CN-121988478-A - Coating system

Abstract

Provided is a coating system capable of improving coating quality even if vibration or the like occurs in an image acquisition mechanism. A coating system (1) is provided with a coating head unit (50) which is provided with a coating head (53), a robot arm (R1) which moves the coating head unit (50) to a desired position, an image acquisition mechanism which acquires coating data of a coating portion, a control unit which controls the operation of a three-dimensional scanner (140) and controls the operation of the coating head (53) and the robot arm (R1), the control unit causes the image acquisition mechanism to operate, before coating is performed, the image acquisition mechanism scans a measurement image to acquire measurement image data reflecting the vibration state of the image acquisition mechanism, correction coating data for eliminating the deviation of the landing position of a droplet is created based on the measurement image data acquired by the image acquisition mechanism, and drive control of the robot arm and the coating head is performed based on the correction coating data.

Inventors

• Koda Kasumi

Assignees

• ABB瑞士股份有限公司

Dates

Publication Date

20260508

Application Date

20251107

Priority Date

20241108

Claims (5)

1. 1. A coating system provided with a coating robot for coating a coating part of a vehicle is characterized by 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; An image acquisition means for acquiring coating data of a coating portion coated by the coating head, and A control unit that controls the operation of the image acquisition mechanism and controls the operations of the coating head and the robot arm, The control unit causes the image acquisition means to operate, and scans the measurement image with the image acquisition means before the coating is performed to acquire measurement image data reflecting the vibration state of the image acquisition means, The control unit creates correction paint data for eliminating deviation of landing positions of liquid droplets ejected from the paint head based on the measurement image data acquired by the image acquisition means, The control unit executes drive control of the robot arm and the paint head based on the correction paint data.
2. 2. The coating system of claim 1, wherein, The image acquisition mechanism is a three-dimensional scanner for acquiring three-dimensional coating data of the coating part, The control unit creates the correction paint data for eliminating the deviation of the landing position in the thickness direction at the paint portion together with the deviation of the landing position in the plane direction at the paint portion, based on the measurement of the measurement image before the paint execution.
3. 3. The coating system of claim 1, wherein, The image acquisition mechanism is fixed to the coating head.
4. 4. The coating system of claim 1, wherein, The control unit creates the correction paint data in a phase opposite to the vibration state.
5. 5. The coating system of claim 1, wherein, When the influence of the vibration state affects the edge of the coating portion, the nozzle in a predetermined range from the end of the sub-scanning direction of the coating head, among the range where the nozzle forming surface of the coating head exists, is set as a correction nozzle, the nozzle located on the center side of the coating head than the predetermined range is set as a normal coating nozzle, When the coating head is not in the vibration state, the control unit prevents the edge of coating data, which is data for coating the coating portion, from reaching the correction nozzle, and The control section creates the correction paint data such that vibration at an edge of the paint data is absorbed by the correction nozzle.

Description

Coating system Technical Field The present invention relates to a coating system. 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 configuration disclosed in patent document 1, although it is disclosed that three-dimensional image data is generated from image data obtained from a plurality of image pickup units, it is not disclosed that ejection failure due to vibration or the like of a three-dimensional scanner is eliminated. Here, if the droplet is ejected from the coating head in a state where the presence of the shake is not clear, there is a concern that the droplet may land at a position deviated from the original landing position. The present invention has been made in view of the above circumstances, and an object thereof is to provide a coating system capable of improving coating quality even when vibration or the like occurs in an image acquisition mechanism. 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 coating portion of a vehicle, comprising a coating head unit having a plurality of nozzles for ejecting droplets of a coating material, a robot arm having the coating head unit mounted at a front end thereof and moving the coating head unit to a desired position, an image acquisition means for acquiring coating data of the coating portion coated by the coating head, and a control unit for controlling the operation of the image acquisition means and controlling the operations of the coating head and the robot arm based on the image data transmitted from the image acquisition means, wherein the control unit causes the image acquisition means to operate, before coating is performed, to scan a measurement image by the image acquisition means, acquire measurement image data reflecting a vibration state of the image acquisition means, create correction coating data for eliminating a deviation of landing positions of the droplets ejected from the coating head based on the measurement image data acquired by the image acquisition means, and perform control of the robot arm and coating head driving based on the correction data. Effects of the invention According to the present invention, a coating system capable of improving coating quality even when vibration or the like occurs in an image acquisition mechanism can be provided. 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 for performing painting by creating correction painting data at the time of painting in the painting robot shown in fig. 1. Fig. 6 is a view showing an example of a measurement image scanned by the three-dimensional scanner provided in the painting robot shown in fig. 1. Fig. 7 is a view showing measured image data obtained by scanning with a three-dimensional scanner provided in the painting robot shown in fig. 1. Fig. 8 is a diagram showing correction paint data created based on the measurement image data shown in fig. 7. Fig. 9 is a view showing a normal coating nozzle and a correction nozzle in a coating head provided in the coating robot shown in fig. 1. Description of the reference numerals 1: Coating system 10:coating robot 20:robot body 21:base 22 a:1 rotation axis 22 b:2 rotation axis 22 c:3 rotation axis 22 d:4 rotation axis 22 e:5 rotation axis 22 f:6 rotation axis 23:leg 24:1 rotation arm 25:2 rotation arm 26:rotation arm 27:wrist 40:coating supply part 41:supply path 42:return flow path 50:coating head unit 52:nozzle forming surface 53:coating head 54:nozzle 54C correction nozzle 54 N:usual coating nozzle 55:nozzle row 55 A:1:1 nozzle row 55 B:2 nozzle row 62:piezoelectric substrate 70:robot arm control part (part corresponding to control part), 71:memory 80:coating supply control part 90:head control part (part corresponding to control part), 100:main control part (part corresponding to control part), 101:memory 110:scanner control part