JPS61141952A - Painting robot and control thereof - Google Patents

Abstract

PURPOSE:To attain the cost reduction of a painting robot, by driving the position of a painting gun by a pneumatic motor and stopping the rotation of the motor by a pneumatic brake. CONSTITUTION:A painting robot is equipped with a position setting control means consisting of axial movement pneumatic motors XAM, ZAM as drive means for driving painting gums GUN1, 2 in a three-dimentional space of an X-axis, a Y-axis and a Z-axis, axial ball screws X2, Z2 as moving means and axial pneumatic brakes XAB, ZAB as brake means and further equipped with a gun posture control means consisting horizontal revolving means CL1, AC1 for horizontally revolving the painting gun GUN1 and vertical angle deflection means CL2, AC2 for applying vertical angular deflection to the painting gun GUN2. The operation and spray control of the painting guns are performed by air pressure supplied from a pneumatic pump through an air pressure control unit.

Description

[Detailed Description of the Invention] [Field of Application on R] The present invention relates to an automatic coating machine that performs coating by moving a coating gun according to the condition of the object to be coated, particularly a coating bot and its control method. It is related to.

As a conventional example of this type of automatic painting machine, there is a painting robot l- that uses hydraulic control.The driving source of the conventional painting robot is a hydraulic servo such as an oil cylinder or an oil motor. The multi-joint arm was driven by the system.

[Problems to be Solved by the Invention] From the viewpoint of automatic control, the control by the hydraulic servo system uses the ura as a medium, so the transfer function is approximately constant, and the control system can increase the stability of On the other hand, from a neck mounting point of view, each hydraulic actuator, a control valve, a hydraulic mechanism such as a hydraulic pump are expensive, and therefore the cost of the painting robot is high.

Therefore, in order to solve the above-mentioned problems, the present invention effectively utilizes the characteristics of a loading gun to configure a painting robot using a pneumatic mechanism whose components are relatively inexpensive, thereby providing an inexpensive painting robot. The challenge is to

Means for Solving Problem F] The painting robot of the present invention is configured with an air motor that changes the position of a painting gun.

The painting robot of the present invention also includes a position setting means for moving the painting gun in a three-dimensional space using an air motor for moving each axis and stopping at an arbitrary position d for positioning, and a positioning means for positioning the painting gun horizontally. The gun position control means includes a horizontal rotation means for turning the paint gun, a vertical angular displacement means for vertically angularly displacing the paint gun, and a gun operation control means for controlling the spraying of the paint gun.

[Operation] With this configuration, the position of the coating gun is driven by the air motor, and the air brake is used to bring the air motor into a braking state, thereby stopping the rotation of the air motor.

The painting robot of the present invention also includes a position setting means for moving the painting gun in a three-dimensional space using an air motor for moving each axis and positioning the painting gun by stopping it at an arbitrary position, and a position setting means for positioning the painting gun by moving the painting gun in a three-dimensional space using an air motor for moving each axis, and a position setting means for positioning the painting gun by moving the painting gun in a three-dimensional space using an air motor for moving each axis. The gun attitude control means consists of a horizontal rotation means that rotates vertically and a vertical angular displacement means that makes an angular displacement vertically, and a gun operation control means that controls the spraying of the painting gun. , the gun attitude control means and the gun operation control means are controlled at the set position.

The coating robot control method of the present invention includes a teaching process in which the position and orientation of the coating gun are recorded in the memory for each step, and in the teaching process, the lead size is sequentially transferred from the memory by a constant feeding operation. ] In the culm and W teaching process, the data is sequentially read from the memory by automatic feeding operation? 12 The process of painting the object to be coated, or the teaching process of recording the el r and posture of the 9 guns in the memory for each step, and the teaching process (9 data is sequentially read from the memory by manual feed operation). a correction step of correcting data of a specific step in the manual feeding step;
The data obtained in the teaching process is sequentially read from the memory by an automatic feed operation, and the i!
! ! The process of painting the m-equipment and the spraying to confirm the gun posture based on the data of the specific step consist of a status confirmation process.

[Example 1] Figures 1 and 2 show the painting of an embodiment of the present invention [] The drive section of the X-axis position setting means, the drive section of the Y-axis position setting means, and the Z-axis position setting means of Pobo's painting gun. FIG. 2 is a front view and a side view of main parts of the drive unit of FIG.

The x-axis arm x1 is arranged perpendicularly to the main body base 1, and provided at right angles to the supported support 2. Also, when hitting, the x-axis arm x 1 is parallel to the main body base 1 'If' K).

Furthermore, a 7-book arm 71 that intersects at right angles to the 1 x-book arm is attached to the 3 x-axis feed bases screwed together with the 1 x-axis ball screw X2 of the 1 x-axis arm. That is, the seven-axis arm 71 is parallel to the support 2, and intersects at right angles to the x1 arm. Attach the Y-axis arm Y1 to the 7-axis arm 71. That is, the Y-axis arm Y1 is Xl11
It will be arranged at right angles to the 11-arm x 1 and 7-axis arm 71.

The configuration of the basic position 9Q determining means of each axis arm is
Since the axis arm x1, the Y-axis arm Y1, and the Z-axis arm 71 are common, the configuration of the main parts will be explained based on the configuration of the position setting means of the Y-axis arm Y1 shown in FIG.

The rotation of the Y-axis air motor YAM is connected to be transmitted from the motor shaft Y9 to the shaft of the disc-type Y-axis air brake YAB via the Y-axis coupling Y8, and the Y-axis air brake YA[''3 The Y-axis ball screw Y2 is rotated through the Y-axis ball screw Y2.

A rotating plate Y5 having a large number of slits is fixed to the YIk11 coupling Y8, and an angle detecting portion Y6 is fixed to the YIk11 coupling Y8.
The rotation/angle sensor YSE is configured to magnetically detect rotation and angle. In addition, the number of pulses of the rotation/angle sensor YSE and the moving distance with the feed table Y3 are as follows:
Set arbitrarily. The rotating plate Y5 and the angle detecting section Y6 are generally called an angle sensor or a rotation sensor and are well known, so a description thereof will be omitted. Further, since the Y-axis air motor YAM and the Y-axis air brake YAB are similarly known, their explanations will be omitted. The Y-axis air motor YAM, the mounting member YIO, and the Y-axis air brake YAB are fixed to the drive source support member Y11, and are further connected to the mounting member Y10! 'lI source support member Y
It was fixed for 11 minutes. Alternatively, the mounting member Y10 and the drive source support member Y11 are formed integrally. These, mounting member Y
10 and the drive source support member Y11 are attached to the Y-axis arm Y1. In addition, there are two Y-axis guide rails Y on the drive source support part Y11 mentioned above.
The other end of the Y-axis guide rail Y13 is attached to the rail support (6) member Y12 attached to the Y-axis arm Y1, so that the Y-axis guide rail Y13 is attached to the Yl111 arm. They are installed in parallel to Y1. The feed table Y3, which has a sliding part that slides on the Y-axis guide rail Y13 and a threaded part that engages with the Y-axis ball screw Y2, is moved on the Y-axis guide rail Y13 by the Y-axis ball screw Y2 rotated by the Y-axis air motor YAM. r
f! The robot moves in a straight line according to the Y-axis guide rail Y13. Each of these configurations has one X-axis arm, a Y-axis arm Y1, and a Z-axis arm 71 in common.

And, the feed base x 3 of the X-axis arm x 1 is the 2-axis arm 71.
The feed tables Z3 are attached to each other, and the Y-axis arm Y1 is attached to the lower part of the 7-axis arm Z1. The feed base Y3 of the Y-axis arm Y1 is equipped with a coating gun and its attachment means.

Figures 3 and 4 regarding the painting gun and its mounting means.
Explanations can be made using enlarged views of the main parts of the figure.

A coating gun support metal G1 is fixed to the feed base Y3, and a movable member G2 is pivotally supported on the coating gun support metal G1. The fixed side of the painting gun rotating actuator AC1 is attached to the movable member G2, and the rotating member G3 is attached to the movable side. Further, a first painting gun GUN1 and a second painting gun GUN2 are attached to the rotating member G3.

The painting gun attached to the feed base Y3, its attachment means, and gun attitude control will be further explained with reference to a front view showing the main parts of the painting gun and attachment means in FIG.

The double-acting cylinder CLI horizontally rotates the movable member G2, to which the fixed side of the painting gun turning actuator AC1 is fixed, by 90 degrees around the axis of the painting gun turning actuator AC1, by the movement of the piston rod CL11. That is, when the piston rod CL11 is on the head side, there is a support point G4 between the piston rod CL11 and the movable member G2 at the position shown in FIG.
11 is located on the cap side, the movable member G2
? 90 around the axis of gun rotation actuator △C1
Rotate horizontally. Therefore, as the fixed side of the painting gun turning actuator ΔC1 rotates by 90 degrees in the horizontal direction, the movable side also rotates by 90 degrees, causing the turning member G3 to horizontally rotate by 90 degrees. 2 Position the painting gun GUN2 in front of you.

Further, the actuator for rotating the painting gun 01 horizontally rotates the movable side by 180 degrees. That is, the rotating member G3 in FIG.
The symmetrical axis of the paint gun rotation actuator ACI is now available. The first painting gun GtJN1 is attached to the rotating member G3 via the first painting gun mounting member G5, and the
The center of the spray direction of the S1 paint gun GUN1 is set on the axis of the 11 gun rotation actuator ACI. Therefore, the first coating gun GUN1 always sprays directly downward regardless of the rotation of the rotating member G3.

Further, a second painting gun GLJN2 is attached to the rotating member G3. The second painting gun GUN2 is a rotating member G3.
0 to the painting gun rotation actuator whose fixed side is fixed to
The injection direction is set on the axis of the movable side of 2,
The spraying direction of the second coating gun has a deviation angle of 45 degrees from the spraying direction of the first coating gun. Said second
The spray angle of the coating gun GUN2 is angularly displaced by a double-acting cylinder CL2. That is, the double-acting cylinder CL2 is attached to the movable shaft of the actuator AC2 for rotating the paint gun via the cylinder holding member G7, and when the piston rod CL21 of the double-acting cylinder CL2 is on the head side, as shown in FIG. As shown in FIG. 2, the spraying direction of the second coating gun is set by the second coating gun mounting member G6 so as to have a spraying angle of θ=45 degrees with respect to the first coating gun.

When the piston rod CL21 of the double-acting cylinder CL2 is on the cap side, one point in Fig. 4! As shown in II2,
The spray direction of the second paint gun is angularly displaced by 01 degrees, and θ-0
1=45-61 degrees. The angle θ1 is preferably 2
It is recommended to set it to 2.5 (capital). When the double-acting cylinder CL2 is on the cap side, when the movable side of the ISi gun rotation actuator is rotated 180 degrees, the second painting gun GU
The injection angle of N2 is 45101 degrees.

Therefore, by performing horizontal rotation of 90 degrees with the double-acting cylinder CL1 and horizontal rotation of 180 degrees with the painting gun rotation actuator AC1, the horizontal angle of the second gun GUN2 can be adjusted to 0 degrees, 90 degrees, It can be changed to 180 degrees or 270 degrees. Then, the double-acting cylinder CL2 rotates 90 degrees, and the painting gun rotation actuator AC2 rotates 1 degree.
By rotating by 80 degrees, the vertical spray angle of the second coating gun can be angularly displaced to 45-01 degrees, 45 degrees, and 45+01 degrees. In addition, the vertical spray angle of the second painting gun GIJN2 is 1, -67.5 degrees centered on the vertical direction, -45 degrees, based on the painting gun rotation actuators AC1 and AC2, and the double-acting cylinder CL2, assuming θ1-22.5 degrees. Every time,
It can be displaced by -22.5 degrees, +22.5 degrees, +45 degrees, and +67.5 degrees.

Next, a pneumatic circuit for driving the mechanism shown in FIGS. 1 to 4 will be explained using FIGS. 5 to 8.

FIG. 5 shows pneumatic circuits for the gun attitude control system and gun operation control system of the first painting gun GUN 1 and the second painting gun GUN2.

Air pressure supplied from a pneumatic pressure source such as an air pump is removed by a filter with an automatic drain discharger to remove dust and water, the pressure is adjusted by a pressure reducing valve, and a lubricant is supplied by a lubricator using a known air pressure adjustment unit AU. A predetermined air pressure is obtained by using this method, and that air pressure is supplied to each valve.

Gun horizontal 90 degree rotation valve R consisting of 5 boat 2 position valves controlled to open and close by solenoid G21
The air pressure guided by 790 moves the piston rod CL11 of the double-acting cylinder C[1 toward the head side or the cap side, thereby rotating the position of the second coating gun GUN2 by 90 degrees in the horizontal direction. In addition, the air pressure guided to the gun horizontal 180 degree rotation valve RZ180, which is a 5-boat 2-position valve whose opening and closing are controlled by the solenoid G22, moves the painting gun rotation circle acticota ΔC1 by 18 degrees.
Rotate the rtx and turn the paint gun a U N 2 (D, N
change horizontally by 180 degrees.

Similarly, the air pressure guided to the angle 01 setting valve HO1, which is a 5-boat 2-position valve controlled to open and close by the solenoid G23, changes the piston rod C1-21 of the double-acting cylinder CL2 to the head side or cap side. Change the vertical angle of the second paint gun GLJN2 by 01. Then, the air pressure guided to the angle θ2 setting valve Hθ2, which is a 5-boat 2-position valve controlled to open and close by the solenoid G24, rotates the paint gun rotation actuator ΔC2 by 180 degrees.
The vertical angle of the second coating gun GUN2 is changed by 45±81 degrees. Note that the double acting cylinders CLI and C
10 and painting gun rotation actuators ACI and A
Each boat of C2 and each valve RZ90, RZ180,
A speed controller in which a check valve and a variable throttle valve are connected in parallel is inserted between the boats θ1 and HO2, and the moving speed of the piston rod and the turning speed of the actuator are arbitrarily set.

In addition, the air pressure from the air pressure adjustment unit AU is controlled by the air supply valve GUN11, which is a 3-boat 2-position valve, and the air supply valve GUN, which is a 3-boat 2-position valve, which is controlled to open and close by a solenoid G26.
21 and used as spraying air for the first painting gun GUN1 and the second painting gun G'1JN2. Furthermore, the first paint gun GLJNI and the second paint gun GUN2 include:
By means of paint supply control valves GtJN10 and GUN20, which are two-boat two-position valves that are controlled to open and close by solenoid G25 and solenoid 028.
The air pressure from the pressure source is guided through a filter with an automatic drain ejector and a speed controller consisting of a check valve and a variable throttle valve, and the air pressure is applied to the first painting gun GUN1 and the second painting gun GUN1. ff
The cylinder (not shown) in the i-equipped gun GLINZ is controlled to control the spray paint sprayed from the first paint gun GUN1 and the second paint gun GIJN2.

Air pressure supplied from the air pressure adjustment unit AU is guided to each axis position setting system.

FIG. 6 shows the pneumatic circuit of the X-axis position setting system.

The air pressure supplied to the drive system on the X-axis arm x1 side is supplied to the X-axis air motor valve XFfl, which is composed of a 5-boat 3-position valve whose opening and closing are controlled by solenoid X21F and solenoid X21R. When the solenoid X21F is driven, the X-axis air motor XAM
It performs forward rotation, and performs reverse rotation when the solenoid X21R is energized.

The rotational speed of the X-axis air motor XΔM is determined by the throttle valve X26 on the exhaust boat side of the X@air motor XAM. By opening and closing, the circuit of the throttle valve X26 can be bypassed.

Therefore, the excitation of the solenoid X22 causes the X-axis air motor XAM to rotate at high speed.

On the other hand, the air pressure led to the pneumatic circuit of the X @ staff setting system is reduced by the pressure reducing valve
23 and a 3-boat 2-position valve whose opening/closing is controlled by a manual push button switch. Normally, the reduced air pressure is guided to the x-axis air brake V x ΔB by the x-axis air brake valve XB and enters the braking state, so the
Constrains the rotation of. Said X-axis air brake valve X
When B is closed, the air pressure of the X-axis air brake XAB is discharged by the quick exhaust valve X24, and the brake state of the X-axis air brake XAB is released. Note that the brake speed at this time is determined by a speed controller consisting of a check valve and a throttle valve.

In this way, the pneumatic circuit for the position setting system on the X-axis arm x 1 side operates, but the pneumatic circuits for the Y-axis position setting system in Fig. 7 and the 7-axis position setting system in Fig. 8 also operate in the same way. Therefore, the explanation of its operation will be simplified.

Y-axis air motor valve VFR is solenoid = 19
- Opening/closing is controlled by Y21 and solenoid Y21R.

The Y-axis air mortar YAM is controlled at high speed by a high-speed setting valve YS consisting of a 2-boat 2-position valve whose opening and closing are controlled by a solenoid Y22. ! 'l is performed.

Y-axis air brake YA Rf1 The air pressure reduced by the pressure reducing valve Y25 is controlled by an air brake valve YR consisting of a 2-bow 1-2 position valve. Note that the throttle valve "y'26 is used for the rotational speed tl:llm of the Y-axis J arm motor YAM, and the rapid exhaust valve Y24 is used for controlling the Y-axis air brake YAB.

The air pressure supplied to the position t2 constant system on the 7-axis arm 71 side in FIG.
A forward valve 7F consisting of a 3-boat 2-position valve, and a II-retreat valve ZRψ consisting of a 3-boat 2-position valve whose opening/closing is controlled by a solenoid 728.
5 boats 3 whose opening and closing are controlled by the valves
7＠Air motor valve Z consisting of a position valve
The Z-axis air motor ZAM is controlled in forward and reverse directions by FR. The rotational speed of the 7-axis arm motor ZAM is determined by the throttle valve Y26 on the exhaust boat side, and by opening the high-speed setting valve ZS, which is a 2-boat 2-position valve whose opening and closing is controlled by a solenoid 722, Z@ Air motor 7AM can be rotated at high speed.

On the other hand, the air pressure supplied to the position setting system on the Z-axis arm Z1 side is also guided to the pressure reducing valve Z25, where it is reduced to a predetermined pressure, and the air pressure is reduced to a predetermined pressure. 2-axis air brake ZA through the air brake valve ZB consisting of a syon valve.
F3c is guided. Normally, the reduced air pressure is guided to the 7-axis air brake ZAB by the air brake valve 7B, resulting in a braking state, thereby restricting the rotation of the 7-axis arm motor ZAM. Said valve ZB
When the Z-axis air brake ZAB is closed, the air pressure of the Z-axis air brake ZAB is discharged by the quick exhaust valve Z24, and the Z-axis air brake Z
Release the brake state of AB.

The above-mentioned axis position setting system, coating gun attitude control system, and gun operation control system are controlled by the microcomputer CPU, and the connection with the microcomputer CPU is as shown in the control circuit diagrams shown in FIGS. 9 to 13. It is done as follows.

FIG. 9 shows a signal processing circuit that controls the painting robot.

This signal processing circuit is a microcomputer CPLJ.

Memory ROM/RAM and 4 input/output ports P1
0-1, P10-2, PIO-3, and PIO-4 are connected to the system bus via the motherboard. The microcomputer CPLJ (STD8000) is
It includes what is commonly called a microprocessor. The memory ROM/RAM serves as a ROM that stores programs necessary for controlling the painting robot and a RAM that stores order data. input/output boat pr
o-1 and PIO-2 are used for input/output, and PIO-3 and PIO-4 of the input/output boat are used for input. , output relays R1 to R16 are connected to PIO-1 of the input/output boat, and output relays R17 to R23 are connected to P10-2 of the input/output boat. Note that the contacts "1 to r23 are the contacts of the relays R1 to R23. The input ports 1 to B of the input/output boat PIO-1 are connected to each switch input element shown in FIG. 10. That is,
Figures 10 to 12 are circuits that use barrier relays BR1 to BR5 and F11-coupler to guide each switching information from each switch input element to the input/output capo-1-PIO-1-PIO-4+7) input port. .

In Fig. 10, a manual/automatic changeover switch S1 is used to switch between manual, teaching, manual feed operation, or automatic operation of the painting robot, and a memory switch S2 is used to change the status of each axis and paint. This is a switch to memorize the gun's posture. The manual feed switch S3 is a switch that sequentially feeds each step memorized by the memory switch S2. The original position return switch S4 is a switch for returning the X-axis, Y-axis, and Y-axis to their original positions, no matter what position the respective axes are in.

The start switch S5 starts the program, and the program switch 86 starts the main painting robot 1-1.
This switch is used when you want to adjust the size of the Progera 1199 work. The speed switch S7 sets the rotational speed of the air motor to high or low speed, and the solenoid x22, Y2 opens and closes the high speed setting valve X8, YS or 7S.
2.722 is used to control opening and closing.

The X-axis movement selector switch 88 is a switch that determines whether the rotation direction of the X-axis air motor XΔM is normal or reverse.
21R is excited.

Information on each of these switches is input to boats Δ0 to A7 and boats BO to B1 of input/output boat PIO-1 via barrier relay 13R1. In addition, the Y-axis movement selector switch S9 is used to switch the rotation direction of the Y-axis air motor YAM to normal rotation or
This switch determines the reverse rotation, and excites the solenoid 727 or Y21R of the Y-axis air motor valve VFR.Similarly, the 7-axis movement selector switch S10 also determines the rotation direction of the 7-axis arm motor ZAM. Solenoid 72 of forward valve ZF or IJ valve 7R
7 or 228. The 180 degree rotation switch 811 is a gun horizontal 180 loss rotation valve R, 7180 that operates the painting gun rotation actuator AC1.
The 90 degree rotation switch 312 is used to energize the solenoid (321) of the gun horizontal 90 loss circulation valve RZ90 that operates the W-movement cylinder CL1.The gun angle θ1 setting switch 31
3 energizes the solenoid G23 of the angle θ1 setting valve Hθ1 that operates the double-acting cylinder CL2 that changes the second painting gun GtJN2 by an angle of 01 degrees, and the gun angle 02 setting switch 814 operates the second painting gun GUN2. This is to energize the solenoid G24 of the valve Hθ2 for setting the angle θ2 for a 180-degree turning loss. The first painting gun switch S15 and the second painting gun switch 816 are switches that operate the painting guns. Information on each of these switches is sent to the input/output boat Pro via barrier relay BR2.
-1 boats 82 to B7, and the input/output boat Pro-
2 boats AO to A3.

X original position limit switch LSI and YIi? The i-position row limit switch LS2 and the Z home position limit switch S3 are switches for detecting the home positions of each X-axis, Y-axis, and Y-axis. shaft,
It consists of a contact type or non-contact type switch that detects the eight motion limits of the Y-axis and the Y-axis. Emergency stop switch S1
7 is for main painting (control is stopped to prevent cobot abnormality or danger). Therefore, the configuration is such that relay R19 can be controlled from output terminal 04 of barrier relay BR3 without being subdirected by the microcomputer CPU, and when emergency stop switch 817 is pressed, relay R19 is de-energized and its contacts Since r19 (see FIG. 13) is opened and relay R30 is de-energized, the contacts of relay R30 can de-energize all valve solenoids of the painting robot of this embodiment and stop their functions.

The program selection switch D1 is composed of a digital switch, and is used to select the respective painting program according to the object to be painted that drives the main painting robot. Note that for convenience of explanation of this embodiment, it is assumed that a specific program is selected. The reversing switch 318 is a switch for reversing the object to be coated depending on the object to be coated and performing IR on the large surface thereof.

Although not shown in the drawings, this configuration is known in the art, in which a conveying mechanism conveys the object to be painted, and a reversing mechanism built into the conveying mechanism can reverse the object at the paint spraying position. It consists of a transport mechanism and a reversing mechanism. The input elements of these limit switches and various switches are connected to the input/output boat PIO via barrier relay BR3.
-2's boats A4 to A6 and boats B3 to B7. In addition, as mentioned above, the emergency stop switch S17
The output of the barrier relay is led to relay R19 in order to perform signal processing without leading the output to the input/output boat. And rotation/angle detection sensor XS for X-axis position detection
The output of E is to calculate the position of the X-axis from the rotation of the rotary plate Y5 attached to the X-axis.
-2 baud input to 1-130. Similarly, Y I
ttb (◇Output of rotation/angle detection sensor YSH for gate opening and rotation/angle detection sensor 7 for 7-axis position detection
The output of SE is also the input port PIO-2 boat 81, B
2 is input.

X-axis forward end mitt switch LS4, Y-axis forward end mitt switch LS51. The lt'fi forward end limit switch LS6 is a limit switch for detecting the forward end of each of the X, Y, and Z axes, and although not shown in FIGS. It consists of a contact type or non-contact type switch that detects the forward movement limits of the Y-axis and Z-axis. The X-axis, Y-axis, and Z-axis select switch 819 is used to select the axis because when the position of the painting robot is corrected using a digital switch, it is performed for each shaft cylinder. The forward/reverse switch 320 is a switch that manually rotates the air motor of each axis in the forward or reverse direction.

The outputs of these limit switches and switches are input to boats Δ0 to A5 of input/output boat PIO-4 and boat B7 of input/output boat PIO-3 via barrier relay BR4. In addition, the digital input switch 821 is a switch that calculates and sets the position of the painting gun from the distance per number of pulses, and the polarity switch S22 adds (+) the number of pulses when moving it further forward from the current position, and sets it backward. In this case, add n(+) to subtract (-) the number of pulses.
), subtraction (-) selection switch. The digital switches D3 and D4 move the X, Y, and Z axes by the number of pulses, and the digital switch D2 is for setting the lowest 1st value, and the digital switch D3 is for setting the 10th value.

The outputs of these switches are input to boats 80 to A7 of input/output boat PIO-4 and boats AO to A7 of input/output boat PIO-3 via barrier relay 8R5. In addition, the output G of the barrier relays BR1 to BR5 is input to the boat G of each input/output boat Pro-1 to Pro-4,
and are commonly connected and grounded. On the other hand, relay R of the output boat of input/output boat P10-1 and PTO-2
1 to R23, their contacts are connected in series to a pulp opening/closing solenoid as shown in FIG.

Next, regarding the case where the micro combi coater CPU controls the valve opening/closing solenoid, FIGS.
The operation will be described using the flowchart shown in FIG.

When power switch PB2 in Fig. 13 is pressed, relay R3 is activated via relay contact R30 and power on switch PB2.
1 is excited and self-holds. In this state, the microcomputer CPU, various sensors, and memory
AM, power is supplied to the input/output boats PIO-1 to PIO-4, etc., and control of the tree ILL robot is started in step 10 of the main flowchart of FIG. Note that the self-holding is maintained until the 'Ii source off switch PRI is pressed. In step 11, the input/output board is initialized, and in step 12, the X-axis, Y-axis, and Z-axis are placed in a brake state. Step counter MST used for address designation that stores the position of each axis, painting gun posture control data, and painting gun operation control data in step 13
Clear P. In step 14, it is determined whether the actual painting robot is to be used as automatic or manual using the manual/automatic changeover switch S1.

First, we will explain the teaching of the main painting robot.

At this time, the automatic/manual changeover switch S1 is on the manual side, and the process enters step 15 in FIG. 17 from step 14 via the connector. In step 15, it is determined whether the X, Y, and Z axes are all at the original position r, and their limit switches L are
When SI to LS3 are not operating, the home position switch S4 is operated in step 16, and the system stops in that state unless the process of ``home position return subroutine J'' in step 17 is performed.

When the "home position return subroutine" is entered in step 17,
In step L1 of FIG. 33, limit switches LSI, LS2, LS3 for all original positions of the
, is in the on state, and when it is in the on state, in step 1-2, it is determined whether the original position of the X axis 1 to switch 1-81 is in the on state, and it is in the on state. When step L3 sets the X-axis air brake XAB to the braking state, and when it is not in the on state, step! At -4, rotate the X-axis air motor XAM in the opposite direction to move the X-axis backward. When the X-axis original position limit switch LSI is in the operating state, step [5 determines whether the Y-axis original position limit switch LS2 is in the on state, and if it is in the on state, in step 6 the Y-axis When the air brake YAI3 is in the brake state and not in the on state, step [7
to reversely rotate the air motor YAM and move the Y-axis backward.

Similarly, when the X@ and Y-axis limit switches LSI and S2 are in the on state, it is determined in step L8 whether the limit switch LS3 at the original position of the 7th axis is in the on state, and when it is in the on state, Step 1 sets the 7-axis air brake ZAR to the braking state, and when it is not in the on state, the air motor ZAM is reversely rotated in step L9 to set the ZAR.
(after the axis)! let Mitswitch LSI located at Yuhara Information
, LS2 and LS3 are in the on state, step L
11: X-axis, Y-axis, Z-axis air brake XAB, YA
B and ZAB are brought into the braking state, and this subroutine is ended in step L12.

When the "return to original position subroutine J" in step 17 is completed, all memories used for position setting are cleared in step 18, and steps 13 to 14 are performed again to step 1.
5, and there, it is recognized that the X, Y, and Z axes are in their original positions, and in step 19, the manual/automatic changeover switch S is turned on.
Wait for 1 to turn on to the manual side. When a toggle switch is used as the manual/automatic changeover switch S1,
Step 19 is! [Becomes action.] And step 20
Then, check the state of the home position return switch S4 again to determine whether it is necessary to return to the home position and start again. Particularly, this judgment is necessary when it becomes necessary to restart the manual feed operation of each axis. In this case, the "home position return subroutine" is entered in step 21, and when this subroutine is completed, all memories used for determining the position Ff, KQ are cleared in step 22, and the process proceeds to step 13.
Return to 0. When the home position return switch S4 is not turned on in step 20, the state of the manual feed switch S3 is determined in step 23. When the manual feed switch S3 is in the on state, a manual feed operation is entered. When the manual feed switch S3 is not in the on state, a teaching routine is entered.

When entering step 30 of the teaching routine in FIG. 20, the state of the X-axis shifter 11+changeover switch S8 is determined, and if it is off, the X-axis air brake XAB is set to the braking state in step 48. When the X@movement selector switch S8 is turned on to the forward side, the state of the mitt switch LS4, which sets the X-axis forward end, is checked in step 31, and if it is on, it is ignored that the X-axis forward limit is reached, so step 48 Set the X-axis air brake XAR to the braking state. When the X-axis forward end switch LS4 is off, in step 32 the X-axis air motor XAM is rotated forward at low speed to perform X-axis forward movement. The rotation of the X-axis air motor XAM starts at ×+ll
Original ◇ Stomach limit - This is from the OFF state of switch 1-81, and normally there is hysteresis in the limit switch, so in order to escape it, the X limit switch LSI is turned on in step 33. If it is in the ON state, check the X-axis forward end limit switch L S4 in step 34, and switch the X-axis forward end limit switch to S4 and the X refreshing (FF position reset) switch L.
When both SI and
Put the axis in the brake state. When the X-axis forward end limit switch 1-84 is not on, as long as the X-axis movement selector switch S8 is on the forward side in step 35, even if the X-cooling position limit switch LS1 is on, the X-axis air Rotate motor XAM. When the X-position limit switch LSI exits the on-state range in step 33, the signal from the X-axis rotation/angle sensor XSE is checked in step 36. By the way, the output waveform of the rotation/angle sensor XSE is a square wave that repeats H (high level) and L (low level).
At the time of F's "'Ll", I's! Power run to l8 1~
Then move the fJI suspension to the body side. That is, when the output of the rotation/angle sensor is not 'H', check the on/off state of the limit switch LS4 at the forward end of the At this time, in step 38, it is determined whether the X-axis movement selector switch S8 is continuously on the forward side, and
If the process continues, step 36 is entered again. When the X-axis movement selector switch S8 is turned off, the X-axis air motor xΔM is reversed for a certain period of time in step 45 to prevent overrun due to the inertia of the X-axis air motor XΔM and the drive j system. Then, in step 46, the X-axis air brake XAB is activated, and in step 47, a time wait is performed to ensure the operation of the X-axis air brake XAB (for example,
0.3 ms), then step 30 is entered. When the output of rotation/angle sensor XSE is H'', step 3
At step 9, the X-axis advance counter MPXF is counted up by one. This X-axis advance counter MPXF is used to calculate the X-axis movement distance 1 data that was advanced by the L switch S8 before the war. Then, in step 40, it is checked whether the output of the x-axis rotation/angle sensor When the X-axis movement selector switch S8 continues to be on the forward side in step 44, the output II of the X-axis rotation/angle sensor XSE
Have HII inverted. When the output of the X-axis rotation/angle sensor XSE becomes "off", the process passes through step 40, step 41, and step 42, and then enters step 36. That is, the output of the X-axis rotation/angle sensor XSE is lH
N, even if it is "on", the mitt switch L is at the X-axis forward end.
When S4 is turned on, the brake operation of X@ is entered in step 37, step 43, or step 41. As long as the X fdl movement selector switch $8 is on the forward side, the output of the rotation/angle sensor
゛Tobi'II L 11 is determined in step 36, ii
Each time it becomes "H", the X-axis advance counter MPXF is incremented by one count.

Step 38 or Step 42 or Step 44
When it is determined that the X-axis movement selector switch S8 is turned off, in step 45 air pressure is supplied to reverse the X@air motor XAM for a certain period of time, and then in step 46 the x-axis air brake XAB is brought into the braking state. After setting the X-axis air brake XAB to the braking state, in step 47 there is a period of time (approximately 0.3 ms) until the operation of the air brake determine the need for advancement. When the X-axis movement selector switch S8 is not turned on to the forward direction, the X-axis air brake X/l is brought into the braking state in step 48.

Next, in step 50 of FIG. 21, it is determined whether it is necessary to retreat X@. In step 50, the X-axis movement selector switch S8
is 4% 3 [If the i side is not turned on, step 6
5, the X-axis air brake x ΔB is set to the brake state, and the Y-axis teaching shown in FIG. 22 begins. X-axis movement selector switch S8 is 1! When turned on to the exit side, in step 51
The state of the mitt switch 1-81 in the cooling position is determined, and it is turned on. In step 65, the X-axis air brake XA13 is set to the braking state, and Y-axis teaching begins.

X ITh Hara is good!・When the switch LSi is on (2, it is possible to move backwards, so step 5
2, reversely rotate the X-cho J armotor゛)
-1", "L" is determined in step 53. In steps 54, 58, and 6o, regardless of the signal of the x-axis rotation/angle sensor X at 65
111 Air brake XΔB is in the braking state, Y
Start teaching 1jqh. And step 55
Alternatively, in step 59 or step 61, it is determined whether or not the X (O movement changeover switch S8 continues to be turned on! When the movement selector switch S8 is turned off, in step 62, the X-axis air motor
Keep AM constant. 39. Rotate in the opposite direction to the former for one hour, that is, supply air pressure as much as possible to rotate freely, then apply B to the x-axis air brake x in step 63, and Air brake x to B brake effect until the time Samurai (approximately 0
．． 3m5P? +! Step 5
The value Ifl'i is 0. In addition, the x-axis rotation/angle sensor
Every time SE's '++' is detected in step 53, in step 57, × postwar 5 ■ Karinku MPXR is counted up by 1, the X-axis movement changeover switch S8 is turned on, and the painting gun is moved along the X-axis. Measure the distance traveled.

When the X-axis movement selector switch S8 is not turned on to the backward side in step 50, the X-axis air brake x ΔB is set to the brake state in step 65, and the Y-axis teaching shown in FIG. 22 is started. Similarly, for the Y-axis, the case where the X-axis movement selector switch S9 is turned on to the forward side from step 70 to step 88, and the case where the X-axis movement selector switch S9 is turned on to the forward side from step 90 to step 1
When the X-axis movement selector switch S9 is turned on to the forward side in step 05, the X@movement selector switch S8 is turned on to the forward side from step 30 to step 48, and the switch S8 is turned on to the backward side for X-axis movement. Signal processing is performed in the same manner as steps 50 to 65.

Furthermore, when the X@ movement changeover switch S8 and the X-axis movement changeover switch S9 are off, teaching of the 7 axes begins in step 110. Here again, from step 110 to step 128, Z (when the d movement changeover switch 810 is turned on to the forward side, and from step 30 to step 48 when the X-axis movement changeover switch S8 is turned on to the forward side)
In addition, when the Z-axis movement changeover switch S10 is turned on to the backward side in steps 130 to 145, the X-axis movement changeover switch S8 is
Processing similar to steps 50 to 65 when the fi side is turned on is performed, and the Y-axis advance counter MPYF is
and sets each position data in the Y% backward counter MPYR, the Z-axis forward counter MPZF, and the Z-axis backward counter MPZR.

Once the positions of the X, Y, and Z axes are determined, the slider 15
0, it is determined whether the program switch S6 is on. Turning on the program switch S6 prepares a RAM that stores data for determining the positions of the X, Y, and Z axes. ￥5 At the beginning when the source switch is turned on, the first
Since the memory of the gun operation data of the painting gun GUN1 or the second @ installed gun GUN2, that is, the spray t data, has been initialized, the memory MGUN1 of the first painting gun seen in step 151 and the second painting gun seen in step 155 are Since "1" is not set in the contents of the memory MGUN2, the "gun attitude control subroutine" is entered in step 159. Note that in step 151 and step 155, the memory MG of the first painting gun and the second painting gun is
When the memories of UN1 and MGtJN2 are set, that is, when modifying the painting gun position and gun posture data, when spraying paint at the time of purchasing the first and second painting guns, the film thickness will change. This will vary depending on the difference in stopping time, and the object to be coated will lose its value as a product. In addition, it is an inconvenient operation, and it is not good for the operator who sets the position because the paint may adhere to it.
jWhen eating and modifying the data, the operation of the gun is usually stopped. By the way, if the memory MGtJN1 is set in step 151, the first painting gun GUN1 and the second painting gun GU are set in step 152.
In order to disconnect the N2 paint supply path, the coating 11 supply control valves GUN 10 and GUN 20 are closed, and in step 153 the time until the effect occurs (for example, 0
．． After waiting for about 38 ec), in step 154, the air supply valves GUN11 and GUN21, which supply air for spraying, are closed. Further, when only the memory MGUN2 is on, the process moves from step 155 to step 156, where the paint supply path of the second painting gun GUN2 is shut off, and after a time period has elapsed in step 157, the air supply valve is Close GUN21 and proceed to step 159 “
Enter the gun attitude control subroutine.

When the "gun posture control subroutine" shown in FIG. 34 is entered in step 159, the Z-axis air brake 7Δ is activated in step U1.
B is set to brake 11, and gun angle θ1 is set in step U2.
Determine the state of switch S13, and if it is on, in step U3? Turn on the solenoid G23 of the fixed pulp l''G1 at an angle of 011 in order to move the Q-movement cylinder C and 2 to the cap side. When switch 813 is not on, step U
At step 4, excitation of solenoid G23 is cut off in order to move double-acting cylinder CL2 to the head side. Furthermore, in step U5, the gun angle θ
2 judge the state of the switch S14, and when it is on, in step U6, the solenoid G2 of the gun angle θ2 setting valve Hθ2 is activated to rotate the swing actuator AC2 by 180 degrees.
Turn on 4. When switch 814 is not on, excitation of solenoid G24 is cut off in step U7. and,
In step U8, the state of the 180 degree rotation switch 811 is determined, and when it is on, the gun is horizontally 180 degrees in step U8.
The solenoid G22 of the loss circulation valve RZ180 is energized and the second painting gun GUN2 is activated by the actuator AC1.
Make a 180 degree turn loss. When switch 311 is off,
At step U10, the excitation of solenoid R7180 is cut off.

Furthermore, in step tJ11, the 90 degree rotation switch S12
If it is on, in step U12, the solenoid l-"G2 of the gun horizontal 90 loss circulation valve R790 is turned on.
1 is excited and the double-acting cylinder CL1 is placed on the cap side,
Rotate the second painting gun GLIN2 by 90 degrees. When switch 812 is off, solenoid G21 is activated in step U13.
cut off the excitation. When the attitude control of the first painting gun GUN1 and the second painting gun GUN2 is completed, the process exits from the "gun attitude control subroutine" in step U14 and moves to step 160.

If the memory switch S2 is not turned on in step 160, the X-axis, Y-axis, and 2-axis data that has been positioned so far and the gun posture data determined by the "gun posture control subroutine" are changed again in step 1. It turns out.

When the memory switch S2 is turned on, a routine for creating position and gun posture data for each axis and storing them in the memory is entered in order to store the position data and gun posture data in the memory.

In step 170, the ON state of the correction input switch S21 is checked. In other words, the X-axis, Y-axis, and Z@ that have been positioned so far
When it is necessary to correct the position data of the forward and backward counters of each axis, the correction input switch 821 is turned on, and the correction values are artificially changed using the position correction digital switches D2 and D3. This is what you input. In addition, as will be described later, in the case of automatic feeding in this embodiment, when the X-axis movement is less than 10 pulses in the output pulse of the rotation/angle sensor XSE, the Y-axis and Z-axis movements are rotation/angle sensor With the output pulses of angle sensors YSE and ZSE,
When the number of pulses is less than 4, each axis is placed in a brake state, so it is necessary to correct the position using the digital switch D2.

First, when the correction input switch 821 is in the ON state in step 170, the decimal value inputted to the negative digital switch D2 and the positive digital switch D3 of the position correction digital switch is inputted in step 171. is used to indicate the correction value, and in step 172 it is set to 10
Convert decimal to hexadecimal code and read. Step 173
Then, it is determined which axis data the image line correction input corresponds to.

That is, when the axis data selected by the select switch S19 is X@data, it is determined in step 174 whether or not the polarity switch S22 is on the (+) side. So, the X-axis advance counter MPX
The position correction value is added to the value of F, and when it is on the (-) side, in step 176, the position correction value is added to the value of the XIIqh backward counter MPXR. If the select switch 819 does not select X@ in step 173, step 1
Move on to 75. When the select switch S19 selects the Y axis, the polarity switch 822 is set to (+) in step 178.
) side, and if it is on the (+) side, a position correction value is added to the Y-axis advance counter MPYF in step 179, and if it is on the (-) side, in step 180, the position correction value is added to the Y-axis advance counter MPYF. Add the position correction to the value of MPYR. In step 173 and step 175, select switch S19
When it is determined in step 181 that neither the X-axis nor the Y-axis is selected, it is determined in step 181 whether the Z-axis has been selected. When the Z-axis is selected, in step 183, the %M switch S
22 is on the (+) side. When it is on the (+) side, a position correction value is added to the 7-axis forward force counter MP7F in step 184, and when it is on the (-) side, step 18
In step 5, the position correction value is calculated on the 7-axis 1'J lo counter MP711. In step 173, step 175, and step 181, the select switch 819 is
If none of Z@ is selected, the signal processing of the microcomputer CPU is stopped at step 182, since this is not the processing that should be performed.

In this way, position correction can be performed by having the operator calculate the correction values for the X-axis correction, Y-axis correction, and Z-axis correction, and converting the calculated values into the number of steps. Therefore, it is effective to set the pitch of the ball screw as a unit that makes it easy to calculate the relationship between the number of pulses and the moving distance of each axis. When this position correction is completed, the set position data of the painting gun can be obtained. Note that if the correction input switch 821 is not turned on in step 170, step 170
Then, the process moves to step 190, and after obtaining the position data of the painting gun, the process moves to step 190.

Step 190 is a step of calculating the set position of the painting gun on the X axis. That is, the value of the x-war return counter MPXR is subtracted from the value of the X-axis advance counter MPXF, and when the value of the X-axis advance counter MPXF is smaller than the value of the X-war retreat counter MPXR in step 191, the step 190
Since the calculation of is negative, the polarity is inverted in step 192. Then, in step 193, the value obtained in step 192 (9) is stored in the memory MDATA.In step 194, it is determined whether manual feed routine work is in progress, and the memory M
When "1" is set in STPON, it means that the data is for correction, and since the memory MSTPON is cleared during teaching, the X-axis data is stored in the memory MXYZ in step 197. Set rOJ as a data distinction, specify the data storage address in step 198, and transfer the memory MD to the specified address.
Enter the contents of ATΔ. At this time, the X-axis air motor
The most significant bit of the memory at the specified address is set to “1” to mark that it is reverse rotation data of △M,
Enter 7-bit X-axis movement distance data from the next bit. Then, in step 199, hexadecimal data "FF" is entered into the next address designated in the previous step 198.

That is, all 8 bits are set to "1". In step 191, the value of the X-axis forward counter MPXF is changed to the value of the X-axis backward counter MP
When it is larger than the value of
If ON is cleared, it means that this is not a manual feed routine, so in step 203, the memory M
Store current position data in DATA. Step 20
Set "0" to memory MXY and 7 in step 4, and proceed to step 2.
A data storage address is specified in step 05, and the data contents of the memory Mr) ATA are stored in the specified address. At this time, as the normal rotation data of the X-axis air motor ”.

Next, in the routine from step 210 to step 226, Y-axis line fjj switching data is stored in the memory, and step 2
In the routine from step 30 to step 246, the Z-axis movement off H data is stored in the memory. These operations are the same as those for the X-axis, so their explanation will be omitted.

Once the X-axis, Y-axis, and Z@ positions are determined, proceed to step 3.
At step 50, it is determined whether manual feed routine work is in progress, and when teaching, 1' is stored in the memory MSTOPON.
” is not set, in step 355, the value of the step counter MSTP is used for address specification, the attitude control data and air motor speed data of the first painting gun GUN1 and the second painting gun GUN2 are read, and the specific address is read. Then, step 356
However, since it is not a manual feed, the memory MSTOPON is not set, so step 3
The step counter MSTP is incremented by one step at step 59, and when the memory switch S2 is turned off at step 360, when the memory switch S2 is turned off, the forward and backward counters for each axis are cleared at step 361. Return to step 19.

By repeating these actions, the first
The angle, posture, and operating status of the painting gun GUNI and the second painting gun GUN 2 are set.

Note that in steps 151 to 158, the first
Teaching was performed with the paint gun GUNI and the second paint gun GUN2 stopped, that is, the spraying of paint was stopped, but sometimes the paint was not actually sprayed onto the object to be painted. There are times when it is not possible to judge the condition of the paint.

In such a case, by controlling the gun attitude without turning on the program switch S6, paint can actually be sprayed onto the object to be painted.

That is, when the program switch S6 is not turned on in step 150, it is determined whether the memory MSTPON is set to "1" in the Stellar Lab 370 of FIG. The memory MSTPON is set in step 431 when a manual feed operation is performed, and since it is in an initialized state in the teaching state, the process enters the "gun posture control subroutine" in step 371.

After setting the gun attitude in the ``r gun attitude control subroutine'' and turning on the first WPi gun switch S15 in step 372, if the first painting gun switch S15 is in the off state until then, regardless of the contents of the memory MGIJN1, that is, Even if the memory MGLJNI is set to "1", the solenoid G25 of the paint supply control valve GUN10 of the first paint gun GUNI is turned off in step 374, and after waiting for the time to take effect in step 375. , In order to cut off the air supply to the first painting gun GUNI in step 376, the air supply valve GUN is activated.
il solenoid G29 is turned off. Then, in step 378, the memory MGUN1 of the first painting gun GUN1 is cleared, and the operation of the first painting gun GUNI is stopped. When the first painting switch 815 is off, step 3
Since the memory MGUNI of the first painting gun GtJN1 has been cleared in step 78, when the switch 815 is turned on in step 11, step 380 is selected in step 379, and the air supply valve of the first painting gun GtJN1 is turned on. In step 381, the time until the effect appears is determined, and then in step 382, the paint supply control valve GU N 10 of the first painting gun GLJN1 is turned on.
is turned on, and paint is sprayed from the first paint gun GUN1. Then, in step 383, the memory MGIJN1
Set “1” to “1”.

Therefore, while the first painting switch S15 is on, paint can be sprayed from the first painting gun GUNI. Then, by turning off the first painting switch 815, the process moves from step 372 to step 373, and in steps 374 to 376, the operation of the first painting gun GUNI is stopped, and in step 378, the operation of the first painting gun GUNI is stopped. Clear the memory MGUN 1 of the first painting gun so that it can operate.

Similarly, for the second painting gun GUN2, the second painting switch 816 controls the operation from step 384 to step 3.
94, the same spray gun as the first paint gun GUN1 can be put into operation.

In this way, the first painting gun GIJN1, the second painting gun G
Using IJN2, the spraying operation is performed with the coating state confirmed by operation, and when the program switch S6 is turned on, the process steps up from step 150 to step 151, and the first painting gun GUN1 and the second painting gun GUN2 are turned off. In step 159, the "gun attitude control subroutine" can be entered, and the spraying is performed with the first painting gun G in the state.
When there is no need to change the postures of LJN1 and second painting gun GUN2, by turning on the memory switch S2 in step 160, the gun posture data can be stored in the memory in steps 170 to 361 of the teaching operation. can.

Next, a case will be described in which the painting robot of this embodiment, which has completed teaching, is moved by cutting.

At the main flow yard, in step 14 manually
AutoV) When the selector switch S1 is turned on to the manual side, the process waits until the ttg gun returns to its original position in steps 15 and 16, and then turns on the original position switch S4 to select the ``home position return subroutine j''. Then, by returning m9.i% to the original position, through steps 19 and 20, when it is detected in step 23 that the manual feed switch S3 is on, in step 400, the state of the forward/reverse switch S20 is checked, If it is on the reverse rotation side, step 40
At step 1, it is determined whether the value of the step counter MSTP is rl, and if it is rOJ, the remaining 30 limit is reached, so at step 400, the routine waits for the forward/reverse rotation switch to turn to the forward rotation side. If it is not rOJ, the value of step counter MSTP is counted down by 1 in step 402. That is, upon completion of the "air motor t+I control subroutine",
Since the value of the step counter is incremented by one step in order to specify the next address, it is necessary to compensate for this when going backward. If the forward/reverse switch is turned on, there is no need to do so, so proceed to step 4.
The process moves from step 00 to step 403. And step 40
At step 3, the step data read subroutine is entered to read the data in the memory addressed by the step counter MSTP.

In step 403, the steps shown in FIGS. 35 to 39 are
When entering data read subroutine J, first, in step M1, the memory used in this subroutine is initialized, in step M2, the value of the step counter MSTP is used to specify the address and predetermined data is read, and in step M3, the read X-axis Store the moving distance data in the BC register. In step M4, it is determined whether the data in the B0 register is the final data. That is, the content of the next address specified by the step counter is read, and it is the 19 steps of teaching data storage, step 206, step 219, step 226,
Hexadecimal F performed in step 239 and step 246
F" data. When it is determined in step M5 that the data is the final step data as gun position and gun posture data, that data is the final data of the X axis. All bits of the memory MFFX that store this are set to 1'.

Enter the hexadecimal number “FF” to

In step M6, the contents of the RC register are transferred to the r)E register. In step M7, it is determined whether the forward/reverse rotation switch S20 is rotating in the reverse direction or in the forward direction.
Since it is necessary to reversely rotate the shaft air motor XΔM,
In step M8, the polarity judgment bit of the uppermost bit of the 8th register is inverted.

In step M9, the discard bit of the D register is cleared, and in step M10, only the moving distance data from which the polarity data has been removed is set in the memory MXSTP.

It is determined whether the value of the memory MXSTP is greater than "65" pulse number in step M11, greater than "40" pulse number in step M12, and greater than "0" pulse number in step M13,
When the number of pulses is "10" or less, step M1/l is used.
Clear the MXSTP.

"10" When the number of pulses J is in the range less than r401, the memory MXXP is stored in the memory MXXP in step M15.
4" to cellar 1, and in step M16 the memory M
Set 0 to 1'. Similarly, when the number of pulses is greater than "40" and less than r65J pulses, "7" is written to the memory MXXP in step M17, and "7" is written in the memory MXXP in step M18.
Set "1" in memory MX30. Memory MXX
When P is "greater than 65j<r200J pulse number or less", "1" is set in the memory MX50 in step M20.

When the number of pulses is larger than r200J, step M21 sets memory MX100 to 1", and in order to perform processing to decelerate the rotation of X-axis air motor XAM from high speed to low speed, step M22 sets memory MX100 to 1". MXH is set to "1". In this way, the values in the memory MXSTP are used to group the X-axis air motors XAM for speed restriction, that is, to set the air brake conditions.

In step M23, the polarity judgment bit of the most recent bit of the B register is set to 1'', but 711 is disconnected, and in step M24 and step M25, if the x-axis air motor Set "1" to MXF, or (in case of withdrawal, set "1" to memory MXR)
~do. Then, in step M26, the highest bit M26 of the B register is cleared. Memory MX in step M27
When STP is [0, 1, in step M28, 1° is set in memory MXAI3 in order to apply the X axis
’.

In this way, the moving distance of the X-axis air motor XAM is written into each memory for output.

Next, read the Y-axis movement distance data.

Note that this is basically the same as reading the X-axis movement distance 11111 data, so the explanation thereof will be simplified.

First, in step M30, the Y-axis specified “
1" and read the Y-axis data.

In step M31, the Y-axis data is read from the address specified by the step counter, and in step M32, the data read is stored in the 80 register, and the data at the address next to the address of the value of the step counter MSTP read in step M33 is It is determined whether it is the final data FF'', and if it is the final data, a hexadecimal number 'rF'' is set in the memory MFFY in step M34. In step M35, the data in the F3C register is transferred to the DE register, and the data in the most significant bit of the register is inverted depending on the state of the forward/reverse switch, and the most significant bit of the D register is cleared, leaving only the Y-axis movement distance data. Then, in step M39, the data in the DE register is stored in the memory MYSTP.
Move to. Step M40゜Step M41, Step M
At step 42, it is determined whether the value of the memory MYSTP is greater than the number of pulses "12" or "4", and the value is set to "4".
”, the memory MYS is stored in step M42.
Clear TP. The number of pulses in memory MYSTP is 4<
When MYSTP≦12, the memory MYYP is set to “3” in step M43, and the memory MY20 is set to 1” in step M44. When the number of pulses in the memory MYSTP is 12<MYSTP≦126, step M4
At step 6, "1" is set in the memory MY35. If the memory MYSTP exceeds the r126J pulse number, the memory MY70 is set to "1" in step M47,
In step M48, 1" is set in the memory M Y H that rotates the YN air motor YAM at high speed. In step M50, it is determined whether the data is for forward movement or for backward movement, and in step M50 and step M51, the Y-axis air Store the rotation direction of motor YAM in memory MYF or memory MY.
Set to R. In step M52, the rotation direction data of the most significant bit of the B register that is no longer needed is cleared.

In step M53, when the memory MYSTP is “Ol, Y
In order to brake the Y-axis using the axis air brake YAR, set the memory MYAB to '1'.

In this way, the movement of the Y@air motor YAM is divided into groups according to the speed control timing, and the groups are written into each memory for output.

Next, reading of the 7-axis movement flj'inn data begins.

In step M60, "2" specified by 7@ is written to the memory MXYZ, and the data before the 7-axis movement distance is read.

Incidentally, since it is basically the same as the XIV+ll and 'l data read, only the quick control of the 711II+-I arm motor ZAM from step M70 to step M78 will be explained.

In step M70, step M71, and step M72,
Z l111 Memory MZS in which travel distance data is set
The value of TP is compared with a predetermined value, and if the number of pulses stored in the memory M7:STP is not MZSTP>4, the memory M7STP is cleared in step M72. When the memory MZSTP is 4<M7STP≦9, “3” is set in the memory MZ7P in step M73, and 1″ is set in the memory M720 in step M74.Memory M
When 7STP is 9<MZZP≦119, memory MZ3
5 is set to "1", and when MZSTP>119, 1" is set to memory M770 in step M77, and ii speed memory M of Z-axis air motor 7ΔM is set in step M78.
Set ``1'' to 71-1.

From step M79 to step M8/I, the Y axis and Y
Since this is basically the same as reading the moving soup circle data under No. 111, the explanation of step (a) will be omitted.

Next, from step M90, the attitude control data read for the first painting gun GUN1 and the second painting gun GUN2 is started.

First, in step M90, the first painting gun GUN1 and the second painting gun
The attitude control data of the painting gun GUN 2 is read from each bit of the memory addressed by the value of the step counter. When the assigned bit of the first painting gun GUN1 is "1" in step M91, the first
“1” in memory MGUN1 of paint gun GUN1
is set, and when the assigned bit of the second painting gun GUN2 is "1°" in step M93, "1" is set in the memory MGUN2 of the second painting gun GUN2 in step M94. gun angle θ1
When the 1illllIl memory of is “1”, step M9
6, set "1" in the memory M/)1, and proceed to step M9.
7, the control memory for the gun angle θ2 of the second painting gun is “°1”.
”, the memory Mθ2 is set to “1” in step M98. Furthermore, the 180 degree turning instruction memory is set to “1” in step M99, and the memory M R is set to “1” in step M100.
Set "1" in Z180 and set 9 in step M101.
When the 0 degree turning control memory is “1”, step M102
1" is set in the memory MRZ90. Then, in step M103, when the reversal memory for lateral movement of the object conveyor is "1", 1" is set in the memory MHANT.

When the data in the air motor quick generation memory is at a low speed in step 105, the high speed memories MXH, MYH, and MZH of the X@, Y-axis, and Z-axis air motors are reset in step M106. The program returns to step M107, moves the data stored in the address designated by the step counter MSTP to each output memory, and completes one step of data reading.

At step 403, the "step data read subroutine" is finished, and from step 403 to step 410
Move to. Since the reversal memory M1-IANT is usually not in the set state at the beginning of painting, the process moves to step 420.

In addition, when the reversal memory MI-I AN T of the object conveying mechanism to be coated is set from 0 to "1" in step 410, the memory M HANTl is set in step 411.
is set to 1''.

Since the memory MHANT1 is cleared as a position setting memory after the "home position return subroutine", 1" is set in the memory MHANT1 in step 412, and the reverse output of the object conveying mechanism is turned on in step 413. As a result, when the reversing mechanism of the object conveying mechanism starts reversing, a detector such as a microswitch is turned on until the reversing is completed, and when it is detected in step 414, an inversion output of the object conveying mechanism is output. Step 41
Set to 5 to turn off. Then, when the detector is turned off in step 416, in step 417 there is a short opening period until the movement of the Fti loaded object is stabilized, and then the process moves to step 420. As described above, the object conveying mechanism used in this embodiment uses the horizontal side for self-holding after being reversed by the signal of the reversing memory M HANT, but when the present invention is implemented, Although the present invention is not limited to this, it is possible to use various known conveyance devices.

In step 420, the LEDs (light emitting diodes) are made to emit light based on the data in the memories MGUN1 and MGUN2 of the first painting gun GUN1 and the second painting gun GUN2, and the first painting gun GUN 1 and the second painting gun GUN during manual feeding are caused to emit light.
As a substitute for the injection of color 11 of 2, the operation can be displayed on the LFD. In step 421, whether the gun posture data is the same as the data set in the previous step or compared with the data contents of the previous step, and if it is the same, step 424
Enter the "air motor control subroutine". When the data content differs from the previous step, the second
Set the gun posture of the painting gun GUN2, such as 18G rotation, 90 degree rotation, gun angle θ1, gun angle 02, etc. At this time, a time delay is performed in step 423 to account for the delay in the operation of the pneumatic control tLD system required to set the gun attitude. Then, when the gun attitude is set, the program enters the air controller control subroutine j in step 424.

The air motor control subroutine U shown in FIGS. 40 to 45 is a routine for driving the X-axis, Y-axis, and 7-axis air motors to stop the coating gun at a predetermined position.

First, in step Δ1, it is determined whether 4% of the 7 axes is set to >fi. In other words, the retreat of Z@ is a movement in the opposite direction to gravity, and the 11 of 7-axis JA motor 7AM
If the load is large, 1. Therefore, in the case of backward movement of the Z axis, in step Δ2, 1°' is input to the 7-axis arm motor high speed memory M Z N
On the other hand, if the Z-axis is not retreating, it is moving in the direction of gravity, and the 0 load of the 7-axis air motor ZAM is small, so in step A3, the Z-axis air motor high-speed memory M is
Reset ZH.

In step Δ4, it is determined whether the rotation of the X-axis air motor If the limit switch LSI is on, the memory MXSTP is cleared in step A7. Also, in step A5, it is determined whether the rotation direction of the X-axis air motor XAM is set to X@forward, and when it is set to X-axis forward,
At step 88, the mitt switch LS4 has already reached the X-axis forward end.
If the limit switch LS4 is on, the memory MXSTP is cleared in step Δ9.

When the X-axis position is not at either end, step A
It is determined whether the value of the memory MXSTP read in step 10, that is, the number of pulses, is "0", and if it is "0", the step Δ
21, set the memory MXΔB of the X-axis air play board to “1?”
Set to . If the value of the memory MXSTP is not rOJ, it is determined in step A11 whether the memory MX30 is set to "1" or not. That is, the memory MX30 is
” means that “1°°” was set in step M17 or M19 of the “step data read subroutine”, so the read memo IJ M X S T P is 10<MXSTP≦6
It is determined whether the number of pulses is within the range of 5. 10<MXS
If the value is not within the range of TP≦65, it is determined in step A12 whether "1" is set in the memory MX50. In other words, when "1" is set in the memory MX30, it means that it was set in step M21 of the step data read subroutine J, so the number of pulses in the read memory MXSTP is within the range of 200≧MXSTP>65. Determine whether 200≧MXSTP>
65, in step A13, the memory M
Determine whether X100 is set to "1". That is, when the memory MX100 is set to "1", it means that "1" was set in step M21,
It is determined whether the read memory MXSTP is 200>MXSTP. and "Step Data Read
The memory value read in subroutine J is memory MX.
30, MXSTP within the range of memory MX50 and memory MX100 is ro-1! Shut down the Micro Combi Coke CPU with the shortcut △1/I outside the station] 1.

When the memory MX100 is set to 1'', the X-axis air motor
The x-axis air motor XAM is rotated at a high speed until the value of P becomes the number of remaining pulses r200J or less, and when it becomes less than r200J, the memory MXH is reset in step A16 to rotate the X-axis air motor XAM at a low speed.

Then, in step A17, when the number of remaining pulses becomes less than "55", 1" is set in the memory MXAB to bring the x-axis brake XAR into the braking state.

When "1" is set in the memory MX50 in step A12, "1" is set in the memory MXAB in order to apply the X@air brake XAB when the number of pulses becomes less than "55" in step A17. Also, memory MX3
When 0 is "1", in step △19 it is determined that the value of met MXXP has been decreased to 0 and ro,++ has been achieved, and in step △20, × air brake × ΔB is calculated (
Set "1" in JRO memory MXAB. That is, in steps Δ10 to Δ21, the brake timing is set according to the speed group [) of the X-axis air motor XAM in the step data read subroutine.

According to the T-ar motor control subroutine, control of the Y-axis and 7 fll T-ar motors is then entered, and the control of the X-axis air motor XΔM will be further described in detail.

Air motor output and air brake output are stored in their memories MXAM, MYAM, MZAM and MXAB, M
YA[3, MZAI3 causes the air motor and air brake of each axis to be output in step △70 of the air motor control subroutine J. Then, in step A71, the memory MXSTP, the memory MYSTr', and the memory M
7 Determine whether STP is "0". If rOJ,
At step A72, the step counter is incremented by one step. Then, the step counter M is stored in the memory MSTP1.
Transfer the STP value and execute r air motor control subroutine J.
end.

However, at the beginning of this "air motor control subroutine", the memory MXSTP, memory MYSTP, and memory MZSTP are normally not rOJ, so in step A80, the X cooling position or the forward end limit switch L is
Check whether SI or LS4 is on, and if limit switch LSI or LS4 is not on, step A
In step A81, it is determined whether the memory MSTARI is O". Since the memory MSTAR1 has been initialized in the "step data read subroutine" and is 110", the output of the rotation/angle sensor XSE is "H" in step A83. to judge.

When it is not "H", the output of the rotation/angle sensor
Set “1” to “1”. And the X-axis air motor
M rotates, and the output of the X-axis rotation/angle sensor XSE becomes “
When changing from 1-" to °"Tobi', step Δ81
Since the memory MSTARI is set to '1' at step Δ82 and the memory MKIN1 is set to '1' at step Δ82, the process goes to step A83, where it is set to 'H'.
”, in step △84 the memory MXSTP is
If it is not "01", "1" is subtracted from the memory MXSTP in step A85. When the memory MXXP is not "0" in step △86, the memory MXXP is subtracted by [1] in step A87, and in step A8
B resets the memory MKTN1. Step A89
If the output of the X-axis rotation/angle sensor Then, go to step 8 or
Step 889, Step 890, Step A91)
Vmu. Then, if step △80 is set to The control of the x-axis air motor XAM in "subroutine" ends.

That is, from step 880 to step A91, when the air motor XAM rotates, the rotation and angle are
When the output of E is “H”, memories MXSTP and MXX
P is subtracted by "1", and this subtraction is repeated until the memory MXSTP becomes "0". Rotation/angle sensor XS
When the output of E is "L", this subtraction process is avoided in step 883. In addition, when the output of the rotation/angle sensor XSE is "HII" at the beginning of the rotation of the x-axis air motor In steps △91 from 880, the memory M
Reduce XP T'? This is to detect rotary rotation. Then, it is used for aligning the memory M X S 1' P of slap Δ10 and the memory MXXP of step Δ19.

From step △100 to step △111, y ff
qh Detects the rotation of air motor YAM and stores memory MYS.
Decrease the values of TP and memory MYYP by f3.

Then, from step Δ120 to step A131,
Detects the rotation of the 7-axis arm motor 7AM and stores the memory MZS.
The values of TP and memory M7ZP are subtracted.

Next, including the above subtraction, from step A30 to step A4
The control of the Y-axis air motor YAM in No. 7 will be described in detail.

Step A30. At step Δ31, the Y-axis air motor Y
It is determined whether AM is rotating in the backward direction or in the forward direction, and in step Δ32, it is determined whether the mitt switch LS2 for moving to the Y cool position is on. If it is on, step △
33 clears the memory MYSTP. Step A34
It is determined that the Y-book forward end limit switch LS5 is on, and when it is on, the memory M is set in step Δ35.
Clear YSTP. When the Y-cooling position limit switch S2 and the Y-axis forward end limit switch LS5 are not moving, the memory M Y S T is set in step A36.
When it is determined that P is rl, and when rOJ is stopped, that is, the Y-axis movement distance is less than "4" pulse number, "1" is written to memory MYAB in order to apply Yf(l air brake YAB) immediately in step A37. When the memory MY20 is set to 1'' in step A3B, that is, when the memory MYSTP is in the range of pulse number less than "12" pulse number and greater than "4" pulse number, memory MY20 is set in step M45. °゛11 When putted, step 4
At step 6, it is determined whether the memory MYYP is rOJ. When the number of pulses is less than or equal to r 12 J pulses and greater than "4" pulses, "3" is set in the memory MYYP, so from step Δ5°, step A68 is reached and step 7o is reached, where Y @ Rotate the air motor YAM.

-77 When one revolution is started, step A100 to step A
In step 111, the values in the memory MYSTP and the memory MYYP are subtracted, and when the memory MYYP becomes rOJ, in step A47, the memory MYΔB is set to "1" in order to apply the Y-axis air brake YAB. Also, step A3
When it is determined that the memory MY35 is set to 1" in step A39, that is, when the rotation of the Y-axis air motor YAM is within the range of pulses greater than "12" pulses and less than r126J pulses, the steps from step A39 A44
Then, in step A44, the Y-axis air motor YAM is rotated until the memory MYSTP becomes 101 pulses or less, and in step A45 the memory is rotated to apply the Y-axis air brake YAB. Set MYΔB to '1'.

When “1” is set in the memory MY70 in step A40, that is, when the memory MYSTP is set to “1” in step M46,
When it is determined that the number of pulses is greater than 26J, step A
At 42, the remaining memory MYSTP becomes less than [12C+, l pulse false], and the remaining r126. Less than l pulse number! When this happens, reset the memory MYH to rotate the Y and other 11 air [-ta YAM at low speed, and after starting the low speed rotation, determine in step △/I4 that the number of remaining pulses becomes ``10'' or less. When the remaining number of pulses becomes 10 or less, 1°' is set in memory MYAr3 to apply Y@air brake YAB at step Δ45.
to. It should be noted that when it is not within the range of step Δ36, step Δ38, step A39, and step A40, the microcomputer CPU is stopped in step Δ41.

After setting the speed control of the Y-axis air motor YAM in this way, step A50 to step 868-7
Enter speed control of shaft arm motor ZAM.

From step Δ50 to step A55, from step A4 to A9 of speed control of the X-axis and Y@, and from step 30 to step A35, the 7-axis original movement or forward end limit switch is switched on, and S3 or 1-86 is turned on. 17 or whatever. At step Δ56, memory M7STP is set to “0”.
", that is, when the rotation of 7@TA1-ri7ΔM is less than the "/I" pulse, the 7-axis air play 11-7AR is immediately stored in the memory M7ΔB in step A57. "Set 1'°. When the memory M720 is determined to be 1'° in step A58, that is, the rotation of the 7-axis machining armor 7ΔM is greater than the "4" pulse.
When the number of pulses is less than 9'' pulses, in step A67, the Z-axis air motor 7ΔM is rotated until memory M7ZP changes from ``3'' to ``0'', and memory M and 7ZP change to ``0''.
In other words, when the number of remaining pulses is greater than "1" and less than "5", the memory MZΔB is set to 1" in order to apply the 7-axis air brake 7ΔB in step 868. In step A59 Memory M735 is “1”
When it is determined that the memory MZS is set to
This means that the content of TP is greater than 91 pulses and less than or equal to M19J pulses, so in the case of forward movement on the Z axis, which is movement in the direction of vehicle force, the memory MZ・S is stored in step Δ65. It is determined whether the value of TP is less than or equal to the number of pulses "7", and when it is less than or equal to the number of pulses "7", "1" is set in the memory M7AB in order to apply the Z-axis air brake ZΔB in step 866. . In the case of retreat on the Z axis, which is movement in the anti-gravity direction, it is determined in step Δ63 whether the value of the memory MZSOP is less than or equal to the number of pulses "4",
When the number of pulses is less than "4", in step 864 Z
Set memory MZAB to 1'' to apply shaft air brake ZAB.

In other words, when moving forward on the Z axis, the load is light due to the influence of gravity, while when moving backward, the load is heavy due to the influence of gravity, so the difference from the case of Z@exit and retreat is "3". This is set to the number of pulses. Then, step A56, step A5
8. If it is determined in step Δ59 and step A60 that the data does not fall within any of the ranges, this is an error signal that does not fall within the range of data obtained in the "step data read subroutine", so in step A61 the microcomputer CPU to stop.

In this way, "in the air motor control subroutine 7j, the high or low speed setting of each axis air motor and the timing for applying each axis air brake are set in each memory, and the each axis air motor and This is to control the air brakes for each axis.

Here, we return to the explanation of the manual feeding operation.

When the r air motor control subroutine J in step 424 is finished, in step 425, the forward/reverse switch 82 is
0 is on for the forward rotation side, and if it is on for the forward rotation side, 1 is stored in the memory MSTPON in step 432.
° is set, and in step 433 it is determined whether the specified address is the final address. If it is not the final address, in step +134, wait until the manual feed switch S3 is turned off, and in step 23, the manual feed switch S3 is turned on. have become. That is, by turning on the manual feed switch S3 - times,
Move forward by one step. Then, when it is determined in step 433 that the data storage address is the final one, the transport machine lateral control system is turned on in step 435, and the next? I! iI
The 4f memory necessary for manual feeding is cleared in step 7136.

1. When the forward/reverse rotation switch S20 is on the reverse rotation side in step 425, it is determined in step 426 whether the step counter MSTP is rOJ, and when it is rOJ, the gun angle is reset in step 431 to return to the initial state. Return to Also, it is on the reverse rotation side and the step counter MS
When TP is not at [01, the value of step counter MSTP is decremented by "1" in step 427. Then, in step 428, the step data read subroutine.
Set the gun's posture with 2 steps. And step 430
Then apply "1-1" to the step counter MSTP and return the step counter MSTP to the previous state. In other words, to return to the state one step ago, return the gun state to the state two steps ago. Then, in step 421, the gun postures are compared.

In this way, you can manually set the
Be able to perform IZ movement.

However, during operations such as manual feeding, it may be necessary to correct the data by 9% at a specific step (!iri of a specific step counter). At this time, a modification routine is required. Next, this correction routine will be explained.

First, by manually advancing to a specific step using the manual 1χ reset switch S3 and turning on the program switch S6, data correction for that step can be started. Therefore, if necessary, the correction position of the X axis can be adjusted in steps 30 to 64 of teaching, and in step 7.
0 to step 104, change the Y-axis correction position to step 1
From step 10, set the correction position of 7@ in step 1/34. Then, after passing through step 150, the operation of the first painting gun GUN1 and the second painting gun GUN2 is stopped in steps 151 to 15B, and then the "gun attitude control subroutine" of step 159 is entered, and the gun position control subroutine is entered as necessary. Correct your posture. Next, by turning on the memory switch S2, the process moves from step 160 to step 170, and by turning on the correction input switch S21 in step 170, the correction position of the X axis from the slide 171 to step 185, Y! The 1th correction position and the 7@ correction position can be corrected by inputting a device correction digital switch.

The current position on the X-axis is calculated from the values of the X-axis advance counter MPXF and the X@4e selection counter MPXR obtained by these subroutines. That is, step 19
From the value of the X-axis advance counter MPXF at 0, X @4G
After subtracting the value of the 3U power counter MPXR, step 19
1, and depending on the value, determine whether it is the X-axis advance data or the X-axis retreat data. For forward data, the memory MSTPON is in manual feed at step 200. 1", in step 201 the rOJ specified by X@ is set in the memory MXYZ, and in step 202 the "forward correction subroutine" is entered.

Next, the "forward correction subroutine" shown in FIG. 46 will be explained.

In step F1, the X-axis advance counter M P is stored in the memory MF.
X F h”l X @back i1 Kara>'j M P
Enter the value obtained by subtracting X R. Step F2 enters the r step data read subroutine j, reads data by specifying the address with the value of the step counter MSTP, and in step F3 the memory M to be modified is
r) Look at the most significant bit of ATA and read its memory MDAT.
Determine whether A is forward data or backward data. For forward data, the memory MDATA is
The value of the memory M is added to the value of the memory MDATA to obtain the corrected value of the memory MDATA.After the backward data, it is determined in step F5 whether the value to the memory Ml)AT is larger than the value of the memory MF. , in step F6, the value of memory M is subtracted from the value of memory MDATA to obtain the corrected value of memory MDATA.
When it is smaller than the value of , in step F7, the memory Ml')ATA@ is decremented from the value of the memory M to obtain the corrected value, and at the same time, the L-most bit "1" is changed to 0°. Then, set it as the forward data of the
Re-address step counter M S T P (n) and store the value of memory MDAT△ in the corrected memory in memory.
TP is increased by one count from 1 to 1, and in step F10, the next address of the address to be corrected is specified.In step 11, it is determined whether the data of the next step is forward or backward, and if it is backward, step F12 The value obtained by adding the value of memory MF to the value of TΔ to the memory MD of the next step is set as the value of the corrected memory Mr)ATA.When moving forward, the value of memory MF and the value of the next step are set in step F13. Memory M of the next step compared with the value to AT
r) When the value of ATA is larger than the value of memory MF, in step F14 memory M1') is transferred from the value of ATA to memory MF.
The value obtained by subtracting the value of is set as the value to the modified 1u memory Mr)AT. When the value of the memory MDATA in the next step is smaller than the value of the memory MF, the memory M
From the value of F to Mr.
Modify the memory M11ΔT△ of memory M11 ((). Then, the memory MDAT△, which is 19 in this way, is specified as J to the step counter MSTP in step 16, and the rear address is specified, and the memory is transferred to the specified address. Mr) Stores the value of 8TΔ, and at step ``17'' sets the step counter MSTP.
The value of is counted down by 1 and returned to the original state, and the "forward correction subroutine" is ended in step F18.

If it is determined in step 191 that the data is backward data, the process goes through step 195 and enters the F qa 3ri correction subroutine J in step 196 shown in FIG.

In step B1, a value obtained by subtracting x pre-war 3 gourd counter MPXF from X N II ;m counter MPXR is input into memory Mr3 in step B1. In step B2, the "step data read subroutine" is entered, and the step counter MST
A data read is performed by specifying the address using the value of P, and in step 83 F if the most significant bit of the memory MDATA to be corrected is looked at, it is determined whether the memory MDΔTΔ is forward data or backward data. When it is backward data, the memory MDATA is stored in the memory MI in step B4.
Add the value '3 and set it as the modified value 1u of the memory MDATA. If it is not backward data, the memory M is stored in step B5.
Determine whether the value of DATA is greater than the value of memory MB,
If it is larger, the value of memory MB is subtracted from the value of memory MDATA in step B6, and the value is set as the corrected value of memory MDATA. When the value of the memory MDATA is smaller than the value of the memory MB, in step B7, the memory MDATΔ is subtracted from the value of the memory MF3 to obtain its corrected value, and the most significant bit is set to "1", so that X @ backward data is obtained. This is the corrected value of the memory MDATA. Then, in step B8, addressing is performed using the step counter MSTP, and the corrected value of the memory MDMA is stored in the called memory. Furthermore, step B1 counts up the step counter MSTP by 1.
0 specifies the next address of the address to be corrected, and in step 811 it is determined whether the data of the next step is forward or backward, and when it is backward by 1, the next step's memory Mr) ATA is specified in step R12. The value obtained by adding the value of the memory Mll to the value of is set as the value of the memory MDATA after correction.

When moving forward, the value of the memory MB is compared with the value of the memory MDATA of the next step in step B13, and if the value of the memory MDATA of the next step is larger than the value of the memory MB, the value of the memory MDATA is determined in step 814. The value obtained by subtracting the value of memory MB is the corrected memory Mr) 8T
The value is △. When the value of the memory MDATΔ in the next step is smaller than the value of the memory MB, in step 815, the value obtained by subtracting the value of the memory Mr)ATA from the value of the memory MB is set as the value of the corrected (memory Mr)ATA. and,
In this way, the value of (memory Mr) ATA is
In step B16, an address is designated by the step counter MSTP, the value of the memory Mr)ATA is stored in the designated address, and in step B17, the step counter MST is stored.
Count down the value of P by 1, return it to the original state, and in step B18, ``(Spring retirement 11th November, ', 对?' is completed.

1714m +, m L, T, Y l! qllni+
Shin t'i iT': wo/', 7 tsu 7221, step 222, Y axis (wa'rU correction step 215,
At step 216, slap 2 on the 7th axis 1iii Shinshu iF.
41. In step 2/I2, 7-axis (talk) R correction can be performed in steps 235 and 236.

Then, the process moves to step 350. When the memory MSTPON enters the first incision, since 1'' is set in the step 431, the process steps up from step 350 to step 351 and transfers the value of the step counter M S T P to the memory MSTP2. In step 352, it is determined whether the step counter MSTP (direction) is "0", and if it is rOJ, step 3540 subtraction is impossible, so in step A73 of the "air motor control subroutine" the step counter MSTP is stored in the memory MSTPI The transferred value is transferred to the step counter MSTP in step 353.In other words, the step counter MSTP is in the state of rOJ, which is cleared in the next step after the step counter MSTP reaches the maximum value. Memorize the count of ``joist iif+ 11.!'' of counter M8 [) as lf+ of MSTri, and with slap 354, step counter MSTP's (il' + hth') I' 1-
The step counter MSTP obtained in step 354 is obtained by subtracting l and increasing n M m by 46 degrees and going to step 355.
You can specify an address using the octopus, and store each piece of modified data in that memory. In step 35G, the memory MSTPO
Since "1'' is set in N, step 357
It is determined whether the memory MSTP2 is rOJ. Step 3
When the memory MSTP2 is "0" in step 57, the step counter MSTP is incremented at the next step by the r motor control subroutine l, and the final step is cleared. Memory MS only when MSTP is rOJ
Since the calculation is performed using T P 1, if you want to return the step counter MSTP to its original value, step 351
When the step counter MSTP is "0", again, "
0", and in step 358 the step counter MSTP is set to "OJ", and the memory MSTρ2 is r
When it is not OJ, the value of the step counter MSTP is incremented by 1 and returned to the original value. and step 360
Wait until the memory switch S2 is turned off, and when it is turned off, the forward/reverse counters for each axis are cleared in step 361.

In this way, modification data can be placed at the address specified by the step counter MSTP.

However, there may be an error in the correction data entered at a specific address, and it may be necessary to perform correction again at that step. However, since the step counter MSTP has already been counted up in step A72 of the "air motor control subroutine", it is necessary to designate the same address again, read the data, and set the gun posture.

In this case, the program switch S6 may be turned off.

That is, when the program switch S6 is turned off in step 150, the memory MSTr is turned on in step 370.
It is determined whether or not 1'' has been let. When entering manual cutting, since II 1 II is set in the memory MSTPON, the process moves from step 370 to step 450.

In step 450, the value of the step counter MSTP is transferred to the memory MSTP2, and in step 11I51, it is determined whether the value of the step counter MSTP is rOJ. . Step A of ``When rOJ, r air motor control subroutine''
After transferring the value of the memory MSTP1, which is set to 1 in step 73, to the step counter MSTP, the step counter MSTP is counted down by 1 in step 453, and the step data read lib routine is executed in step 454 using the counted down step counter MSTP. '' and outputs the data read in step 455. Then, step 456 and step 457
The step counter MSTP is returned to its original value.

If the program switch S6 is then turned on, the value of the correction step can be corrected again.

After completing the teaching, it will automatically change to 180 baud. ] can be carried out with a thousand powers.

Next, a routine for automatically carrying out 4-routing of the object to be painted will be explained.

d5 in the main routine of FIGS. 14 to 16, and when the T1/self 14 changeover switch 7S1 is set to the automatic side in step 1/l, the step counter M S T )) is cleared in step 13. , enters automatic operation in step 14. First, in step 500, the gun posture is reset and the original gun posture is set to ◇1.Step 50
In step 1, determine whether it is in the original position, original A◇If it is not in the stomach, is it in the original position F? Wait until the return switch S4 is turned on in step 50.
Wait at 2. When the home position return switch S4 is turned on at step 502, the "home position return blue routine" is entered at slap 503, and when the "home position return subroutine" is completed, the start switch S5 is turned on at step 504. wait. When the start switch S5 is turned on in step 504 and turned off in step 506, 1'' is set in the memory MS ΔR in step 507, and even if the start switch S5 is turned off, the operation in step 5 is
Since the memory MSTAR becomes "1'° at 05, -zuL
When the start switch S5 is turned on, step 504;
It is self-held in steps 506, 507, and 505. Then, in step 508, the solenoids Q26 and G29 of the air supply valves GUN11 and GUN21 of the first painting gun GUN1 and the second q-equipped gun GUN2 are turned on to supply painting air to each painting gun. Step 509 enters the "r step data read subroutine", and first, the memory MHANT is cleared by the data read in step 10 of the step counter MSTP. ° Determine whether it is set to "O" or "'1".

Since the memory MHANT has been initialized in step 11, the process immediately enters step 520. When the step counter MSTP increases by 1 to a specific step, the memory MHΔNT becomes "'1". At this time, the process moves from step 510 to step 511, and the memory MHANT is set to "'1". determine whether Since the memory MHANT1 has been initialized in step 11 like the memory MHANT, step 512 is entered. In step 512, the first painting gun GU
Painting with N1 and second paint gun GUN2! 1 Determine whether the supply circuit is in question, and apply the paint supply control valve G U N
10 and GUN 20 solenoid G25 and 0
28 is energized, the solenoids G25 and G28 are turned off in step 513, and the spraying of paint from the first paint gun GUN1 and the second paint gun GUN2 is temporarily stopped. In step 514, the memory MHA
NT1 is set to 1'', and in step 515, the reversal mechanism of the object conveying mechanism is turned on.When the memory MHANT1 is set to 1'' in step 514, the continuing memory MH is set in step 511. The state can be maintained for 1″ of ΔNT.

When the reversing mechanism starts operating, in step 516 the reversing is self-maintained by a microswitch or the like on the construction side, the reversing mechanism becomes operational, and in step 517 the reversing output is turned off. When the inversion Ill tFi completes inversion, the self-holding of the inversion gate structure is released in step 518, and the inversion lf!
What about Isugi? ! ! +Complete the reversal of the clothing.

Then, in step 520, it is determined whether the gun posture is the same as the state in the previous step by Y+1, and if it is not the same, in order to temporarily stop the paint injection and set the gun posture, in step 512, the paint supply control valve G is determined. U N 10 and G
When it is determined whether solenoid G25 and 028 of UN20 are on and the paint supply control valve is inquiring,
In step 522, the excitation of the solenoids of the paint supply control valves GUN 10 and GUN 20, which control the supply of the paint, is cut off. In step 523, the memory MG
UN1, MGUN2, MR1, MR2, MR718
0. Set the gun posture according to the settings of MR790.

After waiting for the time required to set the gun posture in step 524, in step 525, the first painting gun GUN
Solenoid (', 25 or 1.t (', d8 = Il + length 1, m
V'l OnrI DI Sat! , Stellaf 526r
Enter l'-T Fumo 9111 Blue Room, 11.

When the above-mentioned "air motor control→knob routine 1" is completed, it is self-held in steps 504 to 507 unless it is determined in the next step 527 that the address specification of the step counter MSTP is the highest address. Via the start switch S5, enter the "step data read subroutine" again and repeat this operation.

When it is determined in step 527 that the address specified by the step counter MSTP is the final address, in step 528 the ff4'l supply control valve G IJ N
It is determined whether the solenoids G25 and G28 of GUN 10 and GUN 20 are energized, and if they are energized, the energizing current is cut off in step 529, and a time period for the effect to be restored is performed in step 530. 531
The first painting gun GUN 1 and the second coating gun (:i
L, ' N 2 to llj supply 4 filter Ai j1 supply valve G 1. Energize the solenoids G2G and G29 of JN 11 and GLJN21 (cut off A1, and in step 532, energize each memory used for I Blue Bun,
Return to the original position by 1 and give the next instruction at 1.

This J: completes the automatic feed.

This embodiment includes a teaching step in which the handling and posture of the painting gun are recorded in the memory at each step, a step in which the data is sequentially read from the memory by manual e-feeding, and A correction process in which the data of a specific step is corrected in the feeding process, a process in which the data obtained in the teaching process is sequentially read from memory by an automatic feed operation and coated on the object to be coated, and a gun posture is confirmed in the data of the specific step. Although the ζ-equipped robot is characterized in that the spraying for the purpose of the present invention includes a status confirmation process, in the present invention, the spraying and confirmation process is not necessarily a necessary process, but is an optional requirement.

-1 (') 0 - The above spraying is sure to be HI, and the coating 11 is sprayed during automatic operation (state J can be confirmed, and correction of A is in progress. , operation for similar objects to be coated can be programmed by Saisho.

In addition, in this embodiment, the position setting means (t)
It is equipped with an air motor as three means, a ball screw as a moving means, and an air brake as a braking means. However, when carrying out the present invention, the moving means and braking means are not limited to the ball screw and air brake. However, when a ball screw is used as the moving means, there is little play and the distance of movement can be calculated from the pitch of the ball screw, so the movement rl'i 1!111 can be determined from the rotation speed and rotation angle. In addition, those that use air brakes as a braking means,
Since an air motor is used as the driving means and air is used for the coating gun, it is effective to perform driving and braking using the same air control because the control ffI'l medium can be unified.

-101 In this embodiment, the position at which the painting gun is positioned in three-dimensional space by moving on the X@, Y-axis, and Z-axis is also Ω.
and means for rotating the paint gun by 90 degrees and 180 degrees.
A gun posture control means that enables rotation of 80 degrees and 270 degrees, and further enables angular displacement of 45-01 degrees, 45 degrees, and 45 + θ1 degrees in the vertical angle, and a gun operation that controls the spraying state of the paint gun. This invention relates to a painting robot consisting of a control means, and is capable of increasing the spraying angle by one degree, which is generally required.

Therefore, in this embodiment, the first painting gun is
It has a painting gun and a second painting gun, and the first painting gun is fixed vertically downward, and the second painting gun is fixed at 90rfi.
and a means for rotating 180 degrees, allowing rotation of 0 degrees, 90 degrees, 180 degrees, and 270 degrees in the horizontal angle,
Furthermore, in the vertical angle, 45-01 degrees, 45 degrees, 45
+ (By setting 01 of 71 degrees to 01 = ±22.5 degrees, angular displacement of 22.5i, 45 degrees, 67.5 degrees is possible, and it is used for the 141st gun Jl. Especially”
One C0 degree, 22.5 degrees, /15 town, fi 7.5 IQ angle change is possible, fiF 11 rot), the spread angle of the paint gun] mustard, spraying 1J e It should be possible to do it uniformly from 0 degrees to about 90 degrees.

[Invention 11 As described above, the present invention uses a T-ar motor as a driving force source that changes the (<liF) of the painting gun. Robot 1
- It is possible to configure a painting robot at a low cost.

Therefore, the painting robot of the present invention moves the WZ gun in a three-dimensional space using an x-axis moving air motor, a Y-axis moving air motor, and a Z-axis moving air motor. A gun posture consisting of a moving means, a position setting means for determining the position by rotating the paint gun horizontally, a horizontal turning means for horizontally turning the painting gun, and a vertical angular displacement means for vertically angularly displacing the painting gun. Since it consists of a control means and a gun operation control means for controlling the spraying of the paint gun, air is used as the control medium.
Since you only need to use a relatively cheap air f1 machine (
Using 1-1, #Rnbot1~ can be made +M, and Painting Robot 1 can be transferred to 1-value. Also, the electricity is near! 1'1 tlp element is γ-equipped gun's ^i!: Qzuro is 7 pieces, so paint ￥;
1. The use of the painting robot is not limited by the type of solvent and is safe.

Furthermore, the painting robot of the present invention has a teaching process in which the position, posture, and operation of the painting gun are recorded in a memory for each step, and I+'? a step of sequentially reading the data from the memory by a manual feed operation; a correction step of modifying the data of a specific step in the manual feed step; and a correction step of modifying the data of a specific step in the teaching process Since the process consists of sequentially reading data from the memory using an automatic feed operation and painting the object to be coated, the painting robot can be operated by manual feed before automatic Rt control is performed.

[Brief explanation of drawings]

-10/I- Fig. 1 is a front view of a painting robot according to an embodiment of the present invention, Fig. 2 is a front view of a painting robot according to an embodiment of the present invention;
The figure is a side view of the painting robot shown in Figure 1, Figure 3 is a configuration diagram of the main parts of the position setting means, Figure 4 is an enlarged front view of the main parts of the painting gun and its attachment means, and Figure 5 is the gun Pneumatic circuit diagram for posture control system and gun operation control system, Figure 6 is a pneumatic circuit diagram for the X-axis position setting system, Figure 7 is a pneumatic circuit diagram for the Y-axis position setting system, and Figure 8 is a pneumatic circuit diagram for the Y-axis position setting system. Pneumatic circuit diagram of 7-axis position setting system,
9 to 13 are electrical control circuit diagrams of the painting robot of this embodiment, and FIGS. 14 to 47 are flowcharts of the painting robot of this embodiment. In the figure, GUN 1...1st! ? Loaded gun, GUN2...
2nd painting gun, XAM...X-axis air motor, YAM...Y-axis air motor, 7AM...7-axis air motor, XAB...X-book air brake, Y/M' (...Y Axial air brake, ZAB...Z
Shaft air brake, ×2...Ball screw, Y2...Ball screw, 72...Ball screw. In addition, in the figures, the same reference numerals and the same symbols indicate the same or equivalent parts.

Claims (9)

[Claims] (1) A painting robot characterized by using an air motor as a drive source for moving the position of a painting gun. (2) Positioning consisting of a driving means, a moving means, and a braking means for moving the painting gun in a three-dimensional space using an air motor for moving the X-axis, an air motor for moving the Y-axis, and an air motor for moving the Z-axis. a gun attitude control means comprising a horizontal rotation means for horizontally rotating the painting gun, a vertical angular displacement means for vertically angularly displacing the painting gun, and a gun operation for controlling the spraying of the painting gun. A painting robot characterized by comprising control means and a control circuit for controlling those means. (3) Positioning consisting of a driving means, a moving means, and a braking means for moving the painting gun in a three-dimensional space using an air motor for moving the X-axis, an air motor for moving the Y-axis, and an air motor for moving the Z-axis. a gun attitude control means comprising a horizontal rotation means for horizontally rotating the painting gun, a vertical angular displacement means for vertically angularly displacing the painting gun, and a gun operation for controlling the spraying of the painting gun. A painting robot comprising a control means, a means for conveying and rotating an object to be painted, and a control circuit for controlling these means. (4) A teaching step in which the position, orientation, and operation of the coating gun are recorded in memory for each step, a step in which the data obtained in the teaching step is sequentially read from the memory by a manual feed operation, and a step in which the data is specified by the manual feed operation. The process consists of a correction process of correcting the data obtained in the teaching process of the step, and a process of sequentially reading the data obtained in the teaching process and correction process from the memory by automatic feed operation, and painting the object to be coated using the data. Characteristic painting robot control method. (5) A teaching process in which the position, orientation, and operation of the coating gun are recorded in memory for each step; a process in which the data obtained in the teaching process is sequentially read from the memory by a manual feed operation; and a process in which the data specified in the manual feed process is A correction process for correcting step data, a spraying status confirmation process for confirming the gun posture based on the data for the specific step, and the data obtained in the teaching process are sequentially read from the memory by an automatic feed operation, and the data is 1. A method of controlling a painting robot, comprising the step of painting an object to be painted by using a method of controlling a painting robot. (6) The coating according to claims 2 and 3, wherein the position setting control means comprises an air motor as a driving means, a ball screw as a moving means, and an air brake as a braking means. robot. (7) The horizontal turning means is 0 degrees, 90 degrees, 180 degrees,
The painting robot according to claims 2 and 3, characterized in that the robot rotates 270 degrees. (8) The vertical angle displacement means has a vertical angle of 45
The painting robot according to claims 2 and 3, characterized in that -θ1 degree, 45 degrees, and 45+θ1 degree. (9) The painting robot according to claim 8, wherein the θ1 is 22.5 degrees.