processing robots 10 shown in 2 correspond to the reference postures.
[0041] Specifically, the base 10B of the pre-processing robot 10R is fixed to the side wall 101R. A first arm 11 extending downstream is supported on the downstream side of the base 10B and rotates around a first axis A1 parallel to the conveying direction. In addition, a second arm 12 supported by the first arm 11 rotates around a second axis A2 perpendicular to the first axis A1. Figure 1 In the reference posture shown in , the position is closer to the workpiece W than the first axis A1.
[0042] Here, "swing" refers to the action of changing the angle between adjacent arms, and "rotation" refers to the action of relatively rotating adjacent arms without changing the angle between adjacent arms. It should be noted that "swing" can also be said to be the action of swinging an arm around a rotation axis, and "rotation" can also be said to be the action of rotating an arm in a manner such that the extending direction of the arm is along the rotation axis.
[0043] On the other hand, the base 10B of the pre-processing robot 10L is fixed to the side wall 101L. A first arm 11 extending downstream is supported on the downstream side of the base 10B and rotates around a first axis A1 parallel to the conveying direction. In addition, a second arm 12 supported by the first arm 11 rotates around a second axis A2 perpendicular to the first axis A1. Figure 1 In the reference posture shown in , the position is closer to the workpiece W than the first axis A1.
[0044] In this way, by arranging each pre-processing robot 10 so that the second arm 12 is on the workpiece W side, the second arm 12 is less likely to interfere with the side wall 101 of the coating room 100. Therefore, the interference between the pre-processing robot 10 and the coating room 100 can be suppressed. Figure 1 In FIG. 1 , the first arm 11 is shown as being supported by the base portion 10B on the downstream side and extending toward the downstream side, but the first arm 11 may be supported by the upstream side and extend toward the upstream side.
[0045] Thus, the coating room 100 includes the side walls 101, each of which is arranged to sandwich the workpiece W in the conveying direction, and the pre-processing robots 10 are wall-mounted on the side walls 101. Wall-mounting the pre-processing robots 10 can contribute to miniaturization of the coating room 100.
[0046] Here, as for the running cost of the coating room 100, the cost of air conditioning and the like for maintaining the coating environment is relatively large and is proportional to the volume of the room. Therefore, by miniaturizing the coating room 100, the running cost can be suppressed. It should be noted that in this embodiment, the case of the wall-mounted pre-treatment robot 10 is described, but it can also be set to be floor-mounted or ceiling-mounted.
[0047] Furthermore, if Figure 1 As shown, the pre-processing robots 10 are arranged so that the first axes A1 are along the conveying direction. Therefore, interference between the pre-processing robots 10 and the coating room 100 can be suppressed and a wide operating range for the workpiece W can be ensured.
[0048] It should be noted that if Figure 1 As shown in FIG. 1 , each pre-processing robot 10 is arranged at a position shifted with respect to the conveying direction. Figure 1 In the case shown in , the pre-processing robot 10R is arranged to be offset by an amount "SA" toward the upstream side relative to the pre-processing robot 10L.
[0049] In this way, by arranging the pre-processing robots 10 in a staggered manner in the conveying direction, the interference between the end effectors EE in the pre-processing of the coating can be suppressed. It should be noted that the pre-processing robot 10R can also be arranged to be offset to the downstream side than the pre-processing robot 10L. In addition, it is also possible to use the pre-processing robot 10 without offsetting the pre-processing robots 10 in the conveying direction. Figure 4 The case of no deviation will be described later.
[0050] Next, use Figure 2 The structure of the pre-processing robot 10 will be described. Figure 2 yes Figure 1 Schematic perspective view of a pre-processing robot 10R shown in FIG. Figure 2 This corresponds to a perspective view of the preprocessing robot 10R as viewed from above on the downstream side.
[0051] It should be noted that the use of Figure 5 The details of the end effector EE shown by the dotted line will be described later. In addition, as mentioned above, Figure 1 The axis structure of the pre-processing robot 10L shown in FIG. Figure 2 , but the other structures are the same as the preprocessing robot 10R.
[0052] like Figure 2 As shown, the pre-processing robot 10 is a six-axis vertical multi-joint robot having six rotation axes, namely, a first axis A1 , a second axis A2 , a third axis A3 , a fourth axis A4 , a fifth axis A5 , and a sixth axis A6 .
[0053] The pre-processing robot 10 has joints corresponding to the axes, and the posture is changed by rotating or revolving the arms using actuators (not shown) that drive the joints. Figure 2 The six-axis robot shown in FIG. 1 is an example of the pre-processing robot 10 , and a robot having axes other than six axes may be used.
[0054] The preprocessing robot 10 includes a base portion 10B, a first arm 11 , a second arm 12 , a third arm 13 , a fourth arm 14 , a fifth arm 15 , and a sixth arm 16 from the base end side toward the tip end side.
[0055] The base portion 10B can be fixed to the coating room 100 (see Figure 1 ) and other installation objects. Figure 2 As shown, the base 10B is in a rectangular parallelepiped shape, and any of the five faces among the six faces except the face provided with the first arm 11 can be fixed to the mounting surface of the mounting object. That is, through the base 10B, the pre-processing robot 10 can be freely arranged on the bottom surface, side surface or top surface of the coating room 100.
[0056] The base end side of the first arm 11 is supported on the base portion 10B in a manner that allows rotation around a first axis A1 along the X-axis direction. The base end side of the second arm 12 is supported on the top end side of the first arm 11 in a manner that allows rotation around a second axis A2 that is perpendicular to the first axis A1. The base end side of the third arm 13 is supported on the top end side of the second arm 12 in a manner that allows rotation around a third axis A3 that is parallel to the second axis A2.
[0057] The base end side of the fourth arm 14 is supported on the top side of the third arm 13 in a manner that allows rotation around a fourth axis A4 that is perpendicular to the third axis A3. The base end side of the fifth arm 15 is supported on the top side of the fourth arm 14 in a manner that allows rotation around a fifth axis A5 that is orthogonal to the fourth axis A4. The base end side of the sixth arm 16 is supported on the top side of the fifth arm 15 in a manner that allows rotation around a sixth axis A6 that is orthogonal to the fifth axis A5. Then, the end effector EE is detachably mounted on the top side of the sixth arm 16.
[0058] like Figure 2 As shown, the fourth arm 14 is thinner than the second arm 12, so it can avoid contact with the workpiece W (refer to Figure 1 ) and can perform pre-painting treatment on the workpiece W by the end effector EE.
[0059] Here, the driver built into each arm has sufficient torque to move the position and posture of the end effector EE to the target position and posture. In addition, each arm has sufficient strength to move the end effector EE to a specified position and posture. Therefore, the pre-processing robot 10 can reliably Figure 1 The workpiece W shown in FIG. 1 is subjected to pre-painting treatment.
[0060] It should be noted that if you use Figure 5 As will be described later, a hose 504 (see Figure 5 ) is not arranged inside each arm of the pre-processing robot 10, but is arranged outside. Thus, the outer shape of each arm can be made thinner.
[0061] Next, use Figure 3 Observation from the downstream side Figure 1 The side view of the coating booth 100 shown in FIG. 1 will be described. Figure 3 1 is a schematic side view of the coating room 100 viewed from the downstream side. Figure 3 Compared with the downstream side viewed from the conveying direction Figure 1 It should be noted that, Figure 1 The first arm 11 shown in FIG. 1 is hidden behind the second arm 12 and the third arm 13 and is therefore not shown. Figure 3The postures of the pre-processing robots 10 shown in 2 correspond to the above-mentioned reference postures.
[0062] like Figure 3 As shown, the coating room 100 is surrounded by a pair of side walls 101, a bottom wall 102 and a top wall 103, and extends along the conveying direction (along the direction of the X axis). A conveying device 110 is arranged on the bottom wall 102, and the workpiece W is conveyed by the conveying device 110. In addition, a pair of pre-processing robots 10 are hung on the pair of side walls 101 respectively.
[0063] Specifically, a preprocessing robot 10R that performs preprocessing on the workpiece W from the right side (positive Y axis direction side) is fixed to the side wall 101R. Also, a preprocessing robot 10L that performs preprocessing on the workpiece W from the left side (negative Y axis direction side) is fixed to the side wall 101L.
[0064] It should be noted that if Figure 3 As shown, the preprocessing robot 10R and the preprocessing robot 10L are arranged so that the bases 10B are at the same height and higher than the upper surface of the workpiece W. That is, each preprocessing robot 10 has a range of motion capable of picking up and placing the workpiece W from obliquely above.
[0065] The second arm 12 of the pre-processing robot 10R is arranged at a position farthest from the side wall 101R among the arms, that is, close to the workpiece W, and the third to sixth arms 13 to 16 are arranged closer to the side wall 101R than the second arm 12 .
[0066] The second arm 12 of the preprocessing robot 10L is arranged at a position farthest from the side wall 101L among the arms, that is, close to the workpiece W, and the third to sixth arms 13 to 16 are arranged closer to the side wall 101L than the second arm 12 .
[0067] Thus, the pre-processing robot 10R and the pre-processing robot 10L are mirror images of each other with respect to the conveying center plane P. That is, the pre-processing robot 10R and the pre-processing robot 10L have axial configurations symmetrical with respect to the conveying center plane P.
[0068] Next, use Figure 4 The symmetry of the axis configurations of the preprocessing robot 10R and the preprocessing robot 10L will be described further. Figure 4 is an illustration showing the symmetry of the axis structure. Figure 4 is with Figure 1 The schematic top view of the figure is shown in FIG. 1 , but for the sake of convenience in explaining symmetry, the pre-processing robots 10 are arranged at the same position with respect to the conveying direction. Figure 1 In addition, Figure 4 In, omitted Figure 1The workpiece W shown in FIG. 1 is a diagram showing a workpiece W shown in FIG. 1 . In addition, the posture of each pre-processing robot 10 corresponds to the above-mentioned reference posture.
[0069] like Figure 4 As shown, the base portion 10B of the pre-processing robot 10R and the base portion 10B of the pre-processing robot 10L are symmetrical about the conveying center plane P. In addition, the first arm 11 and the second arm 12 of the pre-processing robot 10R and the first arm 11 and the second arm 12 of the pre-processing robot 10L are also symmetrical about the conveying center plane P. Moreover, for each pre-processing robot 10, Figure 3 The third arm 13 to the sixth arm 16 shown in FIG. 1 are also symmetrical about the conveying center plane P.
[0070] Thus, the pre-processing robot 10R and the pre-processing robot 10L are mirror images of each other with respect to the conveying center plane P. That is, the pre-processing robot 10R and the pre-processing robot 10L have axial configurations symmetrical with respect to the conveying center plane P.
[0071] It should be noted that in Figure 4 , the first arm 11 of each pre-processing robot 10 is shown as being located on the downstream side of the base portion 10B and extending toward the downstream side, but may be located on the upstream side and extending toward the upstream side.
[0072] Next, use Figure 5 right Figure 1 The end effector EE shown in FIG. 1 is described below. Figure 5 504 is a perspective view showing an example of the configuration of the end effector EE and the hose 504. Figure 2 same, Figure 5 This corresponds to a perspective view of the pre-processing robot 10R equipped with the end effector EE as viewed from above on the downstream side.
[0073] like Figure 5 As shown in FIG. 1 , the end effector EE includes a rotating brush 501, a connecting portion 502, and a static removing portion 503. In addition, a hose 504 for dust removal is connected to the connecting portion 502. The rotating brush 501 rotates a brush provided on the outer periphery of the roller by a rotational force generated by a driver, and removes dust from the workpiece W (see FIG. 1 ). Figure 1 ) removes foreign matter such as dust and discharges it through the hose 504 by suction, thereby performing dust removal.
[0074] The static elimination unit 503 is an ionizer provided inside the end effector EE, and performs static elimination processing by supplying generated ions to the rotating brush 501. That is, the end effector EE is a device that performs dust removal processing and static elimination processing as pre-painting processing.
[0075] Thus, the pre-processing robot 10 has the strength and torque to operate the end effector EE, and one end effector EE can perform both dust removal and static removal, so there is no need to set up a robot for each pre-processing, which can help the coating room 100 (see Figure 1 ) miniaturization.
[0076] In addition, if Figure 5 As shown, the hose 504 is arranged on the workpiece W outside the second arm 12 (refer to Figure 1 Specifically, the hose 504 is connected to the connection portion 502 of the end effector EE via the third arm 13 on the workpiece W side of the second arm 12. It should be noted that the hose 504 is arranged on the surface of the second arm 12 and the third arm 13 by means of a mounting tool such as a cable tie.
[0077] Thus, by arranging the hose 504 on the workpiece W side of the second arm 12, interference between the hose 504 and the side wall 101R can be suppressed. Figure 1 )’s interference.
[0078] Next, use Figure 6 The configuration of the robot system 1 according to the embodiment will be described. Figure 6 is a block diagram showing the structure of the robot system 1. Figure 6 As shown, the robot system 1 includes a conveyor device 110 and a pre-processing robot 10 in a coating room 100 .
[0079] Furthermore, the robot system 1 includes a controller 20 . The conveyor device 110 and the pre-processing robot 10 are connected to the controller 20 .
[0080] As already described, the conveying device 110 is a device such as a conveyor that conveys the workpiece W in a predetermined conveying direction. It should be noted that the conveying device 110 has a detection device such as a sensor that detects the position of the workpiece W (not shown), and notifies the controller 20 of the timing of the passage of the workpiece W. In addition, the conveying device 110 is configured to convey the workpiece W at a constant speed.
[0081] The pre-processing robot 10 is a robot that performs pre-processing on the workpiece W before painting. Figure 1 In the case shown in FIG. 1 , two pre-processing robots 10 are installed in the coating room 100. Figure 2 The configuration of the preprocessing robot 10 has been described, and therefore the description here will be omitted.
[0082] The controller 20 includes a control unit 21 and a storage unit 22. The control unit 21 includes a timing acquisition unit 21a and an action control unit 21b. The storage unit 22 stores teaching information 22a. Figure 6 In the figure, for the sake of simplicity of description, one controller 20 is shown, but for example, a plurality of controllers 20 may be used for each pre-processing robot 10. In this case, a host controller that integrates the controllers 20 may be provided.
[0083] Here, the controller 20 includes, for example, a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output interface, and various circuits.
[0084] The CPU of the computer functions as the timing acquisition unit 21 a and the operation control unit 21 b of the control unit 21 by reading and executing a program stored in the ROM, for example.
[0085] Alternatively, at least one or both of the timing acquisition unit 21 a and the operation control unit 21 b may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).
[0086] In addition, the storage unit 22 corresponds to, for example, a RAM or a HDD. The RAM or the HDD can store the teaching information 22a. It should be noted that the controller 20 can obtain the above-mentioned programs and various information via other computers or portable recording media connected by a wired or wireless network. Moreover, as described above, the controller 20 can be configured as a plurality of devices that can communicate with each other, or as a hierarchical device that can communicate with an upper or lower device.
[0087] The control unit 21 obtains the workpiece W (see Figure 1 ) The control unit 21 receives position information (pulse signal) of a fixture such as a base fixed to a movable part of the conveying device 110, and an interlock signal for making each device operate exclusively, and controls the operation of each robot. It should be noted that when the controller 20 is composed of multiple units, the control unit 21 performs processing to synchronize the controllers 20 at the same time.
[0088] The timing acquisition unit 21a acquires the above-mentioned position information and interlocking signal from the conveying device 110. Then, the timing acquisition unit 21a determines the action timing of each robot based on the acquired position information and interlocking signal, and notifies the determined action timing to the action control unit 21b. For example, the timing acquisition unit 21a acquires the workpiece W (refer to Figure 1 ) arrives at a predetermined position in the coating room 100, and instructs the motion control unit 21b to move each robot based on the acquired timing.
[0089] The motion control unit 21b operates each robot based on the instruction from the timing acquisition unit 21a and the teaching information 22a. The motion control unit 21b performs feedback control using encoder values of the actuators (not shown) of each robot, thereby improving the motion accuracy of each robot.
[0090] The teaching information 22a is information including a "job" as a program that specifies the motion path of each robot, which is created at the teaching stage of teaching the motion to each robot. It should be noted that, in the robot system 1, as described above, robots with symmetrical arm configurations are used, so the teaching data for each robot can be reversely utilized. Therefore, according to the robot system 1, the effort and cost of generating the teaching information 22a including the teaching data can be reduced.
[0091] As described above, the robot system 1 of the embodiment includes a coating room 100 and a pre-processing robot 10. The pre-processing robot 10 performs pre-processing on a workpiece W as a coating object. The pre-processing robot 10 is an explosion-proof robot disposed in the coating room 100 and having an end effector EE for pre-processing.
[0092] Thus, according to the robot system 1 of the embodiment, the pre-processing robot 10 for pre-processing the workpiece W is an explosion-proof robot, so the pre-processing robot 10 can be arranged in the paint room 100 which is an explosive environment. Therefore, a room with a non-explosive environment independent of the paint room 100 is not required, and the equipment scale of the entire paint process can be reduced.
[0093] It should be noted that, in the above-mentioned embodiment, an example is given of conveying the workpiece by the conveying device, but the workpiece may be fixed and the pre-processing robot and the coating robot (not shown) may slide along the conveying direction. In addition, in the above-mentioned embodiment, the direction of the first axis of the wall-mounted pre-processing robot along the conveying direction is described, but the direction of the first axis may be set to the vertical direction when the pre-processing robot is placed on the ground or suspended from the ceiling.
[0094] As those skilled in the art can easily derive further effects or improved examples. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described in the above manner. Therefore, various changes can be made without departing from the spirit or scope of the overall inventive concept defined by the attached claims and their equivalents.
[0095] Explanation of symbols
[0096] 1 Robotic system
[0097] 10 Pre-processing robots
[0098] 10B Base
[0099] 11 First Arm
[0100] 12 Second Arm
[0101] 13 Third Arm
[0102] 14 Fourth Arm
[0103] 15 Fifth Arm
[0104] 16 Sixth Arm
[0105] 20 Controller
[0106] 21 Control Department
[0107] 21a Timing acquisition unit
[0108] 21b Motion Control Unit
[0109] 22 Storage
[0110] 22a Teaching information
[0111] 100 Painting Room
[0112] 101 Sidewall
[0113] 102 bottom wall
[0114] 103 Top wall
[0115] 110 Conveyor
[0116] 501 Rotating Brush
[0117] 502 Connection
[0118] 503 Anti-static Department
[0119] 504 Hose
[0120] A1 First axis
[0121] A2 Second axis
[0122] A3 Third axis
[0123] A4 Fourth axis
[0124] A5 Fifth Axis
[0125] A6 Sixth Axis
[0126] EE End Effector
[0127] P Conveying center plane (symmetry plane)
[0128] W Workpiece
Claims
1. A robot system, characterized in that: The robot system comprises: Painting room; a pre-processing robot that performs pre-processing on a workpiece as an object to be coated; and A hose connected to the end effector; The pre-processing robot is an explosion-proof robot disposed in the painting room and having the end effector for the pre-painting processing; The hose is arranged outside each arm of the pre-processing robot; The pre-processing robots are respectively arranged so as to sandwich the workpiece in a conveying direction of the workpiece, and are respectively arranged at positions displaced with respect to the conveying direction.
2. The robot system according to claim 1, characterized in that: The axes of the pre-processing robot are configured symmetrically with respect to a conveying center plane along the conveying direction.
3. The robot system according to claim 2, characterized in that: The pre-processing robot comprises: a first arm that rotates about a first axis; and a second arm, the second arm rotating about a second axis perpendicular to the first axis, The pre-processing robots are respectively arranged so that, in a reference posture of the first arm, the second arm is located closer to the workpiece than the first axis.
4. The robot system according to claim 3, characterized in that: The coating chamber includes side walls, each of which is arranged to sandwich the workpiece in the conveying direction. The pre-processing robots are respectively hung on the side walls.
5. The robot system according to claim 3 or 4, characterized in that: The pre-processing robots are respectively arranged such that the first axis is oriented along the conveying direction.
6. The robot system according to any one of claims 3 or 4, characterized in that: The end effector performs dust removal and static removal as the pre-painting treatment.
7. The robot system according to claim 6, characterized in that: The hose is a hose for dust removal. The hose is arranged on the workpiece side outside the second arm.