JP2019000947A - Orbit data simulation method in coating robot - Google Patents

Abstract

To provide an orbit data simulation method in a coating robot capable of easily verifying and correcting taught orbit data by neither wasting coating nor using air conditioning energy.SOLUTION: An orbit data simulation method in a coating robot which displays a spray gun target point in a workpiece on the basis of taught spray gun orbit comprises fetching positional information of the coating robot and the workpiece and orbit data of the spray gun into control means, using fetched data to prepare 3D display data, using prepared 3D display data to display the workpiece on the display part, and displaying a spray gun target point in the workpiece on a line when coating is sprayed onto the workpiece according to the orbit data, thereby varying a gap and a thickness of the line in accordance with the distance between the spray gun and the workpiece.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a method for simulating trajectory data in a painting robot. More specifically, the present invention relates to a method for displaying a painting object on a screen, and based on the trajectory of a spray gun in a teaching painting robot, the spray gun on the painting object is aimed. The present invention relates to a method for simulating trajectory data in a painting robot characterized by displaying a line as a line.

  In recent years, in the field of painting, when a large amount of an object to be coated (hereinafter referred to as “work”) is painted, a method of automatically painting using a painting robot has been adopted. And, when painting automatically using such a painting robot, it is necessary to keep the distance and angle between the spray port of the painting gun and the workpiece constant in order to make the coating film thickness uniform. .

  Therefore, in painting using such a painting robot, it is necessary to calculate the trajectory data of the spray gun in the painting robot in advance based on the external dimensions of the workpiece and store the trajectory data in the painting robot. This operation is generally called “teaching”.

  By this teaching, the painting robot can move the spray gun based on the taught trajectory data, thereby automatically painting the workpiece. Therefore, in the painting using such a painting robot, especially when a plurality of workpieces are to be painted, it is possible to reduce labor costs and the like, and to accurately apply the same coating to all the workpieces. There is an advantage that can be performed.

  Here, the conventional teaching will be described with reference to FIG. 5. In FIG. 5, 31 is a painting robot, 32 is a workpiece, 33 is a robot controller for controlling the operation of the painting robot, and 34 is a teaching pendant. It is. Teaching is generally performed using the teaching pendant 34. That is, the teaching pendant 34 is like a remote controller and is connected to the robot controller 33. When teaching is performed, in the vicinity of the painting robot 31, the teaching pendant 34 is used to operate the painting robot 31 via the robot controller 33, and the desired spray gun positions are sequentially registered in the robot controller 33. Therefore, a method of storing the spray gun trajectory in the robot controller 33 is generally used.

JP 2013-184280 A JP 2006-315157 A Japanese Patent Laid-Open No. 2005-238092 JP 2004-114246 A JP 2000-288432 A Japanese Patent Laid-Open No. 10-264060 Japanese Patent Laid-Open No. 10-264059 JP-A-6-31233

  By the way, after performing the teaching as described above, it is necessary to verify whether or not the workpiece can be accurately painted based on the trajectory data taught. Conventionally, this verification has been done by placing a painting robot and workpiece in the painting booth, painting the workpiece by actually spraying the paint from the spray gun, and then painting the surface requiring painting with a uniform film thickness. It is done by checking whether it is done. That is, in the conventional verification, since it is necessary to actually paint the workpiece, it is necessary to use the paint for the verification, and the air conditioning equipment is installed to collect the paint mist generated in the painting booth. It had to be up and costing.

  Also, if the result of verification is that accurate painting is not possible, the teaching data is corrected, and based on the corrected data, paint is actually sprayed again from the spray gun and the result is verified. In addition, the paint and air conditioning energy were wasted.

  At this time, in the conventional teaching, the distance between the spray gun and the work and the aim of the work of the spray gun are currently determined by the operator while relying on experience and intuition while looking at the actual work nearby. Yes, in that method, the distance between the spray gun and the work must be matched to the actual object, and the aim of the spray gun must be confirmed using a scale or a special jig, so be careful not to apply the special jig to the work. It is necessary to work, and the work becomes complicated and takes time. The distance between the workpiece and the spray gun is determined by visual judgment, so it must be ambiguous, and verification of the trajectory data may be necessary. Not a few.

  Therefore, the present invention provides a method for simulating trajectory data in a painting robot that can easily verify and correct the trajectory data taught without wasting paint and without using air conditioning energy. The challenge is to do.

The simulation method of trajectory data in the painting robot of the present invention is as follows.
A method for simulating trajectory data in a painting robot that displays a target position of a spray gun on a workpiece based on a trajectory of a taught spray gun,
Take the position information of the painting robot and workpiece and the trajectory data of the spray gun into the control means,
Create 3D display data using the imported data,
Using the created 3D display data,
While displaying the work on the display,
When the paint is sprayed onto the workpiece according to the trajectory data, the point where the spray gun is aiming at the workpiece is displayed in a line on the workpiece displayed on the display unit.

  In the method for simulating trajectory data in the painting robot of the present invention, the position information of the painting robot and the workpiece and the trajectory data of the spray gun are taken into the control means, and 3D display data is created using the fetched data. The 3D display data is used to display the workpiece on the display unit, and when the paint is sprayed onto the workpiece according to the trajectory data created by teaching, the location where the spray gun is aiming at the workpiece is displayed. It is supposed to be displayed as a line. Therefore, it is possible to visually check the coating state based on the taught trajectory data without injecting the coating material onto the workpiece using an actual painting robot and the workpiece.

  Therefore, by using the trajectory data simulation method in the painting robot of the present invention, teaching trajectory data can be easily verified and corrected without wasting paint and without using air conditioning energy. Is possible.

It is a block diagram of the whole system for demonstrating the Example of the simulation method of the track data in the painting robot of this invention. It is a figure for demonstrating the method of the screen display in the Example of the simulation method of the track data in the painting robot of this invention. It is a figure for demonstrating the method of the screen display in the Example of the simulation method of the track data in the painting robot of this invention. It is a flowchart for demonstrating the Example of the simulation method of the track data in the painting robot of this invention. It is a block diagram for demonstrating the conventional teaching method.

  The trajectory data simulation method for the painting robot according to the present invention is characterized in that the workpiece is displayed on the display unit, and the target location of the spray gun in the displayed workpiece is displayed based on the trajectory of the taught spray gun. Yes.

  That is, in the method for simulating trajectory data in the painting robot according to the present invention, first, the position information of the painting robot and the workpiece stored in the controller such as the robot controller and the trajectory data of the taught spray gun are used as control means. take in.

  Then, 3D display data is created using the position information of the painting robot and the workpiece and the trajectory data of the spray gun, which are taken into the control means.

  Then, the created 3D display data is used to display the workpiece on the display unit, and when the paint is sprayed on the workpiece according to the trajectory data, the spray gun on the workpiece is aimed. The location is displayed as a line.

  Here, when displaying the location where the spray gun is aiming on the workpiece with a line, it is preferable to sequentially display the line along with the movement of the spray gun in accordance with the taught trajectory data. It is possible to check whether it is accurate.

  The line displayed on the workpiece may be changed in the interval and thickness according to the moving speed of the spray gun and the distance between the workpiece and the spray gun. It is possible to confirm easily.

  An embodiment of a trajectory data simulation method (hereinafter simply referred to as “trajectory data simulation method”) in the painting robot of the present invention will be described with reference to the drawings. FIG. 1 shows the trajectory data simulation method of this embodiment. It is a block diagram for demonstrating the system for implementing.

  In the figure, reference numeral 1 denotes a PC as control means. The PC 1 includes a PC main body 2 and a display unit 3. That is, the trajectory data simulation method of this embodiment has a PC main body 2 equipped with a calculation means such as a CPU and a PC 1 equipped with a display unit 3, and a painting robot stored in a robot controller or the like by teaching. Position information and trajectory data of the workpiece are taken into the PC 1, 3D display data is created using the fetched data, and further, the workpiece is displayed on the display unit 3 using the 3D data.

  Here, 4 is a robot controller in the figure, and a teaching pendant 5 is connected to the robot controller 4. In the figure, 6 is a painting robot, 7 is a work as an object to be painted, and the robot controller 4 is connected to the painting robot 6, and the painting robot 6 operates according to a signal from the robot controller 4. It is said. When the position of the spray gun of the painting robot 6 is registered at a desired position using the teaching pendant 5, the trajectory data is sent to the robot controller 4 and stored therein. Then, the robot controller 4 controls the painting robot 6 based on the received trajectory data, operates the painting robot 6 as taught, and further uses the trajectory data etc. Position information, distance between spray gun and workpiece, etc. are calculated.

  In the PC body 2, 3D display data of the painting robot 6 and the work 7 is generated using various data stored in the robot controller 4, and the display unit 3 displays the painting data on the basis of these 3D display data. The robot 6 and the work 7 are displayed in 3D.

  Further, in this embodiment, the robot controller 4 is connected to the PC main body 2, and activation data registered by the teaching pendant 5 at the time of teaching, a painting robot calculated based on this trajectory data, The work position information is sent from the robot controller 4 to the PC main body 2 in real time. In the PC body 2, 3D display data of the painting robot and the workpiece is generated using various data sent from the robot controller, and the display unit 3 displays the painting data based on these 3D display data. The robot and the work are displayed in 3D, and it is possible to teach the trajectory of the spray gun with the teaching pendant 5 while viewing the painting robot and the work displayed on the display unit 3.

  However, in the trajectory data simulation method of the present invention, the start data registered by the teaching pendant 5 at the time of teaching and the position information of the painting robot and the workpiece calculated based on the trajectory data are sent from the robot controller 4 to the PC in real time. There is no need to send it to the main body 2, and it is only necessary that the painting robot and workpiece position information and the trajectory data of the spray gun stored in the robot controller 4 can be taken into the PC main body 2 after teaching is completed.

  The painting robot 6 has a structure in which a spray gun is provided on an arm that moves along a taught track, in the same manner as a painting robot generally used for mass painting of workpieces.

  Next, the trajectory data simulation method of the present embodiment performed using the system configured as described above will be described with reference to the flowchart of FIG. 4. In the trajectory data simulation method of the present embodiment, first, step 1 Then, the data is taken into the PC 1 as the control means.

  Here, the data fetched into the PC 1 includes information stored in the robot controller in the initial setting at teaching and various information stored in the robot controller by teaching. Information stored in the robot controller in the initial setting at the time of teaching includes basic data such as the outline, mechanism, and dimensions related to the painting robot 6, basic data such as the outline and dimensions related to the work 7, and the painting robot 6 There is position information with the work 7 and distance information between the spray gun and the work. Information stored in the robot controller by teaching includes spray gun trajectory data, distance data between the workpiece and the spray gun, and the like.

  Next, in the PC 1, in step 2, 3D display data of the painting robot 6 and the workpiece 7 is created based on the various types of data that have been taken in.

  At the same time, in step 3, a paint pass line is created in PC1. Here, the paint pass line will be described. In the present embodiment, the paint pass line is aimed at the spray gun in the work 7 when the paint is sprayed from the spray gun to the work 7 according to the trajectory data taught. The line shows the location. Therefore, by displaying this paint pass line, it is possible to confirm on the display section whether or not the taught trajectory data is correct.

  That is, in the trajectory data simulation method of the present embodiment, 3D display data of the spray gun and the work is created, and after the painting pass line is created, the work is displayed in 3D on the display unit 3 in step 4. In step 5, the paint pass line is superimposed on the work displayed on the display unit 3.

  That is, FIG. 2 shows a state in which a work, a spray gun, and a paint pass line are displayed on the display unit 3 of the PC 1. In the figure, reference numeral 7 denotes a workpiece. In this embodiment, the workpiece 7 is a door mirror, and six pieces are attached radially to a rotatable support column 10 by a jig 11, and in the display unit 3, A moving image is displayed in which the work 7 is rotating with the rotation of the support column 10.

  In the figure, reference numeral 9 denotes a spray gun. In the trajectory data simulation method of the present embodiment, the spray gun 9 is displayed on the display unit 3 and the spray gun 9 is moved according to the trajectory data taught as the work rotates. Trying to move.

  In the figure, reference numeral 8 denotes a paint pass line. That is, in the trajectory data simulation method of the present embodiment, a pseudo laser beam is displayed from the spray gun 9 to the position targeted by the spray gun on the work 7 and the coating path is applied to the tip of the pseudo laser beam. Line 8 is to be displayed. Accordingly, the coating pass line 8 is displayed on the work 7 in accordance with the rotation of the work 7 and the movement of the spray gun 9, thereby making it possible to confirm the location targeted by the spray gun.

  Note that FIG. 2 shows the spray gun 9 moving in accordance with the trajectory data, and the work 7 is moved in a circular shape clockwise by the rotation of the column 10 and the jig 11 as indicated by the arrows. The spray gun 9 is moving from above to below. The painting pass line 8 is displayed laterally from the upper part to the lower part of the work 7 as the spray gun 9 moves downward. In FIG. The painting pass line 8 is displayed up to the suburbs.

  FIG. 3 is an enlarged view of one of the workpieces 7 after the painting according to teaching is completed, and the painting pass line 8 is displayed over the entire area of the workpiece. Therefore, it is possible to visually confirm to which part of the work the paint adheres when the paint is sprayed from the spray gun according to teaching by the display of the paint pass line 8. Therefore, in the trajectory data simulation method of this embodiment, when verifying the taught trajectory data, it is not necessary to actually inject the paint onto the workpiece, so there is no waste of paint at the time of verification. In addition, it is not necessary to use air-conditioning energy, and costs can be significantly reduced.

  For example, in the painting pass line 8 shown in FIG. 3, there is a portion where the distance between the lines is narrow in the upper portion, and this indicates that the moving speed of the spray gun is slower than the other portions. And it is possible to know that the film thickness of the paint of the part will become thicker than other parts by it.

  Here, the coating pass line will be described. In the trajectory data simulation method of this embodiment, the distance from the spray gun to the workpiece is set in advance as the reaching distance. The reach distance is set, for example, as the distance from the spray gun to the workpiece at the time when the spray of paint is started.

  Then, when the spray gun moves, it is assumed that the interference part where the tip part of the reach distance and the work 7 interfere with each other is the part where the paint adheres to the work, and this part of the work displayed on the display unit 3 The color of is changed to another color.

  Then, when the spray gun moves, or when the workpiece side moves, rotates, etc., the color-changing interference part is formed in a line, and this causes the spray gun to move according to the trajectory data. A painting pass line 8 is formed on the work 7.

  In this embodiment, the robot controller 4 calculates the distance between the spray gun and the workpiece based on the trajectory data, and this data is taken into the PC 1 so that the distance between the spray gun and the workpiece 7 is grasped in the PC 1. Therefore, since it can be grasped how much the tip of the interference part interferes with the workpiece, the coating pass line 8 of the part where the interference part is large is displayed thickly. For this reason, the spray gun is too close to the workpiece due to a slight misalignment in the teaching of the track, so that the paint film thickness of that part is thicker than other parts, or the spray gun is too far from the work. Thus, when the coating pass line 8 is not formed without the tip portion of the reach distance interfering with the workpiece 7, and therefore the coating film thickness of the portion is thin, it is possible to easily know it. it can.

  Also, as mentioned above, when the spray gun moves up and down, if the movement speed becomes faster or slower than other parts, the interval of the painting pass line of that part is different from other parts. Therefore, it is possible to know that the film thickness of the paint at that portion becomes thinner or thicker than the other portions. Accordingly, it is possible to easily verify the trajectory data taught.

  Further, in the trajectory data simulation method of the present embodiment, the robot controller 4 is connected to the PC main body 2 and is calculated based on the start-up data registered by the teaching pendant 5 and the trajectory data at the time of teaching. Since the robot controller 4 sends the painting robot and workpiece position information from the robot controller 4 to the PC body 7 in real time, and the 3D display of the painting robot and workpiece at that time is performed, the teaching trajectory data can be verified. While performing, the teaching data can be corrected using the teaching pendant 5.

  Thus, in the trajectory data simulation method of the present embodiment, the work is displayed on the display unit, and the displayed work is provided with a spray gun when paint is sprayed onto the work according to the trajectory data taught. The target location is displayed as a paint pass line, and it is possible to verify whether the trajectory data taught by this paint pass line is correct. Therefore, according to the present embodiment, the teaching trajectory data can be verified without injecting the paint onto the work using the actual painting robot and the work, so that the air-conditioning energy can be reduced without wasting the paint. It is possible to easily verify and correct the trajectory data taught without using it.

  In the above description, the display unit 3 employs a method of displaying the method in which the painting pass line 8 is formed in real time while moving the workpiece 7 and the spray gun 9 by moving images. There is no need to form 8. Therefore, the process of forming the painting pass line 8 may be displayed on the display unit 3 as shown in FIG. 3 without displaying the process of forming the painting pass line 8 as a moving image. .

  As described above, in the trajectory data simulation method of the present invention, the start data registered by the teaching pendant 5 at the time of teaching and the position information of the painting robot and the workpiece calculated based on the trajectory data are obtained in real time. There is no need to send from the robot controller 4 to the PC main body 2. After teaching is completed, the position information of the painting robot and the workpiece and the trajectory data of the spray gun stored in the robot controller 4 can be taken into the PC main body 2. That's fine.

  Since the trajectory data simulation method of the present invention can verify the trajectory data taught without actually performing painting, it can be applied to all painting robots that require teaching.

1 PC
2 PC body 3 Display unit 4 Robot controller 5 Teaching pendant 6 Paint robot 7 Work 8 Paint pass line 9 Spray gun 10 Strut 11 Jig

Claims (3)

A method for simulating trajectory data in a painting robot that displays a target position of a spray gun on a workpiece based on a trajectory of a taught spray gun,
The position information of the painting robot (6) and the work (7) and the trajectory data of the spray gun are taken into the control means (1),
Create 3D display data using the imported data,
Using the created 3D display data,
While displaying the work (6) on the display unit (3),
A method for simulating trajectory data in a painting robot, characterized in that, when paint is sprayed onto a work in accordance with trajectory data, a line (8) displays a location targeted by a spray gun on the work.   2. The method for simulating trajectory data in a painting robot according to claim 1, wherein the part targeted by the spray gun on the workpiece is sequentially displayed by a line (8) according to the trajectory data taught.   The method for simulating trajectory data in a painting robot according to claim 1 or 2, wherein the interval and thickness of the line (8) are changed according to the distance between the spray gun and the workpiece.

Images