JPH0340380Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention is a device used when painting an object using a playback type painting robot capable of memory regeneration. The present invention relates to a device that is rotated by the device to effectively apply coating at a desired coating position.

[Prior Art] When painting an object with a painting robot, generally a method is used in which all four sides of the object are sequentially painted while facing the front of the painting robot. However, in this case, the operation of the coating robot is stopped during the time when the coating robot is being rotated to face the object to be coated, and productivity is reduced accordingly. Therefore, a device has already been proposed that allows the painting operation to continue even during rotation. Jitsukaiaki by the applicant
Publication No. 61-191153 has a device that continuously rotates the object to be coated, a device that constantly detects its rotation angle position and compares and confirms its position with the painting robot, and has an operation that follows the rotation of the object to be coated. It is mainly composed of painting robots that have the function of In this apparatus, since the object to be coated is continuously rotating, teaching may be difficult. In other words, when painting the entire circumferential surface of the object to be coated (actually, in most cases), it is necessary to divide the object into several sections, for example four, and teach each surface. In some cases, it may not be possible to maintain uniform coating time, and therefore it is necessary to teach while considering the relationship with the rotational position. In addition, when the main surface to be painted is at an irregular angle, or when multiple objects with different shapes are placed on the object rotating table, it becomes more complicated and teaching becomes difficult. Become.

[Problems to be solved by the invention] As mentioned above, conventional coating robots use rotating devices for coating objects when painting the entire circumference of the object.
90° (or 180°) intermittent rotation or continuous rotation,
Each has its own merits and demerits, and I was not completely satisfied with them. Therefore, the purpose of this proposal is to arbitrarily control the rotation of the object rotation device according to commands from the coating robot, so that the object can be painted even while it is rotating, and teaching does not become difficult. This will allow us to more concretely improve productivity, which has been a problem.

It also aims to eliminate the operational constraints and unreliability of the coating finish that painting robots were subject to because they taught and painted while rotating and stopping the object to be painted. .

[Means for solving the problem] The present invention uses an articulated playback robot that is commonly used for painting, and controls the drive of a rotating device for the object to be coated using command signals from the painting robot. , is used for painting.

The table on which the object to be coated is placed is connected to a drive device that continuously rotates the table. A pulse encoder that detects the rotational angular position of the table is linked to the rotation device, and the rotational position of the table is constantly detected and the current position is confirmed by comparison with a table origin position confirmation device. The rotation device is driven and controlled by an inverter, and its rotation speed and start/stop are controlled by commands from the painting robot.

The painting robot has a control device that detects the current position based on the rotational position detection signal of the encoder, calculates operation control of the painting robot, and outputs the control signal. Furthermore, these devices are also capable of controlling the drive of the rotating device, such as stopping and starting, speed, etc., by using an attached external signal control function.

[Function] With the above configuration, the painting robot can determine the position of the workpiece placed on the table, the rotation angle position confirmed by the origin confirmation device and the pulse encoder, and the rotation angle position relative to that position. The operating procedures of the painting robot will be taught.

Based on these data, when playing,
The rotation angle position of the object to be coated is confirmed, and the operation is performed based on the position and the taught data. During the regeneration operation, even if the object to be coated is rotating, a calculation device that follows the movement of the painting robot while checking its position is used to keep the same relative position as when the object is stopped. It is also possible to operate while maintaining the position. The start, stop, and speed of the device that changes the rotational position can be controlled freely using an inverter, and an appropriate and efficient position is selected according to the shape of the object to be coated and the area to be coated.

[Embodiment] FIG. 1 is a perspective view showing an embodiment of the apparatus, in which a main body 2, an arm part 3, and a spray device 4 of a painting robot 1 are shown. The arm portion 3 is driven back and forth, up and down, and left and right, and the spray device 4 can be moved up and down, left and right, and rotated by its indicator. The object to be coated 5 is placed on a rotary table 6 and rotates together with the rotary table 6. In this embodiment, an example is shown in which three objects to be coated having different shapes are placed. The table 6 is interlocked by a rotating device 7,
A pulse encoder 8 whose rotational angular position is detected is also provided in conjunction with the pulse encoder 8.

Further, an origin confirmation device 9 for confirming the origin position of these rotations is provided, and the signal is sent to the control panel 13 together with the signal from the pulse encoder 8, so that the rotational angular position of the table 6 is constantly confirmed. The rotating device 7 includes a motor 10, a reducer 11, etc., and transmits rotation to the table 6.

Further, this motor 10 is configured so that starting, stopping, and speed changes can be freely controlled by an inverter. The control panel 13 for driving the painting robot 1 is constructed as a set, and has a main memory/reproduction function as well as arithmetic functions such as rotation following operation. The control panel 13 also has the function of checking the table position based on the signal from the pulse encoder 8, and issuing control commands to the inverter 12, such as starting and stopping the table.

When painting the object 5, the position of the object 5 is first detected as the position of the rotary table, and the operation at that position is taught. Next, if you want to change the position of the object and paint a different part, teach the position and the details of the operation in the same way. These positions can be any arbitrary position, and teaching is completed by teaching all the necessary painting operations.

At the time of reproduction, the object to be coated 5 and the coating robot 1 perform the regeneration operation while maintaining the relative positions at the time of teaching, regardless of the position of the object to be coated 5, based on the taught data. Therefore, even if the object to be coated is rotating, it can be regenerated, and productivity can be increased without stopping the operation of the coating robot 1.

In particular, in the case of the present invention, the rotating device is controlled by an inverter and configured so that it can be stopped at any position, and the rotating device can be regenerated and moved, and the moving speed can be freely selected according to the coating conditions, etc.

[Effects] As described above, according to the present invention, the table can be stopped for the required amount of time to coat each arbitrary surface according to the object to be coated, and the teaching and replaying of the motion can be performed, making it easy to teach. becomes. especially
Compared to 90° intermittent rotation or continuous rotation, it is possible to freely point the painting surface toward the painting robot and recall the painting operation, improving the finish of the painting. Of course, it is possible to perform painting even during rotation by using the rotation tracking calculation processing function of the coating robot, which shortens cycle time and improves productivity.

Furthermore, it is possible to apply the coating to the most suitable surface of the object to be coated while the object is stopped, and the quality of the coating can be improved.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing one embodiment of the present invention. 1...Painting robot, 4...Spray device, 5
...Object to be coated, 6... Rotating table, 7... Rotating device, 8... Pulse encoder, 12... Inverter.

Claims (1)

[Scope of utility model registration request] A rotating device that continuously rotates a table on which the object to be coated is placed, in a robot coating device that stores coating operations for the object to be coated in advance and performs regeneration operations for the objects to be coated that are sent sequentially. A pulse encoder that interlocks to detect the rotational angular position of the table, a confirmation device that confirms the rotational angle origin position of the table, an inverter that controls the rotational speed and start/stop of the rotating device, and a pulse encoder that detects the rotational angular position of the table. A painting robot equipped with an object rotation device having a control device that calculates a control position of the painting robot based on a detection signal and outputs the control signal.