Teaching method for painting robots

Abstract

To enable teaching of a new workpiece without interrupting painting of a workpiece.SOLUTION: A data creating machine performs teaching of orbital data of a spray gun for painting of a new workpiece and performs verification of a painting condition in parallel with painting of a workpiece by a painting robot using the painting robot performing painting by spraying painting from the spray gun to the workpiece and the data creating machine including the spray gun and workpiece supply means. When there are no errors in teaching, a sample is appropriately produced on the basis of the teaching data, and the teaching data is transferred to the painting robot. When the workpiece of the painting object is switched to the workpiece which is created by the data creating machine and becomes the teaching object, the painting robot switches an orbit of the spray gun in the painting robot on the basis of the transferred teaching data.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a method for teaching trajectory data to a painting robot, and more particularly to a teaching method for a painting robot, which is characterized in that a data generator different from the painting robot that paints the workpiece is used to teach the painting of a workpiece different from the workpiece being painted by the painting robot in parallel with painting by the painting robot, and then the taught data is transferred to the painting robot to teach the painting robot. [Background technology]

[0002] In recent years, in the field of painting, a method of automatically painting using a painting robot has been adopted when painting a large number of objects to be painted (hereinafter referred to as "workpieces"). When painting automatically using such a painting robot, it is necessary to keep constant the distance and angle between the paint nozzle of the spray gun that sprays paint toward the workpiece and the workpiece in order to achieve a uniform paint film thickness.

[0003] For this reason, when painting using such a painting robot, it is necessary to determine in advance the trajectory of the spray gun on the painting robot based on the external dimensions of the workpiece, etc., and to have that trajectory data stored in the painting robot; this process is generally referred to as "teaching."

[0004] This teaching enables the painting robot to move the spray gun based on the trajectory data that has been taught, thereby making it possible to automatically paint the workpiece while maintaining a uniform coating thickness. Therefore, painting using such a painting robot has the advantage that, particularly when painting multiple workpieces, it is possible to reduce labor costs and other expenses, and also to paint all of the workpieces accurately with the same coating.

[0005] Here, conventional teaching will be described with reference to Figure 4. In Figure 4, 31 denotes a painting robot, 32 denotes a workpiece to be painted, 33 denotes a robot controller for controlling the operation of the painting robot, and 34 denotes a teaching pendant. Teaching is generally performed using the teaching pendant 34. That is, the teaching pendant 34 is like a remote control and is connected to the robot controller 33. When teaching is performed, the painting robot 31 is generally operated via the robot controller 33 using the teaching pendant 34 near the painting robot 31, and the desired positions of the spray gun are sequentially registered in the robot controller 33, thereby causing the robot controller 33 to store the trajectory of the spray gun. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2018-192550 A Summary of the Invention [Problem to be solved by the invention]

[0007] Conventionally, teaching has been performed using a painting robot that actually paints the workpiece. That is, when painting a workpiece, the painting robot that actually paints the workpiece and the workpiece to be painted are used, the workpiece is placed on a work supply table or the like, and the trajectory of the spray gun is determined while moving the spray gun with a teaching pendant or while manually measuring the distance between the spray gun and the workpiece, and the painting conditions such as paint conditions and spray conditions are verified while checking the paint finish.

[0008] After the spray gun teaching was completed, samples were produced based on the taught trajectory, etc., to check the color and finish.

[0009] As described above, with conventional painting robots, painting of a workpiece had to be stopped and teaching or sample production performed using the actual painting robot, meaning that workpieces could not be painted during teaching.

[0010] On the other hand, in recent years, a wide variety of products, such as small cosmetic containers, have been offered, and with these wide variety of products, a large number of samples are produced, which means the time required for teaching and sample production interferes with the painting of the actual workpieces.

[0011] Typically, when teaching, the worker relies on experience and intuition to determine the distance between the spray gun and the workpiece and where to aim the spray gun on the workpiece while looking at the actual workpiece closely.With this method, the distance between the spray gun and the workpiece must be determined by aligning it with the actual workpiece, and the aim of the spray gun must be confirmed using a scale or special jig, which makes teaching even more time-consuming.

[0012] Therefore, the present invention provides a method for coating a workpiece without interrupting the coating of the workpiece. A different type of workpiece from the workpiece being painted The objective of the present invention is to provide a teaching method for a painting robot that enables teaching for painting a workpiece efficiently. [Means for solving the problem]

[0013] The teaching method for a painting robot of the present invention includes the steps of: a coating robot that sprays paint from a spray gun onto a workpiece supplied by a workpiece supplying means, and coats the workpiece; Using a data creation machine equipped with a spray gun and a work supply means, While the painting robot is painting the workpiece, the data creation machine A different type of workpiece from the workpiece being painted The trajectory data of the spray gun for painting is taught and the painting conditions are verified. When there are no errors in the teaching, Paint the workpiece based on the appropriate teaching data and produce a sample. Transferring teaching data to the painting robot; The painting robot is characterized in that when the workpiece to be painted is switched to the workpiece that has been the subject of teaching created by the data creation machine, the trajectory of the spray gun in the painting robot is switched based on the transferred teaching data. Effect of the Invention

[0014] In the teaching method for a painting robot of the present invention, a painting robot that paints a workpiece and a data creation machine equipped with a spray gun and a workpiece supplying means are used, and while the painting robot is painting the workpiece, the data creation machine is A different type of workpiece from the workpiece being painted The trajectory data of the spray gun for painting is taught and the painting conditions are verified. If there is no error in the teaching, the workpiece is painted based on the appropriately taught trajectory data to produce a sample. Then, the teaching data is transferred to the painting robot, and the painting robot detects that the workpiece to be painted is A different type of workpiece from the workpiece being painted When the robot is switched to the next stage, the trajectory of the spray gun in the painting robot is changed based on the transferred teaching data. A different type of workpiece from the workpiece being painted It is possible to teach the following.

[0015] Therefore, according to the teaching method for a painting robot of the present invention, even when teaching a wide variety of workpieces, teaching is possible without interrupting the painting of the workpieces, and painting of the workpieces can be performed efficiently. [Brief description of the drawings]

[0016] [Figure 1] 1 is a block diagram of an entire system for explaining an embodiment of a teaching method for a painting robot of the present invention; [Diagram 2]2 is a flowchart for explaining an embodiment of a teaching method for a painting robot of the present invention. [Diagram 3] 1 is a diagram for explaining a painting robot that is taught by an embodiment of a teaching method for a painting robot of the present invention; [Figure 4] FIG. 1 is a block diagram for explaining a conventional teaching method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The teaching method for a painting robot of the present invention is a method for teaching a painting robot using a painting robot that paints a workpiece supplied by a work supply means by spraying paint from a spray gun onto the workpiece, and a data creation machine that is equipped with a spray gun and work supply means similar to the painting robot.

[0018] That is, in the teaching method of the present invention, first, while the painting robot is painting the workpiece, the data generator A different type of workpiece from the workpiece being painted This involves teaching the trajectory data of the spray gun for painting and verifying the painting conditions.

[0019] When there are no errors in the taught trajectory data or painting conditions, the workpiece is painted appropriately based on the taught trajectory data to produce a sample, the color and finish are checked, and then the teaching data is transferred to the painting robot.

[0020] On the other hand, in the painting robot, when painting of the workpiece is finished and the workpiece to be painted is switched to the workpiece that was the subject of teaching created by the data creation machine, the trajectory of the spray gun in the painting robot is switched based on the transferred teaching data.

[0021] Here, it is preferable that the data creation machine is a dedicated data creation machine corresponding to each painting robot, which eliminates the need to correct the trajectory data for each painting robot each time it is transferred. In other words, the data creation machine and the painting robot may have different mechanisms, and if the trajectory data created by the data creation machine is transferred to the painting robot as is, it may not be possible to achieve the same painting results as the sample created by the data creation machine. For this reason, it is necessary to correct the trajectory data created by the data creation machine to match the painting robot. However, by using a dedicated data creation machine corresponding to each painting robot, it is possible to eliminate the need to correct the data each time it is transferred.

[0022] In addition, when teaching using a data creation machine, it is a good idea to create teaching data in advance offline using a PC or the like, import this teaching data, and then create new teaching data based on the imported data, which makes it possible to complete the teaching work in a short amount of time. EXAMPLES

[0023] An embodiment of the teaching method for a painting robot of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram for explaining a system for carrying out the teaching method for a painting robot of the present embodiment, in which reference numeral 1 denotes a painting robot.

[0024] In the figure, the painting robot 1 has a robot body 2 and a robot controller 3. The robot controller 3 is used to control the operation of the painting robot 1, and teaching data that determines the movement of the robot body 2 and the like are stored in the robot controller 3.

[0025] In addition, the robot controller 3, like a general controller, is configured with a CPU, etc. and is connected to the painting robot 1, and the painting robot 1 operates in accordance with signals from the robot controller 3.

[0026] In the figure, reference numeral 7 denotes a workpiece. That is, the painting robot body 2 is equipped with a spray gun, and paint is sprayed from this spray gun toward the workpiece 7 to paint it.

[0027] Next, in the figure, 11 is A different type of workpiece from the workpiece being painted (hereinafter referred to as "new workpiece") This is a data creation machine for teaching trajectory data for painting. In this embodiment, the data creation machine 11 is configured to be equipped with a spray gun and work supply means, similar to the painting robot, and is capable of not only teaching trajectory data but also sample production based on the taught trajectory data. In the figure, 12 is the main body of the data creation machine, and 13 is the work supply means.

[0028] Also in the figure, reference numeral 14 denotes a robot controller for the data creator 11, and this robot controller 14, like the robot controller 3 of the painting robot 1 described above, is used to control the operation of the data creator main body 12 and is configured to include a CPU, etc. The robot controller 14 for the data creator 11 is connected to the controller 3 of the painting robot 1 by wire or wirelessly, or is capable of transferring data to the controller 3 of the painting robot 1 via a USB memory or the like.

[0029] In the figure, reference numeral 15 denotes a teaching pendant 15. The teaching pendant 15 is connected to the robot controller 14, and by using the teaching pendant 15 to register the position of the spray gun to a desired position, it is possible to teach the spray gun.

[0030] 3, the painting robot 1 is a system that sprays paint onto a number of workpieces being transported by a conveyor while rotating, thereby painting the workpieces. In other words, in the figure, 1 is the painting robot, 6 is the conveyor, and the conveyor 6 and the painting robot 1 are located in a painting room 8.

[0031] The conveyor 6 passes through the coating chamber 8, and the workpieces 7 can be rotatably attached at equal intervals by jigs, and a large number of workpieces 7 are transported while being rotated. As for the conveyor 3, a conveyor that is generally used in various devices is used, and therefore a detailed description thereof is omitted. In addition, the mechanism for rotating the jig is not particularly limited, but a motor may be used. In the case of using a motor, the base end portion of the jig may be clamped by an endless belt, or the endless belt may be brought into contact with the base end portion of the jig, and the belt may be rotated by the motor to rotate the jig that is clamped or in contact with the belt.

[0032] Next, in Figure 3, the painting robot 1 has a painting robot main body 2, a spray gun support shaft 4 connected to the painting robot main body 2, and a spray gun 5 attached to the spray gun support shaft 4 as a paint spraying means. Many spray guns 5 are attached to the spray gun support shaft 4 at equal intervals, making it possible to paint many workpieces simultaneously.

[0033] The painting robot 1 is movable on a moving rail 9 using a driving means such as a motor (not shown), and is freely movable back and forth in the direction of workpiece movement. This makes it possible for the painting robot 1 to follow the movement of a specific number of workpieces 7, spray paint toward the specific workpieces 7 that it is following, and restore the robot to the position before following after painting is completed. However, the configuration of the painting robot in the present invention is not particularly limited, and any configuration may be used as long as it is a painting robot that can paint workpieces.

[0034] Next, the teaching method for the painting robot of this embodiment, which is performed using the system configured as described above, will be explained with reference to the flowchart in Figure 2.In the teaching method of this embodiment, while the painting robot is painting a workpiece, the data creation device 11 teaches the spray gun trajectory data for a new workpiece that is to be painted next by the painting robot in parallel with the painting.

[0035] That is, in parallel with the painting of a workpiece by the painting robot, with a new workpiece placed on the workpiece supply means 13, in the data creation machine 11, the trajectory data of the spray gun is taught using the teaching pendant 15 or manually while changing the position of the spray gun.

[0036] After teaching is completed, or during teaching, paint or the like is actually sprayed onto the workpiece from the spray gun while moving the spray gun based on the trajectory data that has been created or is being created, thereby verifying the coating conditions such as paint conditions and spray conditions while checking the coating finish.If the teaching is incorrect or insufficient, teaching and verification are repeated until the teaching is made accurate.

[0037] On the other hand, if teaching has been performed accurately, samples are first produced based on the appropriately taught trajectory data, and the color and finish after painting can be checked before mass production using the painting robot.

[0038] Then, if the color and finish of the produced sample are as desired, the taught data is transferred to the robot controller of the painting robot 1 via wired or wireless connection, USB memory, or the like.

[0039] Next, in the painting robot 1 to which the trajectory data for painting a new workpiece has been transferred, when painting of the workpiece that was being painted while teaching was being performed in the data creator 11 is finished and the workpiece to be painted is switched to a new workpiece, the trajectory of the spray gun is switched to a trajectory based on the transferred teaching data, and the new workpiece is painted. Then, in parallel with painting by the painting robot, the teaching, verification, sample production, and transfer of teaching data for the new workpiece in the data creator 11, and the switching of the trajectory data in the painting robot when the workpiece to be painted is switched are repeated until painting of all types of workpieces that require painting is finished.

[0040] In this way, in the teaching method for the painting robot of this embodiment, while a workpiece is being painted, the data creation machine teaches the trajectory data for the new workpiece to be painted next, verifies the painting conditions, and produces a sample. If the teaching is accurate and the painting conditions are correct, and the color and finish of the sample are as desired, the teaching data is transferred to the painting robot, and the painting robot switches the trajectory data of the spray gun to new data when the workpiece to be painted is changed. Therefore, even when teaching is performed for a wide variety of workpieces, teaching of a new workpiece can be performed without interrupting the painting of the workpiece, and the workpieces can be painted efficiently. In addition, by distributing the teaching data to each painting factory, if the type of workpiece is the same, there is no need to teach at each painting factory, so painting of the same quality can be performed at each painting factory, and uniform quality of painting can be ensured.

[0041] The data creation machine may be shared by multiple painting robots, but it is better to use a dedicated machine for each painting robot. Since the mechanisms of painting robots are different, when transferring teaching data created by the data creation machine, the data needs to be corrected to correspond to each painting robot. Therefore, by using a dedicated data creation machine for each painting robot, it is possible to eliminate the trouble of correcting the data each time data is transferred.

[0042] Also, when teaching a new workpiece with a data creation machine, teaching data for the workpiece may be created in advance, and when teaching is performed, the previously created teaching data may be imported into the robot controller, and teaching may be performed based on the imported data. For example, teaching may be performed offline on a PC screen in advance without using a painting robot or data creation machine, and when teaching is performed with the data creation machine, the data may be imported into the robot controller of the data creation machine, and teaching may be performed based on the imported data. This can reduce the time required for teaching compared to teaching from scratch, and also makes it possible to create trajectory data for a large number of workpieces in advance. [Industrial Applicability]

[0043] In the teaching method for a painting robot of the present invention, teaching is performed on a data generator separate from the painting robot that paints the workpiece, and therefore the method can be applied to all painting robots that require teaching. [Explanation of symbols]

[0044] 1. Painting robot 2 Painting robot body 3. Robot Controller 4 Support shaft 5 Spray gun 6 Conveyor 7 Work 8 Paint Room 9. Mobility rails 11 Data creation machine 12 Data creation machine body 13 Work supply means 14 Robot Controller 15 Teaching Pendant

Claims

1. a coating robot that sprays paint from a spray gun onto a workpiece supplied by a workpiece supplying means, and coats the workpiece; A data creating machine equipped with a spray gun and a work supplying means, While the painting robot is painting the workpiece, the data creation machine teaches the trajectory data of the spray gun for painting a different type of workpiece different from the workpiece being painted and verifies the painting conditions. When there are no errors in the teaching, Paint the workpiece based on the appropriate teaching data and produce a sample. Transferring teaching data to the painting robot; The teaching method for a painting robot is characterized in that, when the workpiece to be painted is switched to the workpiece that has been the subject of teaching created by the data creation device, the painting robot switches the trajectory of the spray gun in the painting robot based on the transferred teaching data.

2. 2. The method for teaching a painting robot according to claim 1, wherein the data generator is a dedicated data generator corresponding to each painting robot.

3. 3. The teaching method for a painting robot according to claim 1 or 2, characterized in that the data creation machine imports teaching data that has been created in advance, and teaches trajectory data of the spray gun for painting a different type of workpiece different from the workpiece being painted based on the imported data.

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