Information processing device, robot system, paint quantity prediction method and program

Abstract

To provide an information processing device and others capable of predicting a required quantity of paint.SOLUTION: In the information processing device, a processor executes: accessing a control program for a paint robot prior to execution of paint application by the paint robot; acquiring, from the control program, first information that relates to painting motions of the paint robot and that is set to the control program; and calculating, by using the first information, a required paint quantity that is a quantity of paint required for the paint application to be performed by the paint robot.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, a robot system, and a paint amount prediction method.

Background Art

[0002] Conventionally, robots have been used for painting work on objects to be painted such as automobile bodies. For example, Patent Document 1 discloses a painting system including a robot device, a cartridge replacement device, and a paint filling device. The cartridge replacement device replaces the paint cartridge for the atomizing head of the robot device. A plurality of paint filling devices are arranged corresponding to the types of paints, and the used paint cartridge is filled with the paint of the same color as the paint that was filled in it.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, for painting one vehicle body, a plurality of types of paints are used. The cartridge replacement device of Patent Document 1 replaces the paint cartridge of the atomizing head according to the paint required for the painting target area. After the painting of the painting target area is completed, the paint cartridge can be replaced with paint remaining in the paint cartridge. The remaining paint is discarded, increasing the cost required for the paint.

[0005] The present disclosure provides an information processing apparatus, a robot system, and a paint amount prediction method capable of predicting the required amount of paint before painting is performed.

Means for Solving the Problems

[0006] An information processing device according to one aspect of the present disclosure is an information processing device comprising a processor, wherein the processor performs the following actions before the painting robot performs painting: accessing a control program for the painting robot; obtaining first information from the control program relating to the painting operation of the painting robot and set in the control program; and using the first information, calculating the required amount of paint, which is the amount of paint required for painting by the painting robot. [Effects of the Invention]

[0007] The technology described herein makes it possible to predict the required amount of paint before painting is carried out. [Brief explanation of the drawing]

[0008] [Figure 1] Plan view showing an example of the configuration of a robot system according to an embodiment. [Figure 2] A perspective view showing an example of the configuration of one pair of painting robot and supply device according to the embodiment. [Figure 3] Block diagram showing an example of the functional configuration of a painting control device and a supply control device that are associated with each other. [Figure 4] This diagram illustrates an example of how the acceleration and deceleration of a robot arm affect the amount of paint required. [Figure 5] This diagram illustrates an example of how the delay time of the control valve's operation affects the required amount of paint. [Figure 6] A flowchart showing an example of the operation of the painting control device and supply control device according to the embodiment. [Figure 7] Sequence diagram showing an example of the operation of multiple painting control devices and multiple supply control devices according to the embodiment. [Figure 8] Sequence diagram showing an example of the operation of multiple painting control devices and multiple supply control devices according to the embodiment. [Modes for carrying out the invention]

[0009] (Embodiment) Illustrative embodiments of the present disclosure are described below with reference to the drawings. The embodiments described below are all comprehensive or specific examples. Among the components in the embodiments below, components not described in the independent claim representing the highest-level concept are described as optional components. The figures in the accompanying drawings are schematic and not necessarily strictly illustrative. In each figure, substantially identical components are denoted by the same reference numeral, and redundant descriptions may be omitted or simplified. In this specification and in the claims, “apparatus” can mean not only a single apparatus but also a system consisting of multiple apparatuses.

[0010] [Robot System Configuration] The configuration of the robot system 1 according to this embodiment will be described with reference to Figure 1. Figure 1 is a plan view showing an example of the configuration of the robot system 1 according to this embodiment. The robot system 1 is a shim system that performs painting work on an object to be painted. In this embodiment, the object to be painted is the body V of an automobile, but it is not limited to this, and any object to be painted can be used as long as it can be painted by the robot.

[0011] In this embodiment, the robot system 1 is positioned in the painting line PL for the car body V within an automobile manufacturing plant. The painting line PL includes a transport device T that moves the car body V along a predetermined path. The transport device T moves along a track R arranged along the predetermined path with the car body V on it.

[0012] The robot system 1 includes one or more painting robots 100 and one or more supply devices 200, each of which is positioned in relation to one or more painting robots 100. The one or more painting robots 100 and the one or more supply devices 200 are positioned along the painting line PL, that is, along the track R. In this embodiment, four painting robots 100 and four supply devices 200 are positioned in one painting work section PS, but the system is not limited thereto.

[0013] Figure 2 is a perspective view showing an example of the configuration of a pair of a painting robot 100 and a supply device 200 according to an embodiment. As shown in Figure 2, the supply device 200 supplies paint to the painting robot 100 which is configured to the supply device 200. Specifically, the supply device 200 attaches and detaches cartridges 201 capable of filling and dispensing paint to the painting robot 100. The supply device 200 replaces the cartridges 201 on the painting robot 100. Furthermore, the supply device 200 can hold multiple cartridges 201 and fill the held cartridges 201 with paint.

[0014] The supply device 200 includes a replacement robot 210, a holding base 220, a filling device 230, a cleaning device 240, and a supply control device 250. The holding base 220 holds and accommodates a plurality of cartridges 201 with the upper parts of the cartridges 201 exposed. The holding base 220 holds the plurality of cartridges 201 so that the cartridges 201 can be stored and removed by access from the outside and above. In this embodiment, the shape of the cartridge 201 is cylindrical, but it may be any shape.

[0015] In this specification and in the claims, “upwards” and “downwards” with respect to each component of the robot system 1 mean “upwards” and “downwards” in a direction perpendicular to the horizontal plane when the component is positioned on a horizontal plane.

[0016] The filling device 230 fills each of the plurality of cartridges 201 held on the holding table 220 with paint. The filling device 230 fills the specified cartridge 201 with the specified type of paint in the specified amount according to the control of the supply control device 250. The filling device 230 is connected to a plurality of paint tanks with different paint types from each other. The filling device 230 is arranged in the holding table 220, accesses each cartridge 201 from below, establishes a connection with the cartridge 201, and injects paint into the cartridge 201 through the connection part. For example, the type of paint may be based on the type of solvent or powder of the paint, the type of resin which is the raw material of the paint, and the type of color of the paint, etc. The access direction of the filling device 230 to the cartridge 201 is not limited to the above. The configuration of the filling device 230 may be any known configuration. For example, the filling device 230 may include devices capable of pumping liquids or gases such as electric or hydraulic pumps, pneumatic or hydraulic cylinders, and compressors.

[0017] The cleaning device 240 extracts residual paint from the cartridge 201 held on the holding table 220 and cleans the cartridge 201. The cleaning device 240 performs extraction and cleaning of paint on the specified cartridge 201 according to the control of the supply control device 250. The cleaning device 240 is arranged in the holding table 220, accesses the cartridge 201 from below, establishes a connection with the cartridge 201, and performs extraction and cleaning of paint through the connection part. The access direction of the cleaning device x0 to the cartridge 201 is not limited to the above. The configuration of the cleaning device 240 may be any known configuration. The cleaning device 240 and the filling device 230 may be integrated into one device. For example, the cleaning device 240 may include devices capable of pumping, sucking, or both of liquids or gases such as electric or hydraulic pumps, pneumatic or hydraulic cylinders, and compressors.

[0018] The cartridge exchange robot 210 attaches the cartridge 201 held on the holding table 220 to the painting robot 100, removes the cartridge 201 from the painting robot 100, and stores it in the holding table 220. The cartridge exchange robot 210 attaches the specified cartridge 201 to the painting robot 100 and stores the cartridge 201 removed from the painting robot 100 at the specified position on the holding table 220 according to the control of the supply control device 250.

[0019] Although not limited to the following, in this embodiment, the cartridge exchange robot 210 includes a robot arm 211 and an end effector 212. The end effector 212 is attached to the tip of the robot arm 211. The end effector 212 is configured to grip the cartridge 201 and includes two or more finger members 212a for gripping the cartridge 201. The end effector 212 can grip and release the cartridge 201 by operating the finger members 212a. The configuration of the end effector 212 is not limited to the above, and any configuration that can hold and release the cartridge 201 may be used. For example, for holding, a configuration using suction, adhesion, fitting, or screwing may be used.

[0020] The robot arm 211 is an articulated robot arm having two or more joints. In this embodiment, it has six joints and can freely move the position and orientation of the end effector 212. The robot arm 211 includes two or more servo motors for driving two or more joints, and the end effector 212 includes one or more servo motors for driving the finger members 212a. The servo motors of the robot arm 211 and the end effector 212 are connected to the supply control device 250, and the operation of each servo motor is controlled by the supply control device 250. Thereby, the operations of the robot arm 211 and the end effector 212 are controlled by the supply control device 250.

[0021] The painting robot 100 includes a robot arm 110, an end effector 120, and a painting control device 130. The end effector 120 is attached to the tip of the robot arm 110. The end effector 120 is configured to allow the attachment and detachment of a cartridge 201 and to spray the paint from the attached cartridge 201 in a mist. The end effector 120 includes, but is not limited to, a receiving hole 121, a spray nozzle 122, and a control valve 123. The end effector 120 only needs to have a configuration that sprays the paint from the attached cartridge 201. The end effector 120 and the spray nozzle 122 are examples of paint discharge units.

[0022] The receiving hole 121 is a hole through which the cartridge 201 can be inserted and withdrawn. The spray nozzle 122 is connected to the receiving hole 121 in a way that allows fluid communication. The spray nozzle 122 is connected to the cartridge 201 inserted into the receiving hole 121 in a way that allows fluid communication.

[0023] The end effector 120 is connected to an external pneumatic supply device of the painting robot 100 via piping. The spray nozzle 122 is fluidly connected to the gas supply device connected to the end effector 120. The spray nozzle 122 is configured to atomize the paint in the cartridge 201 and spray it to the outside by the action of compressed gas supplied from the gas supply device. The gas supply device can be any device capable of supplying compressed gas such as compressed air, and may include, for example, an electric or hydraulic pump or a compressor.

[0024] The control valve 123 is located in the gas path between the injection nozzle 122 and the gas pumping device and controls the supply of compressed gas to the injection nozzle 122. The control valve 123 may be an on-off valve that operates to supply and shut off the supply of compressed gas to the injection nozzle 122, or it may be a regulating valve that adjusts the flow rate of compressed gas to the injection nozzle 122. In this embodiment, however, the control valve 123 is an electrically operated valve, for example, a solenoid valve. In this embodiment, the control valve 123 is located in the end effector 120, but it may be located at a location away from the end effector 120, for example, in the piping connecting the end effector 120 and the gas pumping device.

[0025] The robot arm 110 is a multi-joint robot arm having two or more joints. In this embodiment, it has six joints and can freely move the position and orientation of the end effector 120. The robot arm 110 includes two or more servo motors that drive two or more joints. The servo motors of the robot arm 211 and the control valves 123 of the end effector 120 are connected to the painting control device 130, and the operation of each servo motor and control valve 123 is controlled by the painting control device 130.

[0026] The painting control device 130 and the supply control device 250 are connected to each other via wired communication, wireless communication, or a combination thereof. Any type of wired communication or wireless communication may be used. Both the painting control device 130 and the supply control device 250 may have a control function for the controlled object, a power supply function for the controlled object, or both of these functions, and in this embodiment, they have both functions. Both the painting control device 130 and the supply control device 250 include a processing circuit, a circuit, or a combination thereof, and in this embodiment, they include a processing circuit and a circuit. Both the painting control device 130 and the supply control device 250 include a computer realized by a processing circuit, or a combination of a processing circuit and a circuit.

[0027] The processing circuit or circuit includes a processor P and a memory device M, etc. The processing circuit or circuit transmits and receives commands, information, and data with other devices. The processing circuit or circuit receives signals from various devices and outputs control signals to the controlled object. Furthermore, the circuit includes an amplifier, inverter, converter, or a combination thereof, and controls the power supply to the power supply object.

[0028] The storage device M may include memory, storage, or both. Examples of memory include volatile semiconductor memory such as RAM (Random Access Memory) and non-volatile semiconductor memory such as ROM (Read-Only Memory). Examples of storage include semiconductor memory such as flash memory, hard disks, and SSDs (Solid State Drives). For example, the storage device M stores processing circuits or programs executed by the circuits, and various data. The storage device M is an example of a storage unit.

[0029] At least some of the functions of the painting control device 130 and the supply control device 250 may be realized through the cooperation of a processor P, memory, and storage. The processor P and memory including RAM and ROM constitute a computer system. For example, the computer system may realize the above functions by having the processor P use RAM as a work area to execute a program recorded in ROM.

[0030] Some or all of the functions of the painting control device 130 and the supply control device 250 may be implemented by the computer system described above, by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the computer system and hardware circuits described above. Both the painting control device 130 and the supply control device 250 may perform processing by centralized control by a single computer, or by distributed control through the cooperation of multiple computers. Some or all of the painting control device 130 is an example of an information processing device.

[0031] The following is not an exhaustive list, but for example, the processor P may include a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), microprocessor, processor core, multiprocessor, ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), and reconfigurable processor, and processing may be realized by logic circuits or dedicated circuits which are hardware circuits formed on integrated circuits such as IC (Integrated Circuit) chips and LSI (Large Scale Integration). The multiple functions of the painting control device 130 and the supply control device 250 may be realized by individually integrated circuits on a single chip, or by an integrated circuit that includes some or all of these functions on a single chip.

[0032] The functional configuration of a combination of one painting control device 130 and a corresponding supply control device 250 will be described. Figure 3 is a block diagram showing an example of the functional configuration of the painting control device 130 and the supply control device 250 that are associated with each other. As shown in Figure 3, the painting control device 130 is equipped with input / output interfaces 130a, 130b, and 130c, and the supply control device 250 is equipped with input / output interfaces 250a, 250b, 250c, and 250d.

[0033] The painting control device 130 is connected to the painting robot 100 via input / output I / F 130a, to the input / output I / F 250d of the supply control device 250 via input / output I / F 130b, and to the external device E via input / output I / F 130c. The supply control device 250 is connected to the exchange robot 210 via input / output I / F 250a, to the filling device 230 via input / output I / F 250b, to the washing device 240 via input / output I / F 250c, and to the input / output I / F 130b of the painting control device 130 via input / output I / F 250d. Each connection may be via wired communication, wireless communication, or a combination thereof. Wired communication and wireless communication may be any type of communication.

[0034] The painting control device 130 includes a first painting control unit 131, a second painting control unit 132, a first storage unit 133, and a second storage unit 134 as functional components. The supply control device 250 includes a first supply control unit 251, a second supply control unit 252, a third supply control unit 253, and a storage unit 254 as functional components.

[0035] The functions of the painting control units 131 and 132 can be realized by the processor P and storage device M of the painting control device 130. The functions of the storage units 133 and 134 can be realized by the storage device M of the painting control device 130. The functions of the supply control units 251 to 253 can be realized by the processor P and storage device M of the supply control device 250. The function of the storage unit 254 can be realized by the storage device M of the supply control device 250. The painting control device 130 is an example of a robot controller.

[0036] The storage units 133 and 134 of the painting control device 130 store various information and data, and enable the retrieval of the stored information and data. The first storage unit 133 stores the control program for the robot arm 110 and the end effector 120, and the specification data for the robot arm 110 and the end effector 120. The specification data for the robot arm 110 and the end effector 120 may include information on various elements such as the performance, function, form, and shape of the robot arm 110 and the end effector 120.

[0037] The control program is a computer program that causes the robot arm 110 and the end effector 120 to autonomously perform predetermined operations, and is executed by the first painting control unit 131. In this embodiment, although not limited to the following, the predetermined operations are taught operations that are set by teaching them to the painting control device 130. Therefore, the control program is a teaching program that includes teaching data. The teaching program receives the setting of teaching data and uses the set teaching data to cause the robot arm 110 and the end effector 120 to perform the taught operations.

[0038] Teaching data can be formed during the process of teaching the painting control device 130 the operation of the robot arm 110 and the end effector 120. Teaching may be performed by directly moving the robot arm 110 and the end effector 120 or by actually moving them using a teaching device such as a teach pendant, or it may be performed virtually on a computer. Teaching data can also be modified after it has been formed.

[0039] The teaching data includes information on multiple teaching points. The multiple teaching points are ordered chronologically. The information for each teaching point includes information on the target position and target orientation of the end effector 120 at that teaching point, and information on the target movement direction and target movement speed of the end effector 120 from that teaching point to the next teaching point. The information on the target position and target orientation of the end effector 120 is an example of first teaching information. The information on the target movement direction and target movement speed of the end effector 120 is an example of second teaching information. The information for a teaching point may also include information on the target movement path between teaching points, such as the target movement path of the end effector 120 from that teaching point to the next teaching point.

[0040] The second storage unit 134 stores a supply program that controls the supply of paint and information on the target discharge amount. The information on the target discharge amount includes information on the target discharge amount of paint discharged from the spray nozzle 122 of the end effector 120 at teaching points, paths connecting multiple teaching points, or both. Hereinafter, a path connecting multiple teaching points will also be called a "teaching point path". The target discharge amount at a teaching point is the target discharge amount from that teaching point to the next teaching point. The target discharge amount in a teaching point path is the target discharge amount from the start to the end of that teaching point path. Between teaching points, and between teaching points, the target discharge amount may be constant or may change. Information on the target discharge amount may be included in the information on teaching points.

[0041] The target discharge rate information is information that represents the target discharge rate, and may include, for example, the target discharge rate per unit time of paint, the target level of paint discharge rate, or both. Hereinafter, the target discharge rate per unit time will also be referred to as the "target time discharge rate." For example, the target level may correspond to the amount of discharge rate, the discharge pressure, or both. If the target discharge rate information includes target level information, the second storage unit 134 may pre-store various target levels of discharge rate, information on influencing factors that affect the discharge rate, and various target time discharge rates in association with each other. Examples of influencing factors include paint viscosity, temperature, and humidity. For example, the second storage unit 134 may store various combinations of target levels of discharge rate and numerical values ​​or levels of influencing factors, and the target time discharge rates corresponding to each of these combinations, in association with each other.

[0042] The supply program is a computer program executed by the second painting control unit 132. The supply program includes a program for calculating the amount of paint required for a predetermined painting area, which is the amount of paint required to paint that predetermined painting area by the robot arm 110 and the end effector 120.

[0043] The first painting control unit 131 controls the operation of the robot arm 110 and the end effector 120 of the painting robot 100 according to a teaching program. Specifically, the first painting control unit 131 controls the operation of the servo motors of the robot arm 110 and the end effector 120, and the operation of the control valve 123 of the end effector 120. The first painting control unit 131 controls the operation of the servo motors and the control valve 123 according to a teaching program so that the robot arm 110 and the end effector 120 perform teaching operations according to the teaching data. The first painting control unit 131 may also control the power supply to the servo motors and the control valve 123.

[0044] The first painting control unit 131 outputs information indicating the operating status of the robot arm 110 and the end effector 120 to the second painting control unit 132. For example, this information may indicate the operating status of the servo motors and control valves 123 of the robot arm 110 and the end effector 120. The information indicating the operating status of the servo motors and control valves 123 may be operation commands output to the servo motors and control valves 123, or it may be operation information fed back from the servo motors and control valves 123. The information indicating the operating status of the robot arm 110 and the end effector 120 may also be information indicating the processes currently being executed, processes that have been executed, or a combination thereof in the teaching program.

[0045] When the first painting control unit 131 completes painting of a predetermined painting area, it outputs a command to the supply control device 250 to replace the cartridge 201 of the end effector 120 in order to paint the next predetermined painting area. The command may include paint information, including the type of paint and the required amount of paint for the next predetermined painting area. The supply device 200 can select a cartridge 201 that matches the paint information from among the cartridges 201 held in the holding base 220, and replace the selected cartridge 201 with the cartridge 201 of the end effector 120.

[0046] The second painting control unit 132 controls the supply of paint from the supply device 200 to the painting robot 100 according to the supply program, based on information indicating the operating status of the robot arm 110 and the end effector 120 received from the first painting control unit 131. Furthermore, the second painting control unit 132 performs at least the prediction of the required amount of paint among the following: prediction of the required amount of paint for a predetermined painting area, modification of the teaching data stored in the first storage unit 133, and setting of the target discharge amount information stored in the second storage unit 134. The predetermined painting area is the area to be painted by the painting robot 100. For example, the predetermined painting area may be an area painted by the painting robot 100 in one painting operation, an area painted by the painting robot 100 using the same type of paint, an area painted by the painting robot 100 using the paint in one cartridge 201, or a combination thereof. The teaching points are associated with the predetermined painting area.

[0047] The second painting control unit 132 calculates the required amount of paint for a predetermined painting area before the painting robot 100 performs painting on that area. Before the painting robot 100 performs painting on the predetermined painting area, the second painting control unit 132 outputs information to the supply control device 250 including the calculated required amount of paint and the type of paint corresponding to the required amount. Before the painting robot 100 performs painting on the predetermined painting area, the second painting control unit 132 may output a command to the supply control device 250 to supply the painting robot 100 with the required amount of the above-mentioned type of paint. Alternatively, the supply control device 250 may be configured to receive information on the operating status of the painting robot 100 from the first painting control unit 131 or the second painting control unit 132, and after receiving information including the required amount of paint and the type of paint from the second painting control unit 132, it may execute control to fill the cartridge 201 with the required amount of the said type of paint according to the progress of the painting robot 100's operation. The second painting control unit 132 may output the required amount of paint and the type of paint to the first painting control unit 131 in association with a predetermined painting area. Details of the calculation process for the required amount of paint by the second painting control unit 132 will be described later.

[0048] The second paint control unit 132 can receive input information from various devices, either teaching data or target discharge amount, or both. For example, the device may be an input device provided by the paint control device 130, or it may be an external device E outside the paint control device 130. The external device E is connected to the paint control device 130 via an input / output I / F 130c. For example, the external device E may be an input device, a computer device, a storage device, etc.

[0049] The input device includes an input element that accepts input from an operator or other user, and outputs a signal indicating the content of the input to the input element. For example, the input element may be a slide switch, button switch, key, lever, joystick, touch panel, microphone, camera, or a combination thereof. For example, the computer device may be a personal computer or a smart device such as a smartphone or tablet. For example, the storage device may be a storage medium such as flash memory, a hard disk, or an SSD.

[0050] When the second painting control unit 132 receives input of information to be changed from the teaching data, it can update the teaching data stored in the first storage unit 133 by replacing the corresponding information in the teaching data stored in the first storage unit 133 with the received information. The second painting control unit 132 makes it possible to set any information in the teaching data. The input of information to be changed from the teaching data may be performed using the same method as the teaching operation, or by a method other than the teaching operation.

[0051] When the second paint control unit 132 receives input of target discharge amount information, it can replace the target discharge amount information stored in the second storage unit 134 with the received target discharge amount information, thereby updating the target discharge amount information stored in the second storage unit 134. Target discharge amount information is an example of second information. The second paint control unit 132 enables the setting of any target discharge amount. The second paint control unit 132 can accept input of target discharge amount information with respect to teaching points, teaching point paths, or both.

[0052] The second paint control unit 132 can accept input of either a target time discharge amount or a target level of discharge amount as information on the target discharge amount. When a target level is used, the second paint control unit 132 accepts input of a numerical value or level of an influencing element along with the target level. The second paint control unit 132 searches within the second storage unit 134 to extract the target time discharge amount corresponding to the combination of the target level and the numerical value or level of the influencing element, and stores the extracted target time discharge amount in the second storage unit 134 as information on the target discharge amount, in association with the target level.

[0053] An example of the detailed process for calculating the required amount of paint for a predetermined painting area is described below. Before the painting robot 100 performs painting of the predetermined painting area, the second painting control unit 132 accesses the teaching program stored in the first storage unit 133 and obtains teaching data through the teaching program. The second painting control unit 132 may access the teaching program and obtain teaching data without having the first painting control unit 131 perform control to cause the painting robot 100 to perform painting of the predetermined painting area. The second painting control unit 132 obtains information on teaching points corresponding to the predetermined painting area.

[0054] Furthermore, the second painting control unit 132 accesses the target discharge amount information stored in the second storage unit 134 to obtain target discharge amount information corresponding to a predetermined painting area. For example, the second painting control unit 132 obtains target discharge amount information for multiple teaching points corresponding to a predetermined painting area. In addition, the second painting control unit 132 obtains specification data for the robot arm 110 and the end effector 120 from the first storage unit 133.

[0055] The second painting control unit 132 uses the information of each teaching point and the information of the target discharge amount corresponding to that teaching point to calculate the required amount of paint for painting between the teaching points for each pair of teaching points that are adjacent in time series. For example, when the second painting control unit 132 calculates the required amount of paint AP1 between the first teaching point TP1 and the second teaching point TP2 that are adjacent in time series, it calculates the paint discharge time T1 from the spray nozzle 122 between the first teaching point TP1 and the second teaching point TP2. The second teaching point TP2 is the teaching point that follows the first teaching point TP1 in time series.

[0056] The second painting control unit 132 uses information on the target position of the end effector 120 set at the first teaching point TP1 and the second teaching point TP2, and information on the target movement speed VT1 of the end effector 120 set at the first teaching point TP1, to calculate the discharge time T1. The second painting control unit 132 may also calculate the discharge time T1 by calculating the distance L1 between the target positions of the first teaching point TP1 and the second teaching point TP2 and dividing the distance L1 by the target movement speed VT1. The discharge time T1 is the period of time during which paint is continuously discharged from the first teaching point TP1 to the second teaching point TP2. The discharge time is also the time during which the control valve 123 remains open. The second painting control unit 132 calculates the required paint amount AP1 by multiplying the target discharge amount DA1 of the first teaching point TP1 by the discharge time T1. The second painting control unit 132 may perform the process up to calculating the required amount of paint for a predetermined painting area without having the first painting control unit 131 perform the control to cause the painting robot 100 to paint the predetermined painting area.

[0057] For example, if the movement speed or direction of the end effector 120 changes at or between teaching points, the second painting control unit 132 may reflect the effect of acceleration and deceleration of the end effector 120 in calculating the required amount of paint. In this case, the second painting control unit 132 reads the specifications data of the robot arm 110 from the first storage unit 133 and obtains information about the robot arm 110 regarding acceleration and deceleration when moving the end effector 120. In other words, the second painting control unit 132 obtains information about the acceleration and deceleration at which the robot arm 110 can move the end effector 120 and uses it to calculate the required amount of paint. Hereafter, this information on the degree of acceleration and deceleration will also be referred to as "information on the acceleration and deceleration of the robot arm 110".

[0058] For example, in the case shown in Figure 4, the second painting control unit 132 uses information on the acceleration and deceleration of the robot arm 110. Figure 4 is a diagram showing an example in which the effects of the acceleration and deceleration of the robot arm 110 are reflected in the required amount of paint. In the case shown in Figure 4, the movement speed V1 of the end effector 120 when it reaches the first teaching point TP1 is lower than the target movement speed VT1, so acceleration from the first teaching point TP1 is necessary. Furthermore, the movement speed V2 of the end effector 120 when it reaches the second teaching point TP2 is lower than the target movement speed VT1, so deceleration to the second teaching point TP2 is necessary.

[0059] In this case, the second painting control unit 132 calculates the first travel distance L1a and the first elapsed time T1a of the end effector 120 from the travel speed V1 to the target travel speed VT1. The second painting control unit 132 calculates the second travel distance L1b and the second elapsed time T1b of the end effector 120 from the travel speed VT1 to the target travel speed V2. The second painting control unit 132 calculates the distance (L1-L1a-L1b) by subtracting the first travel distance L1a and the second travel distance L1b from the distance L1 between the first teaching point TP1 and the second teaching point TP2, and calculates the third elapsed time T1c by dividing the distance (L1-L1a-L1b) by the target travel speed VT1.

[0060] The second painting control unit 132 determines the discharge time T1 as the sum of the elapsed times T1a, T1b, and T1c (T1a + T1b + T1c). The second painting control unit 132 calculates the required paint amount AP1 by multiplying the target discharge amount DA1 of the first teaching point TP1 by the discharge time (T1a + T1b + T1c).

[0061] In cases where acceleration of the end effector 120 is required at one or both of the first teaching point TP1 and the second teaching point TP2, in cases where deceleration of the end effector 120 is required at one or both of the first teaching point TP1 and the second teaching point TP2, and in cases where acceleration is required at one of the first teaching point TP1 and the second teaching point TP2 and deceleration is required at the other, the second painting control unit 132 can similarly calculate the discharge time T1 taking acceleration and deceleration into account.

[0062] For example, the second painting control unit 132 may reflect the effect of the delay time of the operation of the control valve 123 in calculating the required amount of paint. In this case, the second painting control unit 132 reflects the first delay time, the second delay time, or both. Information on the first delay time and the second delay time is stored in advance in the first storage unit 133, the second storage unit 134, or both.

[0063] The first delay time is the time from when the command to start discharging paint is issued until the spray nozzle 122 discharges paint. For example, the first delay time may be the time from when the first painting control unit 131 outputs a command to open the valve to the control valve 123 until the control valve 123 performs the valve opening operation. The command to open the valve is the command to start discharging paint. The time when the control valve 123 performs the valve opening operation may be any timing between the start of the valve opening operation and the completion of the valve opening operation. Such a first delay time may include the time required for the control valve 123 to perform the valve opening operation.

[0064] The second delay time is the time from when a command to stop paint discharge is issued until the spray nozzle 122 stops discharging paint. For example, the second delay time may be the time from when the first painting control unit 131 outputs a command to the control valve 123 to when the control valve 123 performs the valve closing operation. The command to close the valve is a command to stop paint discharge. The time when the control valve 123 performs the valve closing operation may be any timing between the start of the valve closing operation and the completion of the valve closing operation. Such a second delay time may include the time required for the control valve 123 to perform the valve closing operation.

[0065] For example, if the control valve 123 is opened between the first teaching point TP1 and the second teaching point TP2, the second painting control unit 132 may calculate the required amount of paint AP1 considering the first delay time. If the control valve 123 is closed between the first teaching point TP1 and the second teaching point TP2, the second painting control unit 132 may calculate the required amount of paint AP1 considering the second delay time.

[0066] For example, in the case shown in Figure 5, the second paint control unit 132 reflects both the first delay time DT1 and the second delay time DT2 in the calculation of the required amount of paint. Figure 5 is a diagram showing an example in which the effect of the delay time of the operation of the control valve 123 is reflected in the required amount of paint. In the case of Figure 5, the control valve 123 is opened at the first teaching point TP1, and the control valve 123 is closed when it reaches the second teaching point TP2.

[0067] In this case, with respect to the first delay time DT1, the time at which the control valve 123 performs the valve opening operation is the time when the valve opening operation is completed. With respect to the second delay time DT2, the time at which the control valve 123 performs the valve closing operation is the time when the valve closing operation is completed. The first delay time DT1 and the second delay time DT2 are stored in the first storage unit 133.

[0068] The second painting control unit 132 reads the first delay time DT1 and the second delay time DT2 from the first storage unit 133, and reads the target discharge amount DA1 of the first teaching point TP1 from the second storage unit 134. The second painting control unit 132 uses the first delay time DT1, the second delay time DT2, the target discharge amount DA1, and the discharge time T1 between the first teaching point TP1 and the second teaching point TP2 calculated above to calculate the required paint amount AP1 between the first teaching point TP1 and the second teaching point TP2.

[0069] The second painting control unit 132 calculates the first required paint amount AP1a, the second required paint amount AP1b, and the third required paint amount AP1c. The first required paint amount AP1a is the amount of paint required from the start time t1a of the discharge time T1 to the elapsed time t1b of the first delay time DT1. The second required paint amount AP1b is the amount of paint required from the elapsed time t1b of the first delay time DT1 to the end time t1c of the discharge time T1. The third required paint amount AP1c is the amount of paint required from the end time t1c of the discharge time T1 to the elapsed time t1d of the second delay time DT2. The second painting control unit 132 determines the total of the required paint amounts AP1a, AP1b, and AP1c (AP1a + AP1b + AP1c) as the required paint amount AP1.

[0070] For example, the second paint control unit 132 may calculate the first required paint amount AP1a as the amount of paint required such that the target discharge amount gradually increases from zero to DA1 between time t1a and time t1b. The relationship between the increase in the target discharge amount and the elapsed time may be a linear relationship, such as a straight line or a curve, or it may be a nonlinear relationship. In Figure 5, the relationship is proportional. For example, in order to take into account the time from the output of the valve opening command to the reception of the command by the control valve 123, the second paint control unit 132 may set the target discharge amount to zero for a part of the period between time t1a and time t1b. Alternatively, the second paint control unit 132 may calculate the first required paint amount AP1a as the amount of paint required such that the target discharge amount is constant at a value lower than DA1 between time t1a and time t1b.

[0071] The second paint control unit 132 calculates the required paint amount AP1b as the second required paint amount such that the target discharge amount remains constant at DA1 between time point t1b and time point t1c.

[0072] For example, the second painting control unit 132 may calculate the required amount of paint AP1c as the third required amount of paint AP1c, such that the target discharge amount gradually decreases from DA1 to zero between time t1c and time t1d. The relationship between the decrease in the target discharge amount and the elapsed time may be a linear relationship, such as a straight line or a curve, or it may be a nonlinear relationship. In Figure 5, the relationship is proportional. For example, in order to take into account the time from the output of the command to close the valve to the reception of the command by the control valve 123, the second painting control unit 132 may set the target discharge amount to DA1 for a portion of the time between time t1c and time t1d. Alternatively, the second painting control unit 132 may calculate the required amount of paint AP1c as the third required amount of paint AP1c, such that the target discharge amount is constant at a value lower than DA1 between time t1c and time t1d.

[0073] The second painting control unit 132 may reflect both the effect of acceleration and deceleration of the end effector 120 before and after the teaching point, and the effect of the delay time of the operation of the control valve 123, in calculating the required amount of paint. The second painting control unit 132 may also calculate the required amount of paint AP1 between the first teaching point TP1 and the second teaching point TP2, using a discharge time T1 that takes into account the effect of acceleration and deceleration of the end effector 120, and taking into account the effect of the delay time of the operation of the control valve 123.

[0074] The second painting control unit 132 calculates the required amount of paint between all pairs of teaching points that are adjacent in time series among the teaching points corresponding to a predetermined painting area, and determines the sum of the calculated required amounts of paint as the required amount of paint for the predetermined painting area.

[0075] Next, the functional components of the supply control device 250 will be described. As shown in Figure 3, the storage unit 254 stores various information and data, and enables the retrieval of the stored information and data. The storage unit 254 stores the control programs for the exchange robot 210, the filling device 230, and the washing device 240. The control program is a computer program that causes the exchange robot 210, the filling device 230, and the washing device 240 to autonomously perform predetermined operations, and is executed by the supply control units 251, 252, and 253. In this embodiment, although not limited to the following, the control program is a teaching program that includes teaching data. For example, the teaching data may include information on multiple teaching points related to the end effector 212 of the exchange robot 210 and information on multiple teaching points related to the placement position of each cartridge 201.

[0076] The first supply control unit 251 controls the operation of the robot arm 211 and end effector 212 of the replacement robot 210 according to the teaching program. The first supply control unit 251 performs control according to commands and information received from the painting control device 130. For example, when the first supply control unit 251 receives a command from the painting control device 130 to replace cartridge 201, it causes the replacement robot 210 to replace cartridge 201 in the end effector 120 of the painting robot 100 with cartridge 201 held in the holding base 220 that corresponds to the command. Based on the paint information included in the command, the first supply control unit 251 determines which cartridge 201 to be replaced in the holding base 220.

[0077] The third supply control unit 253 controls the operation of the cleaning device 240 according to a teaching program. The third supply control unit 253 causes the cleaning device 240 to clean the cartridge 201 that has been transferred from the end effector 120 to the holding stand 220 by the replacement robot 210. The cleaning operation of the cartridge 201 includes extracting any paint remaining inside the cartridge 201 and cleaning any paint adhering to the cartridge 201 after the extraction. When the third supply control unit 253 receives information from the first supply control unit 251 indicating the completion of the transfer of the cartridge 201 to the holding stand 220 and the position of the cartridge 201 on the holding stand 220, it cleans the transferred cartridge 201 based on this information. The third supply control unit 253 may store information including the position of the cartridge 201 after cleaning in the storage unit 254, or it may output this information to the second supply control unit 252.

[0078] The second supply control unit 252 controls the operation of the filling device 230 according to the teaching program. When the second supply control unit 252 receives a command from the painting control device 130 to supply the required amount of paint to the painting robot 100, it fills the cleaned cartridges 201 in the holding table 220 with paint. The second supply control unit 252 controls the filling according to the required amount of paint and the type of paint included in the command. The second supply control unit 252 may obtain information on the position of the cartridges 201 after cleaning from the storage unit 254 or the third supply control unit 253 and determine which cartridges 201 to be filled. The second supply control unit 252 may store information including the position of the cartridges 201 after filling, the amount of paint to be filled, and the type of paint in the storage unit 254, or it may output this information to the first supply control unit 251.

[0079] [Robot system operation] The operation of the robot system 1 according to the embodiment will be described with reference to Figure 6. Figure 6 is a flowchart showing an example of the operation of the painting control device 130 and the supply control device 250 according to the embodiment. Below, an example of controlling a pair of one painting robot 100 and one supply device 200 will be described.

[0080] First, the operator of the robot system 1 inputs information about the target discharge amount to the painting control device 130. The painting control device 130 updates the target discharge amount information stored in the painting control device 130 using the input information about the target discharge amount. In other words, the painting control device 130 sets the information about the target discharge amount (step S101). In this step, information to be changed in the teaching data may also be input to the painting control device 130. In this case, the painting control device 130 updates the teaching data stored in the painting control device 130 using the input information.

[0081] Next, the robot system 1 is activated. The painting control device 130 calculates the required amount of paint for a predetermined painting area before the painting robot 100 starts painting that predetermined painting area of ​​the vehicle body V (step S102).

[0082] The painting control device 130 calculates the required amount of paint before it is time to have the painting robot 100 execute the teaching program. The painting control device 130 accesses the teaching program and obtains information on teaching points corresponding to a predetermined painting area. The painting control device 130 uses the teaching point information and the target discharge amount information to calculate the required amount of paint. In some cases, the painting control device 130 uses the specifications data of the painting robot 100 to calculate the required amount of paint.

[0083] Next, the painting control device 130 outputs a request command to the supply control device 250 requesting the supply of paint (step S103). The request command includes information specifying the type of paint and the required amount of paint. At this time, the painting robot 100 is in a standby position. In the standby position, the painting robot 100 positions the end effector 120 near the holding base 220 of the supply device 200. If the painting robot 100 is not in a standby position, the painting control device 130 may move the painting robot 100 to the standby position between steps S101 and S103.

[0084] Next, the supply control device 250 instructs the filling device 230 to fill the cleaned cartridges 201 in the holding stand 220 with paint (step S104). The supply control device 250 selects one cartridge 201 from the cleaned cartridges 201 in the holding stand 220 to be filled with paint. The supply control device 250 outputs a filling command to the filling device 230 to fill the cartridge 201 with paint. The filling command includes information specifying the location of the cartridge 201 to be filled, the type of paint to be filled, and the amount of paint to be filled. The amount of paint to be filled is the required amount of paint. If the required amount of paint is greater than the amount of paint that can be contained in one cartridge 201, the supply control device 250 may select two or more cartridges 201 and the amount of paint to be filled into each cartridge 201. In this case, the sum of the amounts to be filled into the cartridges 201 to be filled is the required amount of paint.

[0085] The filling device 230 autonomously fills the designated cartridge 201 with the designated type of paint in the designated amount, in accordance with commands received from the supply control device 250. When the filling device 230 has completed filling, it notifies the supply control device 250 that filling is complete.

[0086] Next, when the supply control device 250 receives notification that the paint filling is complete, it controls the replacement robot 210 according to the teaching program to have the replacement robot 210 autonomously transfer the filled cartridge 201 from the holding stand 220 and mount it on the end effector 120 of the painting robot 100 (step S105). Once the mounting of the cartridge 201 is complete, the supply control device 250 outputs a completion of mounting to the painting control device 130.

[0087] When the painting control device 130 receives notification that the cartridge 201 has been installed and it is time to start painting the painting area, it executes, or plays, the teaching program. The painting control device 130 controls the painting robot 100 to autonomously paint a predetermined painting area using the paint in the cartridge 201 (step S106).

[0088] Next, after painting a predetermined area is completed, the painting control device 130 moves the painting robot 100 to a standby position and positions the end effector 120 near the holding base 220. The painting control device 130 outputs an engagement / disengagement command to the supply control device 250 requesting the removal of the used cartridge 201 from the end effector 120 (step S107).

[0089] When the supply control device 250 receives an engagement / disengagement command, it controls the replacement robot 210 according to the teaching program to have the replacement robot 210 autonomously remove the used cartridge 201 from the end effector 120 of the painting robot 100 (step S108). Furthermore, the supply control device 250 has the replacement robot 210 transfer the used cartridge 201 and place it on the holding stand 220. The supply control device 250 may newly determine the placement position on the holding stand 220, or it may determine the same placement position as in step S105.

[0090] Next, after the placement of the used cartridges 201 is complete, the supply control device 250 instructs the cleaning device 240 to clean the used cartridges 201 on the holding stand 220 (step S109). The supply control device 250 outputs a cleaning command to the cleaning device 240 to clean the cartridges 201. The cleaning command includes information on the location of the used cartridges 201 to be cleaned. The cleaning device 240 autonomously discharges any remaining paint from the designated cartridges 201 according to the command received from the supply control device 250 and cleans the inside of the cartridges 201 after the paint has been discharged. Once the filling device 230 has completed the cleaning, it may notify the supply control device 250 that the cleaning is complete.

[0091] By performing the series of processes from steps S101 to S109, the robot system 1 paints a predetermined painting area using a cartridge 201 containing a predetermined amount of a predetermined type of paint, while minimizing any excess or shortage of paint.

[0092] Furthermore, a case in which two or more pairs of painting robots 100 and supply devices 200 work together to paint the vehicle body V will be described. As an example, a case in which three pairs of painting robots 100 and supply devices 200 work together to paint will be described with reference to Figures 7 and 8. Figures 7 and 8 are sequence diagrams showing an example of the operation of multiple painting control devices 130 and multiple supply control devices 250 according to the embodiment. In the following, of the painting robots 100 and supply devices 200, the pair of the first painting robot 100A and the first supply device 200A paints the first painting area of ​​the vehicle body V, the pair of the second painting robot 100B and the second supply device 200B paints the second painting area of ​​the vehicle body V, and the pair of the third painting robot 100C and the third supply device 200C paints the third painting area of ​​the vehicle body V.

[0093] First, according to the target discharge amount information input by the operator of robot system 1, the painting control devices 130A, 130B, and 130C of painting robots 100A, 100B, and 100C, respectively, set the target discharge amount information (step S201). In this step, the painting control devices 130 of painting robots 100A, 100B, and 100C may be input with information to be changed in the teaching data. In this case, the painting control devices 130 of painting robots 100A, 100B, and 100C update their teaching data using the input information.

[0094] Next, when the robot system 1 is activated, the first painting control device 130A calculates the required amount of paint for the first painting area before the timing when the first painting robot 100A starts painting the first painting area (step S202).

[0095] Next, the first painting control device 130A outputs a paint request command to the first supply control device 250A of the first supply device 200A (step S203). The first supply control device 250A causes the filling device 230 to fill the cleaned cartridge 201 on the holding stand 220 with paint (step S204). After the paint filling is complete, the first supply control device 250A causes the replacement robot 210 to attach the filled cartridge 201 to the end effector 120 of the first painting robot 100A (step S205). The first supply control device 250A outputs a notification of completion of attachment to the first painting control device 130A.

[0096] When the first painting control device 130A receives notification that the cartridge 201 has been installed, it instructs the first painting robot 100A to paint the first painting area (step S206). The first painting control device 130A outputs a notification to the second painting control device 130B that painting of the first painting area is in progress.

[0097] While painting is being performed in the first painting area, the second painting control device 130B calculates the required amount of paint for the second painting area (step S207). The second painting control device 130B outputs a paint request command to the second supply control device 250B of the second supply device 200B (step S208). The second supply control device 250B causes the filling device 230 to fill the cleaned cartridge 201 on the holding stand 220 with paint (step S209).

[0098] After the painting of the first painting area is completed, the first painting control device 130A outputs an engagement / disengagement command to the first supply control device 250A requesting the removal of the used cartridge 201 from the end effector 120 (step S210). The first painting control device 130A outputs a notification to the second painting control device 130B that the painting of the first painting area is complete.

[0099] Next, the first supply control device 250A instructs the replacement robot 210 to remove the used cartridge 201 from the end effector 120 of the first painting robot 100A and transfer it to the holding table 220 (step S211). The first supply control device 250A instructs the cleaning device 240 to clean the used cartridge 201 on the holding table 220 (step S212). The processes in steps S211 and S212 may be performed at any time after the completion of painting in the first painting area.

[0100] After the paint filling is complete, the second supply control device 250B instructs the replacement robot 210 to attach the filled cartridge 201 to the end effector 120 of the second painting robot 100B (step S213). The second supply control device 250B outputs a notification of completion of attachment to the second painting control device 130B. In this example, the process of step S213 is performed between the process of step S211 and the process of step S212, between the completion of painting of the first painting area and the start of painting of the second painting area, but is not limited to this. The process of step S213 may be performed at any timing before the start of painting of the second painting area.

[0101] When the second painting control device 130B receives notification that painting of the first painting area is complete and notification that the cartridge 201 has been installed, it causes the second painting robot 100B to paint the second painting area (step S214). The second painting control device 130B outputs a notification to the third painting control device 130C that painting of the second painting area is in progress.

[0102] While painting is being performed in the second painting area, the third painting control device 130C calculates the required amount of paint for the third painting area (step S215). The third painting control device 130C outputs a paint request command to the third supply control device 250C of the third supply device 200C (step S216). The third supply control device 250C causes the filling device 230 to fill the cleaned cartridge 201 on the holding stand 220 with paint (step S217).

[0103] The second painting control device 130B outputs an engagement / disengagement command to the second supply control device 250B requesting the removal of the used cartridge 201 from the end effector 120 after the painting of the second painting area is completed (step S218). The second painting control device 130B outputs a notification to the third painting control device 130C that the painting of the second painting area is complete.

[0104] Next, the second supply control device 250B instructs the replacement robot 210 to remove the used cartridge 201 from the end effector 120 of the second painting robot 100B and transfer it to the holding table 220 (step S219). The second supply control device 250B instructs the cleaning device 240 to clean the used cartridge 201 on the holding table 220 (step S220). The processes in steps S219 and S220 may be performed at any time after the painting of the second painting area is completed.

[0105] After the paint filling is complete, the third supply control device 250C instructs the replacement robot 210 to attach the filled cartridge 201 to the end effector 120 of the third painting robot 100C (step S221). The third supply control device 250C outputs a notification of completion of attachment to the third painting control device 130C. In this example, the process of step S221 is performed between the process of step S219 and the process of step S220, between the completion of painting of the second painting area and the start of painting of the third painting area, but is not limited to this. The process of step S221 may be performed at any time before the start of painting of the third painting area.

[0106] When the third painting control device 130C receives notification that painting of the second painting area is complete and that the cartridge 201 has been installed, it instructs the third painting robot 100C to paint the third painting area (step S222). After painting of the third painting area is complete, the third painting control device 130C outputs an engagement / disengagement command to the third supply control device 250C requesting the removal of the used cartridge 201 from the end effector 120 (step S223). The third supply control device 250C instructs the replacement robot 210 to remove the used cartridge 201 from the end effector 120 of the third painting robot 100C and transfer it to the holding table 220 (step S224). The third supply control device 250C instructs the cleaning device 240 to clean the used cartridge 201 on the holding table 220 (step S225).

[0107] By performing the series of processes from step S201 to S225, the robot system 1 paints each of the three painting areas of the vehicle body V using three cartridges 201 containing a predetermined amount of a predetermined type of paint, while minimizing any excess or shortage of paint.

[0108] In the examples shown in Figures 7 and 8, three supply devices 200 are arranged corresponding to each of the three painting robots 100, but one supply device 200 may be arranged for two or more painting robots 100. In this case, for example, as in the process of steps S211 to S213 described above, the supply control device 250 may control the replacement robot 210 so that the process of the replacement robot 210 removing the used cartridge 201 from the first painting robot 100A and the process of the replacement robot 210 installing the filled cartridge 201 into the second painting robot 100B do not overlap.

[0109] (Other embodiments) While embodiments of this disclosure have been described above, this disclosure is not limited to the embodiments described above. That is, various modifications and improvements are possible within the scope of this disclosure. For example, embodiments that have been modified in various ways, and forms constructed by combining components from different embodiments, are also included within the scope of this disclosure.

[0110] For example, in this embodiment, the second painting control unit 132 of the painting control device 130 calculates the required amount of paint between each pair of time-series adjacent teaching points, but is not limited to this. The second painting control unit 132 may be configured to calculate the required amount of paint between two teaching points such that one or more teaching points are included between the two teaching points. For example, pairs of teaching points for which the required amount of paint is to be calculated may be set in advance among a plurality of teaching points, and information on such pairs may be stored in the storage unit 133 or 134.

[0111] In the embodiment, robot arms 110 and 211 are exemplified as vertical articulated robot arms, but the type of robot arms 110 and 211 is not limited thereto. For example, robot arms 110 and 211 may be horizontal articulated, polar coordinate type, cylindrical coordinate type, rectangular coordinate type, or other types. The number of joints in robot arms 110 and 211 is also not limited to six.

[0112] Examples of each aspect of the technology of the present disclosure are as follows: An information processing device according to one aspect of the present disclosure is an information processing device comprising a processor, wherein the processor performs the following actions before the painting robot performs painting: accessing a control program for the painting robot; obtaining first information from the control program relating to the painting operation of the painting robot and set in the control program; and using the first information, calculating the required amount of paint, which is the amount of paint required for painting by the painting robot.

[0113] According to the above embodiment, the information processing device calculates the required amount of paint using first information related to the painting operation of the painting robot and set in the control program of the painting robot. Therefore, the information processing device can calculate the required amount of paint regardless of whether or not the painting work is performed by the painting robot. Since the required amount of paint is calculated using information set in the control program, it has high accuracy in predicting the amount of paint actually needed when performing painting work. Thus, the information processing device can predict the required amount of paint with high accuracy before performing painting.

[0114] In an information processing device according to one aspect of the present disclosure, the processor may obtain the first information from the control program and calculate the required amount of paint without causing the painting robot to perform painting.

[0115] According to the above embodiment, the information processing device can more reliably calculate the required amount of paint before the painting robot performs painting. The information processing device can acquire the first information and calculate the required amount of paint without having the painting robot execute a control program.

[0116] An information processing device according to one aspect of the present disclosure further comprises a storage unit for storing second information relating to a target discharge amount of paint, and the processor may acquire the second information from the storage unit before the painting robot performs painting, and use the second information and the first information to calculate the required amount of paint.

[0117] According to the above embodiment, the information processing device calculates the required amount of paint using first information related to the painting operation of the painting robot and second information related to the target amount of paint discharged. Therefore, the information processing device can calculate the required amount of paint with high accuracy.

[0118] In an information processing apparatus according to one aspect of the present disclosure, the processor may receive input of either or both of the first information and the second information, update the first information set in the control program and the second information stored in the storage unit using the received first information and the second information, and calculate the required amount of paint using the updated first information and the second information.

[0119] According to the above embodiment, the information processing device can accept changes to either or both of the first and second information, and calculate the required amount of paint using the changed first and second information. Therefore, arbitrary settings of the first and second information become possible. For example, the information processing device can accept changes to the first information related to the painting operation and discharge amount of a painting robot, and reflect such changes in the required amount of paint. The information processing device can accept second information corresponding to the capacity of the paint discharge unit, such as a paint gun used in the robot, and the gas compressor that supplies compressed gas to the paint discharge unit, and calculate the required amount of paint according to said capacity.

[0120] In an information processing device according to one aspect of the present disclosure, the control program includes teaching data that causes the painting robot to autonomously perform painting, the teaching data includes first teaching information indicating the position of a target of the paint discharge unit of the painting robot when painting, and second teaching information indicating the movement speed of the target of the paint discharge unit when painting, and the processor may acquire and use the first teaching information and the second teaching information as the first information.

[0121] According to the above embodiment, the information processing device calculates the required amount of paint using the first teaching information and the second teaching information. In other words, the information processing device calculates the required amount of paint using information on the target position and movement speed of the paint discharge unit. Therefore, the information processing device can calculate the required amount of paint with high accuracy.

[0122] In an information processing device according to one aspect of the present disclosure, the processor may use the first teaching information and the second teaching information to calculate the paint discharge time of the paint discharge unit, and use the discharge time to calculate the required amount of paint.

[0123] According to the above embodiment, the information processing device can calculate the distance between the target positions of the paint dispensing unit and the dispensing time corresponding to the movement speed of the target of the paint dispensing unit between the target positions. The required amount of paint calculated using such dispensing time has high accuracy.

[0124] In an information processing device according to one aspect of the present disclosure, the processor may acquire information about the painting robot regarding the acceleration and deceleration when the paint dispensing unit moves, and calculate the dispensing time using the information about the painting robot, the first teaching information, and the second teaching information.

[0125] According to the above embodiment, the information processing device can calculate the discharge time taking into account the acceleration and deceleration when the movement speed of the paint discharge unit changes. The required amount of paint calculated using such a discharge time has high accuracy.

[0126] In an information processing device according to one aspect of the present disclosure, the processor may calculate the required amount of paint, taking into account a first delay time from the time a command to start dispensing paint is issued until the paint is dispensed.

[0127] According to the above embodiment, during the first delay time, paint cannot be dispensed at the target discharge rate immediately after the command to start dispensing is issued. The required amount of paint, taking the first delay time into account, has high accuracy compared to the actual amount of paint required for painting.

[0128] In an information processing device according to one aspect of the present disclosure, the processor may calculate the required amount of paint, taking into account a second delay time from the time a command to stop the discharge of paint is issued until the discharge of paint stops.

[0129] According to the above embodiment, paint can be dispensed even after the command to stop dispensing has been issued during the second delay time. The required amount of paint, taking the second delay time into account, has high accuracy compared to the actual amount of paint required for painting.

[0130] In an information processing apparatus according to one aspect of the present disclosure, the processor may be further configured to execute the control program and control the operation of the painting robot.

[0131] According to the above embodiment, the information processing device has the functions of a robot controller. In other words, the information processing device can be mounted on the robot controller and function as part of the robot controller. The functions of the information processing device can be realized by the computer of the robot controller. Since there is no need to place a separate device as the information processing device from the robot controller, the control equipment can be simplified. Furthermore, because the robot controller has access to its own control program, it can reliably and quickly execute the functions of the information processing device.

[0132] In an information processing device according to one aspect of the present disclosure, the processor may output a command to a supply device to supply the required amount of paint to the painting robot before the painting robot performs painting.

[0133] According to the above embodiment, the information processing device can cause the supply device to supply the required amount of paint calculated by the information processing device to the painting robot. The painting robot paints using the required amount of paint. In this process, any excess or shortage of paint is reduced.

[0134] A robot system according to one aspect of the present disclosure includes a painting robot, a supply device for supplying paint to the painting robot, and a robot controller which includes the functions of an information processing device according to one aspect of the present disclosure and controls the operation of the painting robot, wherein the robot controller performs both the calculation of the required amount of paint and the output of a command to the supply device to supply the required amount of paint to the painting robot before causing the painting robot to perform painting.

[0135] The robot system according to the above embodiment realizes the same functions as the information processing device according to one embodiment of this disclosure. The robot controller calculates the required amount of paint, causes the supply device to supply the required amount of paint to the painting robot, and causes the painting robot to paint with the required amount of paint.

[0136] A robot system according to one aspect of the present disclosure includes two or more painting robots, two or more supply devices that supply paint to the two or more painting robots, and two or more robot controllers, each including the functions of an information processing device according to one aspect of the present disclosure and controlling the operation of each of the two or more painting robots, wherein the first robot controller among the two or more robot controllers performs both of the following before causing the first painting robot among the two or more painting robots to perform painting: calculate a first required amount of paint for painting the first painting robot and output a command to the first supply device among the two or more supply devices to supply the first required amount of paint to the first painting robot; and the second robot controller among the two or more robot controllers performs both of the following before the first painting robot completes painting: calculate a second required amount of paint for painting the second painting robot among the two or more painting robots and output a command to the second supply device among the two or more supply devices to supply the second required amount of paint to the second painting robot.

[0137] The robot system according to the above embodiment realizes the same functions as the information processing device according to one embodiment of this disclosure. The robot system can cause the first painting robot and the second painting robot to perform painting work in sequence. The second robot controller outputs a command to the second supply device to supply the second required amount of paint to the second painting robot before the first painting robot completes its painting work. The robot system can shorten the time interval from the completion of the painting work by the first painting robot to the start of the painting work by the second painting robot. This makes it possible to shorten the time required for painting work.

[0138] In a robot system according to one aspect of this disclosure, the first supply device and the second supply device may be the same.

[0139] According to the above embodiment, the robot system can supply the required amount of paint to each of the two painting robots using a single supply device, and have the two painting robots perform painting work sequentially. This makes it possible to make the system more compact.

[0140] A method for predicting the amount of paint required for painting by the painting robot, according to one aspect of the present disclosure, includes: accessing the control program of a painting robot before the painting robot performs painting; obtaining first information from the control program that is related to the painting operation of the painting robot and is set in the control program; and using the first information, calculating the amount of paint required for painting by the painting robot.

[0141] The paint quantity prediction method according to the above embodiment realizes the same functions as the information processing device according to one embodiment of this disclosure. For example, the paint quantity prediction method according to one embodiment of this disclosure may be realized by a processor, a processing circuit, a combination of processing circuits and circuits, an IC card, or a standalone module. The technology of this disclosure may be a program for executing the paint quantity prediction method, or a non-temporary computer-readable recording medium on which the program is recorded. Needless to say, the program can also be distributed via a transmission medium such as the Internet.

[0142] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0143] The ordinal numbers, quantities, and other figures used above are all illustrative to specifically illustrate the technology of this disclosure, and this disclosure is not limited to these illustrative figures. Furthermore, the connection relationships between the components are illustrative to specifically illustrate the technology of this disclosure, and the connection relationships that realize the functions of this disclosure are not limited to these.

[0144] The division of blocks in the functional block diagram is just one example; multiple blocks may be implemented as a single block, one block may be divided into multiple parts, and / or some functions may be moved to other blocks. Furthermore, the functions of multiple blocks with similar functions may be processed in parallel or time-sharing by a single piece of hardware or software.

[0145] This disclosure is defined more by the appended claims than by the description in the specification, so that it can be implemented in various ways without departing from the spirit of its essential features. Therefore, the scope of this disclosure is defined more by the appended claims than by the description in the specification; thus, exemplary embodiments and variations are illustrative and not limiting. All modifications within the scope of the claims, or equivalents of the claims, are intended to be encompassed by the claims. [Explanation of Symbols]

[0146] 1. Robot System 100, 100A, 100B, 100C Painting Robot 120 End effector (paint dispensing section) 122 Spray nozzle (paint discharge part) 130, 130A, 130B, 130C Painting control device (information processing device, robot controller) 200,200A,200B,200C supply device 250, 250A, 250B, 250C Supply Control Device P Processor M Storage device (storage unit)

Claims

1. An information processing device equipped with a processor, The aforementioned processor, Accessing the control program of the painting robot, which includes teaching data to cause the painting robot to autonomously paint a predetermined painting area before the painting robot performs painting, the teaching data to include information on three or more teaching points, wherein the information on the teaching points includes teaching data that includes the target position of the paint discharge unit of the painting robot during painting and the target movement speed of the paint discharge unit from the target position during painting. As first information related to the painting operation of the painting robot and set in the control program, information on the teaching points included in the teaching data is obtained from the control program. The acquisition of second information includes a target discharge amount set at the teaching point, which includes the target discharge amount of paint discharged from the paint discharge unit starting from the target position of the teaching point during painting, For each pair of teaching points adjacent in time, the discharge time of the paint discharge unit during the process from the first teaching point to the second teaching point is calculated using the target position and target movement speed of the first teaching point which is earlier in time within the pair of teaching points, and the target position of the second teaching point which is later in time within the pair of teaching points. Using the discharge time and the target discharge amount at the first teaching point, the amount of paint required for a section, which is the amount of paint required for painting by the painting robot in the process from the first teaching point to the second teaching point, is calculated. The process involves calculating the required paint amount, which is the amount of paint required for painting the predetermined painting area by the painting robot, using the required paint amount for each section of the pair of teaching points. Information processing device.

2. The processor obtains the first information from the control program and calculates the required amount of paint for the predetermined painting area without having the painting robot perform painting. The information processing apparatus according to claim 1.

3. The information processing device further comprises a storage unit for storing the second information, or the teaching data includes the second information. The aforementioned processor, Before the painting robot performs painting, it acquires the second information from the storage unit or the control program, Using the acquired second information and first information, the required amount of paint for the predetermined painting area is calculated. The information processing apparatus according to claim 1 or 2.

4. The aforementioned processor, The system accepts input of either or both of the first and second pieces of information. Using the received first information and second information, the first information set in the control program and the second information stored in the storage unit or set in the control program are updated. Using the updated first and second information, the required amount of paint for the predetermined painting area is calculated. The information processing apparatus according to claim 3.

5. The processor acquires information about the painting robot regarding the acceleration and deceleration when the paint dispensing unit moves, and uses the information about the painting robot and the first information to calculate the dispensing time. The information processing apparatus according to any one of claims 1 to 4.

6. The processor calculates the required amount of paint for the predetermined painting area, taking into account a first delay time from the issuance of a command to start paint discharge until the paint is actually discharged. The information processing apparatus according to any one of claims 1 to 5.

7. The processor calculates the required amount of paint for the predetermined painting area, taking into account a second delay time from the time a command to stop paint discharge is issued until the paint discharge stops. The information processing apparatus according to any one of claims 1 to 6.

8. The processor is further configured to execute the control program and control the operation of the painting robot. The information processing apparatus according to any one of claims 1 to 7.

9. The aforementioned processor, Before the painting robot performs painting, a command is output to the supply device to supply the required amount of paint to the painting robot. The information processing apparatus according to any one of claims 1 to 8.

10. The aforementioned painting robot, A supplying device for supplying paint to the aforementioned painting robot, Includes a robot controller which includes the functions of the information processing device described in any one of claims 1 to 9 and controls the operation of the painting robot, The robot controller performs both the following actions before having the painting robot perform painting: calculate the required amount of paint for the predetermined painting area, and output a command to the supply device to supply the required amount of paint for the predetermined painting area to the painting robot. Robot system.

11. Access to a control program for a painting robot, which includes, by any one of one processors, teaching data to cause the painting robot to autonomously perform painting of a predetermined painting area before the painting robot performs painting, the teaching data including information on three or more teaching points, wherein the information on the teaching points includes teaching data including the target position of the paint discharge unit of the painting robot when painting and the target movement speed of the paint discharge unit from the target position when painting. One or more of the above processors obtain from the control program information of the teaching points included in the teaching data as first information related to the painting operation of the painting robot and set in the control program, The first or second processor acquires second information which includes a target discharge amount set at the teaching point, and which includes a target discharge amount of paint discharged from the paint discharge unit starting from the target position of the teaching point during painting. One or more of the above processors calculates the discharge time of the paint discharge unit in the process from the first teaching point to the second teaching point for each pair of time-series adjacent teaching points, using the target position and target movement speed of the first teaching point which is time-series earlier in the pair of teaching points, and the target position of the second teaching point which is time-series later in the pair of teaching points. One or more of the above processors calculate the required paint amount for a section, which is the amount of paint required for painting by the painting robot in the process from the first teaching point to the second teaching point, using the discharge time and the target discharge amount of the first teaching point. The process includes using one or more of the aforementioned processors to calculate the amount of paint required for painting the predetermined painting area by the painting robot, using the amount of paint required for each section of the pair of teaching points. A method for predicting the amount of paint needed.

12. Access to a control program for a painting robot, which includes teaching data that causes the painting robot to autonomously perform painting of a predetermined painting area before the painting robot performs painting, the teaching data including information on three or more teaching points, wherein the information on the teaching points includes the target position of the paint discharge unit of the painting robot when painting and the target movement speed of the paint discharge unit from the target position when painting. As first information related to the painting operation of the painting robot and set in the control program, information on the teaching points included in the teaching data is obtained from the control program. The acquisition of second information includes a target discharge amount set at the teaching point, which includes the target discharge amount of paint discharged from the paint discharge unit starting from the target position of the teaching point during painting, For each pair of teaching points adjacent in time, the discharge time of the paint discharge unit during the process from the first teaching point to the second teaching point is calculated using the target position and target movement speed of the first teaching point which is earlier in time within the pair of teaching points, and the target position of the second teaching point which is later in time within the pair of teaching points. Using the discharge time and the target discharge amount at the first teaching point, the amount of paint required for a section, which is the amount of paint required for painting by the painting robot in the process from the first teaching point to the second teaching point, is calculated. Using the amount of paint required for each section of the pair of teaching points, the amount of paint required for painting the predetermined painting area by the painting robot is calculated. A program that is executed by a computer.

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