Painting robot

Abstract

To provide a painting robot that can improve painting quality even if there are defects in the painted area. [Solution] The painting robot 10 includes a painting head unit 50 equipped with a painting head 53, a robot arm R1 that moves the painting head unit 50 to a desired position, a 3D scanner 150 that acquires 3D painting data of the painted area painted by the painting head 53, and a control unit that controls the operation of the painting head 53 and the robot arm R1 based on 3D image data transmitted from the 3D scanner 150. When the control unit determines that a painting defect PD2 exists in the 3D painting data, it executes additional painting control, in which it moves the painting head 53 so that the nozzle 54 that caused the painting defect PD2 moves to a different position, and executes control to discharge paint droplets from the painting head 53 to the painting defect PD2.

Description

Technical Field

[0001] The present invention relates to a painting robot.

Background Art

[0002] In the painting line of vehicles such as automobiles, robot painting using robots has become mainstream. As an example of a configuration related to this robot painting, for example, Patent Document 1 discloses the following configuration. In the painting robot disclosed in this Patent Document 1, a technique for determining a discharge defect of a nozzle based on a test pattern is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the configuration disclosed in Patent Document 1, it is possible to determine a discharge defect of a nozzle based on a test pattern. However, in the case where there are defects or the like in the painting and the predetermined painting quality is not satisfied, no means for improving the painting quality to the specified painting quality is disclosed.

[0005] The present invention has been made based on the above circumstances, and an object thereof is to provide a painting robot capable of improving the painting quality even when there are defects in the painting part.

Means for Solving the Problems

[0006] To solve the above problems, according to a first aspect of the present invention, a painting robot is provided that performs painting on a predetermined part of a vehicle, comprising: a painting head unit equipped with a painting head having a plurality of nozzles for discharging droplets of paint; a robot arm attached to the tip of the painting head unit and moving the painting head unit to a desired position; a 3D scanner that acquires 3D painting data of the painted area painted by the painting head; and a control unit that controls the operation of the painting head and the robot arm based on 3D image data transmitted from the 3D scanner, wherein the control unit, when it is determined in the 3D painting data that there is a painting defect, which is a painting defect that occurred in the formation of the previous painting pass, performs additional painting control, and in the additional painting control, it performs control to discharge droplets of paint from the painting head to the painting defect while moving the painting head so that the nozzle that caused the painting defect moves to a different position. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a painting robot that can improve painting quality even if there are defects in the painted area. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing the overall configuration of a painting robot according to one embodiment of the present invention. [Figure 2] This figure shows a schematic configuration of a painting system equipped with the painting robot shown in Figure 1. [Figure 3] This figure shows a front view of the nozzle-forming surface that dispenses paint, which is part of the painting head unit of the painting robot shown in Figure 1. [Figure 4] Figure 3 is a plan view showing the configuration of the nozzle forming surface in a painting head unit different from the painting head unit shown in Figure 3. [Figure 5] This diagram shows the control flow during painting in the painting robot shown in Figure 1. [Figure 6]This figure shows a view from above of the painting process performed on a vehicle by the painting head of the painting robot shown in Figure 1. [Figure 7] This is a diagram showing a cross-section of the 3D data of the painted area. [Figure 8] This diagram shows a situation where paint defects are continuous in a specific area of ​​the paint pass. [Modes for carrying out the invention]

[0009] Hereinafter, a painting robot 10 according to one embodiment of the present invention will be described based on the drawings. In the following description, the X direction will be the longitudinal direction of the nozzle forming surface 52 (painting head 53) as necessary, with X1 being the right side in Figure 3 and X2 being the left side in Figure 3. The Y direction will be the short direction (width direction) of the nozzle forming surface 52 (painting head 53), with Y1 being the upper side of the paper in Figure 3 and Y2 being the lower side of the paper in Figure 3.

[0010] (1. Overview of Painting Robot 10) The painting robot 10 of this embodiment performs "painting" on objects to be painted, such as vehicles or vehicle parts (hereinafter, vehicle parts that are part of a vehicle will also be described as vehicles) located on a painting line in an automobile manufacturing plant. Its purpose is to form a paint film on the surface of the object to be painted, thereby protecting the surface and providing an aesthetic appearance. Therefore, it is necessary to paint vehicles moving along the painting line at predetermined intervals within a certain time frame to the desired painting quality.

[0011] Furthermore, the painting robot 10 of this embodiment is capable of not only forming the aforementioned paint film, but also forming various designs and images on objects to be painted, such as vehicles and vehicle parts. Note that the objects to be painted are not limited to vehicles and vehicle parts; they can be any other parts that require painting, such as exterior parts for airplanes and trains.

[0012] (1-1. Overall configuration of painting system 1 and painting robot 10) Figure 1 is a schematic diagram showing the overall configuration of a painting robot 10 according to one embodiment of the present invention. Figure 2 is a diagram showing the schematic configuration of a painting system 1 equipped with the painting robot 10 shown in Figure 1. As shown in Figure 2, the painting system 1 includes a painting robot 10 and an image processing device 200.

[0013] (1-2. Regarding painting robot 10) As shown in Figure 1, the painting robot 10 mainly consists of a robot body 20 and a painting head unit 50. The painting robot 10 shown in Figure 1 is an example of a 6-axis vertical articulated robot, but the painting robot 10 can be any type of robot, such as a vertical articulated robot other than a 6-axis robot, a horizontal articulated robot, or a Cartesian robot.

[0014] (1-3. Regarding the robot body 20) As shown in Figure 1, the robot body 20 mainly consists of a base 21, first to sixth rotation axes 22a to 22f, legs 23, first rotating arm 24, second rotating arm 25, rotating arm 26, wrist section 27, and motors M1 to M6 that drive these components. The section from the legs 23 to the wrist section 27 corresponds to the robot arm R1, but other parts such as the base 21 may also correspond to the robot arm R1.

[0015] Of these components, the base 21 is the part that is installed on the floor or other installation site, and the base 21 may be movable relative to the installation site. The legs 23 are the parts that are erected upward from the base 21 and are rotatable relative to the base 21 via the first rotating shaft 22a driven by the motor M1 (see Figure 2). The legs 23 may be configured not to rotate relative to the base 21.

[0016] Also, at the upper end of the leg portion 23, a first swing arm 24 is provided rotatably via a second rotating shaft 22b by driving of a motor M2. Further, at the tip side of the first swing arm 24, a second swing arm 25 is provided rotatably via a third rotating shaft 22c by driving of a motor M3.

[0017] Also, at the tip side of the second swing arm 25, a rotating arm 26 is provided rotatably around the central axis of the second swing arm 25. This rotating arm 26 is rotatable via a fourth rotating shaft 22d by driving of a motor M4. Also, at the tip side of the rotating arm 26, a list portion 27 is provided. This list portion 27 enables a rotational movement around, for example, a plurality of different-direction shaft portions such as two, by driving of a motor M5 and a motor M6. In FIG. 1, the rotating shafts enabling such rotational movement are respectively a fifth rotating shaft 22e and a sixth rotating shaft 22f. Thereby, the orientation of the painting head unit 50 can be accurately controlled. Note that the number of shaft portions may be any number as long as it is two or more.

[0018] Also, a painting head unit 50 is attached to the list portion 27, but this painting head unit 50 may be provided detachably with respect to the list portion 27.

[0019] (1-4. Regarding the paint supply unit 40) As shown in FIG. 2, a paint supply unit 40 is provided in the painting system 1 and the painting robot 10. The paint supply unit 40 is a portion for supplying paint toward the painting head unit 50. For this reason, the paint supply unit 40 includes a supply path 41 for supplying paint from a paint storage portion (not shown), a pump (not shown), a valve (not shown), etc., and a return flow path 42 for recovering the paint that has not been discharged.

[0020] Note that when adopting a configuration in which paint is supplied from the outside of the painting robot 10, the painting robot 10 may not include a portion for storing paint, or may include a portion for storing paint outside the painting robot 10.

[0021] (1-5. Regarding the Painting Head Unit 50) Next, the paint head unit 50 will be described. Figure 3 shows a front view of the nozzle-forming surface 52 of the paint head unit 50, which is used to discharge paint. As shown in Figure 3, the paint head unit 50 is equipped with a head cover (not shown), and various components, including the paint head 53, are built into the head cover. The paint head 53 is provided with numerous nozzles 54 for discharging paint.

[0022] As shown in Figure 3, the paint-discharging side (nozzle-forming surface 52) of the paint head 53 has the openings of multiple nozzles 54 exposed. In the following description, the openings of the nozzles 54 will also be referred to as nozzles 54.

[0023] Furthermore, the nozzle forming surface 52 is provided with multiple nozzle rows 55 in which the nozzles 54 are arranged in a direction inclined with respect to the longitudinal direction of the painting head unit 50. In this embodiment, the nozzle row 55 includes a first nozzle row 55A located on one side (Y2 side) of the main scanning direction (Y direction) and a second nozzle row 55B located on the other side (Y1 side) of the main scanning direction.

[0024] Furthermore, when dispensing paint, the driving timing of each nozzle 54 is controlled so that droplets dispensed from nozzles 54 in the second nozzle row 55B land between droplets dispensed from adjacent nozzles 54 in the first nozzle row 55A. This improves the dot density during painting.

[0025] Furthermore, in the configuration shown in Figure 3, the arrangement of nozzles 54 in the first nozzle row 55A and the arrangement of nozzles 54 in the second nozzle row 55B are inclined with respect to the short direction (Y direction; main scanning direction) of the paint head 53. However, it is not necessary to adopt such an arrangement of nozzles 54. For example, the nozzle row 55 may be arranged along the short direction (Y direction) of the paint head 53. Also, the nozzle row 55 may be a single nozzle row 55 without being divided into the first nozzle row 55A and the second nozzle row 55B in the short direction (Y direction; main scanning direction) of the paint head 53, or it may be divided into three or more nozzle rows.

[0026] The paint head 53 described above has a flow channel for dispensing paint (not shown) inside. The paint head 53 also has a nozzle pressurizing chamber (not shown) inside, and a piezoelectric substrate 62 (see Figure 2) is placed on one of the walls of the nozzle pressurizing chamber to change the volume of the chamber and discharge paint from the nozzle 54. Therefore, by applying a voltage to the piezoelectric substrate 62 from the outside, the piezoelectric substrate 62 expands and contracts, changing the volume of the nozzle pressurizing chamber and enabling paint to be discharged from the nozzle 54.

[0027] Note that the painting head 53 is not limited to the configuration shown in Figure 3. For example, as shown in Figure 4, a nozzle row 55 may be formed by arranging multiple nozzles 54 along the shorter direction (width direction; Y direction) of the painting head 53. Also, when painting the vehicle CP1 (see Figure 6) using a painting head 53 as shown in Figure 4, the painting may be performed with the longitudinal direction of the painting head 53 slightly inclined with respect to the main scanning direction of the painting head 53.

[0028] For example, in the configuration of the paint head 53 shown in Figure 3, if the nozzle row 55 is inclined at an angle α with respect to the main scanning direction, then the longitudinal direction of the paint head 53 should be inclined at an angle α with respect to the main scanning direction of the paint head 53. When inclined in this way, painting equivalent to that of the paint head 53 shown in Figure 3 can be achieved simply by adjusting the timing of paint discharge from each nozzle 54.

[0029] (1-6. Controllative Configuration of Painting System 1) Next, the control configuration for controlling the operation of the painting system 1 will be described. The control configuration described below corresponds to the control unit. As shown in Figure 2, the painting robot 10 includes a robot arm control unit 70, a paint supply control unit 80, a head control unit 90, a main control unit 100, a scanner control unit 110, a determination unit 120, a position sensor 130, a tilt sensor 140, and a 3D scanner 150. The painting robot 10 is connected to the image processing device 200 to constitute the painting system 1. However, the painting robot 10 may also be equipped with the functions of the image processing device 200.

[0030] The robot arm control unit 70, paint supply control unit 80, head control unit 90, main control unit 100, scanner control unit 110, determination unit 120, and the image processing unit 210 (described later) are composed of a CPU (Central Processing Unit), memory such as a storage unit (ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, etc.), and other elements. The image processing unit 210 may use a CPU with excellent image processing performance, or a GPU (Graphics Processing Unit) instead of a CPU.

[0031] The painting robot 10 is also equipped with various sensors, which are not shown in the diagram. The output from each of these sensors is input to either the robot arm control unit 70, the paint supply control unit 80, the head control unit 90, or the main control unit 100. The various sensors include the position sensor 130, tilt sensor 140, and 3D scanner 150 mentioned above, as well as acceleration sensors, angular velocity sensors, image sensors, etc., but other sensors may also be used.

[0032] Of these components, the robot arm control unit 70 is the part that controls the driving of the motors M1 to M6 mentioned above. This robot arm control unit 70 is equipped with a memory 71, which stores the program and data created by robot teaching.

[0033] The robot arm control unit 70 controls the driving of motors M1 to M6 based on the program and data stored in the memory 71 and the image processing performed by the image processing unit 210 of the image processing device 200. This control allows the painting head unit 50 to pass through the desired position for painting at the desired speed or to stop at a predetermined position.

[0034] Memory 71 stores data related to the trajectory of the painting head 53 (trajectory data) and attitude data related to the tilt of the painting head 53, which are created by robot teaching that takes into account the paint width that can be painted by the painting head 53. Although the painting robot 10 may have memory 71, the memory 71 may be located outside the painting robot 10, and information may be sent and received to and from that memory 71 via wired or wireless communication means.

[0035] Furthermore, the paint supply control unit 80 controls the supply of paint to the painting head unit 50, and specifically controls the operation of the pumps, valves, etc., provided in the paint supply unit 40. Preferably, the paint supply control unit 80 controls the operation of the pumps and valves so that paint is supplied to the painting head unit 50 at a constant pressure.

[0036] Furthermore, the head control unit 90 controls the operation of the piezoelectric substrate 62 in the painting head unit 50 based on image processing in the image processing unit 210. When the head control unit 90 reaches a predetermined position in the trajectory data by means of detecting the position, such as the position sensor 130 and tilt sensor 140 described later, it controls the discharge of paint based on the position and the segmented painting data corresponding to the painting path PS1 (see Figure 6). In this case, in order to ensure that the film thickness of the painted area PD1 (see Figures 6 and 7) is uniform, the drive frequency of the piezoelectric substrate 62 is controlled to control the number of dots (number of droplets) discharged from the nozzle 54, or the deformation amount of the piezoelectric substrate 62 is controlled based on the drive frequency and / or voltage applied to the piezoelectric substrate 62 to control the size of the droplets discharged from the nozzle 54.

[0037] Furthermore, when controlling the droplet size by controlling the amount of deformation of the piezoelectric substrate 62 based on the driving frequency applied to the piezoelectric substrate 62, the droplet size is largest when the piezoelectric substrate 62 is driven at a driving frequency that matches the natural frequency of the piezoelectric substrate 62. Therefore, as the applied driving frequency deviates from the natural frequency, the droplet size can be controlled to decrease. Also, when controlling the droplet size by controlling the amount of deformation of the piezoelectric substrate 62 based on the voltage applied to the piezoelectric substrate 62, the droplet size can be controlled to increase as the voltage applied to the piezoelectric substrate 62 increases.

[0038] The main control unit 100 is the part that transmits predetermined control signals to the robot arm control unit 70, paint supply control unit 80, and head control unit 90 so that the motors M1 to M6, paint supply unit 40, and piezoelectric substrate 62 work together to perform painting on the object to be painted.

[0039] The scanner control unit 110 controls the operation of the 3D scanner 150. This scanner control unit 110 may be replaced by, for example, the main control unit 100 within the control unit which is the control component of the painting robot 10.

[0040] The determination unit 120 is the part that determines whether or not a painting defect PD2, as described later, exists, based on the measurement results from the 3D scanner 150. This determination unit 120 may be functionally implemented within the control unit, which is the control component of the painting robot 10. However, if the 3D scanner 150 constitutes an externally attachable 3D sensor unit, it may also be functionally implemented within this 3D sensor unit. Furthermore, although the determination unit 120 performs judgments based on 3D data, it may also be functionally implemented within the image processing device 200, which performs such image processing.

[0041] Furthermore, the position sensor 130 is a sensor that detects the current position of the painting head 53. Various sensors can be used as the position sensor 130, such as a rotary encoder, resolver, laser sensor, and others. Also, the tilt sensor 140 is a sensor that detects the tilt angle of the painting head 53. Various sensors can be used as the tilt sensor 140, such as a gyro sensor or accelerometer.

[0042] Furthermore, the painting robot 10 is equipped with a 3D scanner 150. This 3D scanner 150 is a sensor that can acquire height (thickness) data in addition to acquiring planar 2D data. Examples of such 3D scanners 150 include LiDAR scanners, laser scanners, and photogrammetry.

[0043] This 3D scanner 150 is attached, for example, to the painting head unit 50. Therefore, when acquiring 3D data of the painting area PD1, which will be described later, the robot arm R1 will be operated. However, the 3D scanner 150 may be provided separately from the painting head unit 50. In such a configuration, for example, the 3D scanner 150 may be attached to a predetermined part of the robot arm R1, separate from the painting head unit 50. Alternatively, a dedicated arm for attaching the 3D scanner 150 may be provided on the painting robot 10, and the 3D scanner 150 may be attached to that arm.

[0044] Furthermore, the painting system 1 is equipped with an image processing device 200. The image processing device 200 comprises an image processing unit 210 and a memory 220. The image processing unit 210 is the part that creates image data for each painting path PS1, which is the path through which the painting head 53 performs painting.

[0045] Furthermore, memory 220 is the part that stores image data for each painting pass PS1 in accordance with the painting order.

[0046] The image processing device 200 may be, for example, a computer, but this computer may be a component of the painting robot 10, or it may be provided separately from the painting robot 10. If the image processing device 200 is provided separately from the painting robot 10, data will be transmitted and received between the image processing device 200 and the painting robot 10 by wired communication or wireless communication. Even if the image processing device 200 is provided separately from the painting robot 10, it may be included in the concept of the painting robot 10, or it may not be included in the concept of the painting robot 10.

[0047] (2. Regarding control during painting) Next, the control of the painting system 1 and painting robot 10, configured as described above, during painting will be explained based on the flowchart in Figure 5. Figure 6 shows a view from above of the painting head 53 painting a vehicle. First, painting is performed as shown in Figure 6 (step S01). During this painting, the robot arm control unit 70 controls the driving of motors M1 to M6 based on the program and data stored in the memory 71 and the image processing unit 210 of the image processing device 200, according to the command of the main control unit 100. With this control, the painting head unit 50 can pass through the desired position for painting at the desired speed or stop at a predetermined position.

[0048] Furthermore, during the execution of the painting described above, the head control unit 90 drives the piezoelectric substrate 62 at the command of the main control unit 100 to discharge paint onto the object to be painted, and discharges paint droplets from the nozzle 54. In this way, by discharging paint droplets while the painting head 53 is moving, painting is performed in a painting pass PS1 of a predetermined width. Painting is then performed in all painting passes PS1, completing the painting in the painting area.

[0049] As described above, after painting is performed, the robot arm control unit 70 operates the robot arm R1 and the scanner control unit 110 operates the 3D scanner 150 based on a command from the main control unit 100. Then, the painted area PD1 is scanned and 3D data of the painted area PD1 is acquired (step S02). As a result, 3D data like the one shown in Figure 7 is acquired. Figure 7 is a diagram showing a cross-section of the 3D data of the painted area PD1. In Figure 7, the specified paint thickness is set as thickness D1. This thickness D1 is the threshold that must be cleared for the paint thickness. In other words, the painted area PD1 that has not reached thickness D1 corresponds to a painting defect. In the following explanation, the area with a painting defect will be referred to as the painting defect area PD2. This painting defect area PD2 only needs to have not reached thickness D1, and therefore includes not only areas where the paint film thickness has not reached thickness D1, but also areas where the paint has not been applied. In the case of the painting defect area PD2, the color may change, such as appearing whitish when viewed from the outside.

[0050] Furthermore, within the painting head 53, the position of the defective nozzle 54 in the sub-scanning direction remains unchanged. As a result, as shown in Figure 8, the painting defect PD2 becomes continuous at a specific position in the width direction of the painting path PS1.

[0051] In this case, if the 3D scanner 150 is attached to the paint head unit 50 as described above, the 3D scanner 150 may scan a portion downstream in the main scanning direction from the point where the droplets from the paint head 53 land (i.e., acquire 3D data). In this case, when a paint path of a predetermined width is formed by the landing of droplets from the paint head 53, it becomes possible to acquire 3D data using the 3D scanner 150 within the same paint path.

[0052] The determination unit 120 then determines, based on the acquired 3D data, whether or not a painting defect PD2 exists on the painted area PD1 (step S03). If, in this determination, it is determined that no painting defect PD2 exists (No), the series of processes is terminated.

[0053] In step S03 above, if it is determined that a paint defect PD2 exists (Yes), the location information of the paint defect PD2 is obtained (step S04). At this time, it is preferable to obtain information on how far the thickness D1, which is the threshold, has not been reached.

[0054] Here, possible causes for the formation of the paint defect PD2, which does not reach the thickness D1, include clogging of the nozzle 54 or some malfunction in the piezoelectric substrate 62. Therefore, if the control is performed to discharge droplets from the same nozzle 54 that formed this defect, there is a risk that the paint defect will not be resolved.

[0055] Therefore, the main control unit 100 shifts the position of the painting head 53 based on the 3D data of the painted area PD1 measured by the 3D scanner 150 so that the defective nozzle 54 does not scan the painted defect area PD2 again (step S05). In this position shift, the defective nozzle 54 can be moved to a position different from the position in which it scans the painted defect area PD2 by simply rotating the painting head 53. Alternatively, the defective nozzle 54 can be moved to a position different from the position in which it scans the painted defect area PD2 by moving the painting head 53 by a predetermined amount in a direction intersecting the main scanning direction (for example, the sub-scanning direction).

[0056] In step S05 described above, it is preferable to ensure that the defective nozzle 54 does not scan the defective part PD2 based on the position information of the defective part PD2 acquired in step S04.

[0057] After shifting the position of the painting head 53 as described above, additional painting control is performed to dispense paint droplets onto the painting defect area PD2 (step S06). This additional painting control ensures that the paint thickness after painting reaches a specified thickness D1. This additional painting control may be performed on the return journey, for example, when painting is performed on the forward journey of the painting head 53, or it may be performed on a dedicated painting path regardless of whether painting is performed on the forward or return journey.

[0058] After performing the painting as described above, the process from step S02 onwards is executed again. At this time, in order to improve productivity in painting, it is preferable to scan only the areas that were identified as painting defects PD2 in the previous determination with the 3D scanner 150.

[0059] By performing the painting in the manner described above, the paint defect PD2 will be eliminated.

[0060] (3. Variant) Although one embodiment of the present invention has been described above, the present invention can be modified in various ways other than the above embodiment. Modifications are described below.

[0061] The 3D scanner 150 described above may be configured to be installed separately from the painting robot 10. For example, the 3D scanner 150 may be installed on the wall of the painting line, thus being configured to be installed separately from the painting robot 10.

[0062] Furthermore, as part of the painting system 1, in addition to the painting robot 10, a dedicated robot (referred to as an inspection robot) for moving the 3D scanner 150 may be attached to the tip of its arm, and this robot may be used to scan the painting area PD1 with the 3D scanner 150.

[0063] In this configuration, the inspection robot equipped with the 3D scanner 150 can be operated simultaneously with the painting robot 10 performing the painting. Therefore, when a painting path of a predetermined width is formed by droplets landing from the painting head 53, it becomes possible to acquire 3D data using the 3D scanner 150 within the same painting path.

[0064] Furthermore, the 3D scanner 150 can be any type as long as it is capable of acquiring 3D data when incorporated into the painting system 1. For example, if a configuration is created that can acquire 3D data by combining multiple ordinary cameras capable of acquiring 2D data, then this combination of multiple cameras corresponds to the 3D scanner 150 in this invention.

[0065] Furthermore, the 3D scanner 150 may be used not only for inspecting painted areas PD1 but also for other purposes. For example, if CAD data for the vehicle or vehicle parts to be painted does not exist, the 3D scanner 150 may be used to scan the object to be painted to perform 3D measurements, generate a 3D model based on those measurements, and utilize that 3D model during painting.

[0066] Furthermore, although the above-mentioned paint head 53 uses an inkjet method with a piezoelectric substrate 62, a paint head other than an inkjet method, such as a jet dispenser method, may also be used.

[0067] (4. Note) The contents described in the above-mentioned embodiment can be understood, for example, as follows: [1] That is, A painting robot 10 that paints a predetermined part of vehicle CP1, A painting head unit 50 is provided with a painting head 53 having multiple nozzles 54 for dispensing paint droplets, A robotic arm R1 is equipped with a painting head unit 50 at its tip and moves the painting head unit 50 to a desired position. A 3D scanner 150 acquires 3D painting data of the painted area PD1 that has been painted by the painting head 53, The system includes a control unit (main control unit 100, robot arm control unit 70, head control unit 90) that controls the operation of the painting head 53 and robot arm R1 based on 3D image data transmitted from the 3D scanner 150, The control unit (main control unit 100, robot arm control unit 70, head control unit 90) executes additional painting control when it determines that a painting defect PD2, which is a painting defect that occurred during the formation of the previous painting pass PS1, exists in the 3D painting data. In the additional painting control, the painting head 53 is moved so that the nozzle 54 that caused the painting defect PD2 moves to a different position, while simultaneously performing control to discharge paint droplets from the painting head 53 to the painting defect PD2.

[0068] In this way, by performing additional painting control, it is possible to compensate for painting defects PD2 and improve painting quality. Specifically, if painting defects such as defects or thinness occur in the painted area due to poor discharge from the nozzle 54, the location of the painting can be identified by the 3D scanner 150 and compensated for with a sufficient amount of droplet discharge.

[0069] [2] In addition, in the above embodiment, in addition to the contents described in [1] above, The control units (main control unit 100, robot arm control unit 70, head control unit 90) may also perform additional painting control to move the nozzle 54 to different positions as the painting head 53 rotates.

[0070] In this way, in the additional painting control, by rotating the painting head 53 and moving the nozzle 54 to a different position, it is possible to compensate for the painting defect PD2 and improve the painting quality.

[0071] [3] In addition, in the above embodiment, in addition to the contents described in [1] and [2] above, or a combination thereof, When the previous painting pass PS1 in which the initial painting is performed is considered the outbound path, the control unit (main control unit 100, robot arm control unit 70, head control unit 90) may control the operation of the painting head 53 and robot arm R1 so that the painting with additional painting control is performed on the return path.

[0072] In this way, by performing additional painting control on the return path of the painting pass PS1, it becomes easy to move the nozzle to a different position. Therefore, it is possible to compensate for painting defects PD2 and improve painting quality.

[0073] [4] In addition, in the above embodiment, in addition to the contents described in any of [1] to [3] above or a combination thereof, The control units (main control unit 100, robot arm control unit 70, head control unit 90) may, in additional painting control, perform control to move the painting head 53 to a different position by moving it by a predetermined amount in a sub-scanning direction that is perpendicular to the main scanning direction, which is the direction of movement in the painting path PS1, thereby moving the nozzle 54 to a different position.

[0074] In this way, by moving the painting head 53 by a predetermined amount in the sub-scanning direction, which is perpendicular to the main scanning direction, which is the direction of movement in the painting path PS1, it becomes easy to move the nozzle to a different position. Therefore, it is possible to compensate for painting defects and improve painting quality.

[0075] [5] In addition, in the above embodiment, in addition to the contents described in any of [1] to [4] above or a combination thereof, The 3D scanner 150 may also acquire 3D painting data within the same painting path PS1 as the painting execution in the painting path PS1.

[0076] Thus, since 3D painting data is acquired within the same painting path PS1 as the painting is performed, there is no need to move the 3D scanner 150 specifically to acquire the 3D painting data. Therefore, it is possible to improve the productivity of painting the vehicle CP1.

[0077] [6] In addition, in the above embodiment, in addition to the contents described in any of [1] to [5] above or a combination thereof, The 3D scanner 150 may also be configured to be fixed to the painting head 53.

[0078] As the 3D scanner 150 is fixed to the painting head 53, it becomes possible to recognize the painting defect PD2 with the 3D scanner 150 once painting is performed. Therefore, there is no need to move the 3D scanner 150 in order to acquire 3D painting data. This makes it possible to improve the productivity of painting the vehicle CP1.

[0079] [7] In addition, in the above embodiment, in addition to the contents described in any of [1] to [6] above or a combination thereof, The 3D scanner 150 may be provided separately from the painting robot 10.

[0080] As described above, since the 3D scanner 150 is provided separately from the painting head 53, it is possible to scan the entire painted film with the 3D scanner 150 after painting is completed and to recognize the painted defect PD2. [Explanation of Symbols]

[0081] 1…Painting system, 10…Painting robot, 20…Robot body, 21…Base, 22a…First rotation axis, 22b…Second rotation axis, 22c…Third rotation axis, 22d…Fourth rotation axis, 22e…Fifth rotation axis, 22f…Sixth rotation axis, 23…Legs, 24…First rotating arm, 25…Second rotating arm, 26…Rotating arm, 27…Wrist section, 40…Paint supply section, 41…Supply path, 42…Return path, 50…Painting head unit, 52…Nozzle forming surface, 53…Painting head, 54…Nozzle, 55 ...Nozzle row, 55A...First nozzle row, 55B...Second nozzle row, 70...Robot arm control unit, 71...Memory, 80...Paint supply control unit, 90...Head control unit, 100...Main control unit, 110...Scanner control unit, 120...Determination unit, 130...Position sensor, 140...Tilt sensor, 150...3D scanner, 200...Image processing unit, 210...Image processing unit, 220...Memory, CP1...Vehicle, PD1...Painted area, PD2...Paint defect area, PS1...Paint path, R1...Robot arm

Claims

1. A painting robot that paints a predetermined part of a vehicle, A painting head unit comprising a painting head having multiple nozzles for dispensing paint droplets, A robotic arm, to which the aforementioned painting head unit is attached, and which moves the painting head unit to a desired position, A 3D scanner that acquires 3D painting data of the painted area painted by the aforementioned painting head, The system includes a control unit that controls the operation of the painting head and the robot arm based on three-dimensional image data transmitted from the three-dimensional scanner, If the control unit determines that there is a painting defect in the 3D painting data, which is a painting defect that occurred during the formation of the previous painting pass, it will perform additional painting control. In the aforementioned additional painting control, the painting head is moved so that the nozzle that caused the painting defect moves to a different position, while the painting head is controlled to discharge droplets of paint to the painting defect. A painting robot characterized by the following features.

2. A painting robot according to claim 1, The control unit performs the additional painting control, which controls the movement of the nozzle to a different position by the rotation of the painting head. A painting robot characterized by the following features.

3. A painting robot according to claim 1, When the painting pass in which the initial painting is performed is considered the forward path, the control unit controls the operation of the painting head and the robot arm so that the painting in the additional painting control is performed on the return path. A painting robot characterized by the following features.

4. A painting robot according to claim 1, The control unit, in the additional painting control, controls the nozzle to move to a different position by moving the painting head by a predetermined amount in a sub-scanning direction perpendicular to the main scanning direction, which is the direction of movement in the painting pass. A painting robot characterized by the following features.

5. A painting robot according to claim 1, The three-dimensional scanner acquires the three-dimensional painting data within the same painting path as the painting execution in the painting path. A painting robot characterized by the following features.

6. A painting robot according to claim 1, The three-dimensional scanner is fixed to the painting head. A painting robot characterized by the following features.

7. A painting robot according to claim 1, The aforementioned 3D scanner is provided separately from the painting robot. A painting robot characterized by the following features.

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