CN-121988477-A - Coating robot

Abstract

Provided is a coating robot which can improve coating quality even if a defective portion exists at a coating portion. A painting robot (10) is provided with a painting head unit (50) having a painting head (53), a robot arm (R1) for moving the painting head unit to a desired position, a three-dimensional scanner (150) for acquiring three-dimensional painting data of a painting site painted by the painting head (53), and a control unit for controlling the operations of the painting head (53) and the robot arm (R1) based on the three-dimensional image data transmitted from the three-dimensional scanner, wherein when it is determined that a painting defect (PD 2) exists in the three-dimensional painting data, the control unit performs additional painting control in which control is performed such that the painting head (53) is moved to a different position and a droplet of paint is ejected from the painting head (53) to the painting defect (PD 2).

Inventors

• Koda Kasumi

Assignees

• ABB瑞士股份有限公司

Dates

Publication Date

20260508

Application Date

20251021

Priority Date

20241108

Claims (7)

1. 1. A painting robot for painting a predetermined part of a vehicle, comprising: a coating head unit provided with a coating head having a plurality of nozzles for ejecting droplets of a coating material; a robot arm to which the coating head unit is attached at a front end and which moves the coating head unit to a desired position; a three-dimensional scanner for acquiring three-dimensional coating data of a coating part coated by the coating head, and A control unit that controls the operations of the coating head and the robot arm based on the three-dimensional image data transmitted from the three-dimensional scanner, The control unit executes additional coating control when it is determined that a coating defect portion, which is a coating defect generated in the formation of a previous coating route, In the additional coating control, control is performed such that the coating head is moved so that the nozzle that causes the coating defective portion to be generated is moved to a different position, and droplets of the coating material are ejected from the coating head to the coating defective portion.
2. 2. The painting robot according to claim 1, characterized in that, The control unit performs control to move the nozzle to a different position by rotation of the coating head in the additional coating control.
3. 3. The painting robot according to claim 1, characterized in that, When the coating route for the first coating is set as a route-out route, the control unit controls the operations of the coating head and the robot arm so that the coating in the additional coating control is performed in a loop.
4. 4. The painting robot according to claim 1, characterized in that, The control unit performs control for moving the nozzle to a different position by moving the paint head a predetermined distance in a sub-scanning direction orthogonal to a main scanning direction, which is a moving direction of the paint head in the paint route, in the additional paint control.
5. 5. The painting robot according to claim 1, characterized in that, The three-dimensional scanner acquires the three-dimensional painting data within the painting route that is the same as the execution of painting in the painting route.
6. 6. The painting robot according to claim 1, characterized in that, The three-dimensional scanner is fixed relative to the coating head.
7. 7. The painting robot according to claim 1, characterized in that, The three-dimensional scanner is disposed separately from the painting robot.

Description

Coating robot Technical Field The present invention relates to a painting robot. Background In a coating line for vehicles such as automobiles, robot coating using a robot has become a mainstream. As an example of a configuration related to the robot coating, for example, patent document 1 discloses the following configuration. The coating robot disclosed in patent document 1 discloses a technique for determining a defective discharge of a nozzle based on a test chart having a plurality of inspection lines (CHECK LINE). Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2023-009853 Disclosure of Invention In the structure disclosed in patent document 1, it is possible to determine the ejection failure of the nozzle based on the test chart. However, there is no disclosure of a means for improving the coating quality to a predetermined coating quality when there is a defective portion or the like in coating and the predetermined coating quality is not satisfied. The present invention has been made in view of the above circumstances, and an object thereof is to provide a coating robot capable of improving coating quality even when a defective portion is present in a coating portion. In order to solve the above problems, according to the 1 st aspect of the present invention, there is provided a coating robot for coating a predetermined portion of a vehicle, the robot comprising a coating head unit having a plurality of nozzles for ejecting droplets of a coating material, a robot arm for attaching the coating head unit to a front end and moving the coating head unit to a desired position, a three-dimensional scanner for acquiring three-dimensional coating data of a coating portion coated by the coating head, and a control unit for controlling operations of the coating head and the robot arm based on the three-dimensional image data transmitted from the three-dimensional scanner, wherein the control unit executes additional coating control when it is determined that a coating defect, i.e., a coating defect portion generated in the previous formation of a coating route, exists in the three-dimensional coating data, and in the additional coating control, performs control for moving the coating head so that the nozzles causing the coating defect portion are moved to different positions and ejecting the droplets of the coating material from the coating head to the coating defect portion. Effects of the invention According to the present invention, a coating robot can be provided that can improve coating quality even when a defective portion is present in a coating portion. Drawings Fig. 1 is a schematic view showing the overall configuration of a painting robot according to an embodiment of the present invention. Fig. 2 is a diagram showing a schematic configuration of a coating system including the coating robot shown in fig. 1. Fig. 3 is a view showing a state of a nozzle forming surface for ejecting paint in a paint head unit provided in the paint robot shown in fig. 1, as viewed from the front. Fig. 4 is a plan view showing a structure of a nozzle formation surface in another coating head unit different from the coating head unit shown in fig. 3. Fig. 5 is a diagram showing a flow of control at the time of painting in the painting robot shown in fig. 1. Fig. 6 is a view showing a state when a vehicle is coated by a coating head of the coating robot shown in fig. 1, as viewed from the upper side. Fig. 7 is a view showing a cross section of three-dimensional data of a coating portion. Fig. 8 is a view showing a state in which the coating defective portion continues at a specific portion of the coating route. Description of the reference numerals 1 Coating system 10 coating robot 20, 21 base, 22a 1 st rotation axis, 22B 2 nd rotation axis, 22c 3rd rotation axis, 22d 4 th rotation axis, 22e 5 th rotation axis, 22f 6 th rotation axis, 23 th leg, 24 th 1 st rotation arm, 25 nd rotation arm, 26 th rotation arm, 27 th wrist, 40 th coating supply part, 41 th supply path, 42 th return path, 50 th coating head unit, 52 th nozzle formation surface, 53 th coating head, 54 th nozzle, 55 th nozzle row, 55A 1 st nozzle row, 55B 2 nd nozzle row, 70 th robot arm control part, 71 th memory, 80 th coating supply control part, 90 th nozzle control part, 100 th main control part, 110 th scanner control part, 120 th determination part, 130 th position sensor, 140 th inclination sensor, 150 th three-dimensional scanner, 200 th image processing device, 210 th image processing part, 220 th memory, 1 st PD, 2 nd PS coating robot, 1 st PD, 1 st coating defect part, 1 st PD, 1 st coating robot, 1 st coating route, PD, 1 st defect part, PD Detailed Description A painting robot 10 according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, the X direction is the longitudinal direction of the nozzle forming surface 52 (the coating h