Search

EP-4741112-A1 - PAINTING SYSTEM

EP4741112A1EP 4741112 A1EP4741112 A1EP 4741112A1EP-4741112-A1

Abstract

[Problem] To provide a painting system which makes it possible to improve painting quality even when vibration or other fluctuation occurs in an image acquisition means. [Solution] The painting system 1 comprises: a painting head unit 50 comprising a painting head 53; a robot arm R1 that moves the painting head unit 50 to a desired position; an image acquisition means that acquires painting data of a painting portion; and a control unit that controls activation of a three-dimensional scanner 140 and controls activation of the painting head 53 and the robot arm R1, wherein the control unit activates the image acquisition means to scan an image for measurement with the image acquisition means prior to execution of painting, acquires measurement image data that reflects a vibration state of the image acquisition means, generates painting data for correction for the purpose of eliminating deviation in landing positions of droplets based on the measurement image data acquired by the image acquisition means, and performs driving control of the robot arm and the painting head based on the painting data for correction.

Inventors

  • IIDA, Kisumi

Assignees

  • ABB SCHWEIZ AG

Dates

Publication Date
20260513
Application Date
20251107

Claims (5)

  1. A painting system comprising a painting robot that performs painting on a painting portion of a vehicle, the painting system being characterized in that it comprises: a painting head unit comprising a painting head having multiple nozzles that eject droplets of a painting material; a robot arm which has said painting head unit mounted on its distal end and which moves the painting head unit to a desired position; an image acquisition means which acquires painting data of the painting portion on which painting has been performed with said painting head; and a control unit that controls activation of said image acquisition means and controls activation of said painting head and said robot arm; wherein said control unit: activates said image acquisition means to acquire measurement image data that reflects a vibration state of said image acquisition means by scanning an image for measurement with said image acquisition means prior to execution of painting; generates painting data for correction based on said measurement image data acquired by said image acquisition means, for the purpose of eliminating deviation in the landing positions of the droplets ejected from said painting head; and performs driving control of said robot arm and said painting head based on the painting data for correction.
  2. The painting system according to claim 1, characterized in that said image acquisition means is a three-dimensional scanner that acquires three-dimensional painting data of said painting portion; and said control unit generates said painting data for correction based on measurement of said image for measurement prior to said execution of painting for the purpose of eliminating deviation of said landing positions in a planar direction of said painting portion and deviation of said landing positions in a thickness direction of said painting portion.
  3. The painting system according to claim 1, characterized in that said image acquisition means is fixed to said painting head.
  4. The painting system according to claim 1, characterized in that said control unit generates said painting data for correction in reverse phase to said vibration state.
  5. The painting system according to claim 1, characterized in that in cases where the effects of said vibration state extends to an edge of the painting portion, in the range of the nozzle forming surface of said painting head where nozzles are present, the nozzles within a predetermined range from the ends in a secondary scanning direction of said painting head are used as nozzles for correction and the nozzles located more toward the center of said painting head that the predetermined range are used as nozzles for regular painting; wherein said control unit generates said painting data for correction such that, when it has been determined that said painting head is not in said vibration state, a state is maintained in which the edges of the painting data, which is data for performing painting on said painting portion, do not extend to said nozzles for correction, and vibration at the edges of said painting data is accommodated by said nozzles for correction.

Description

[Technical field] The present invention relates to a painting system. [Background art] Robotic painting using robots has become the mainstream in painting lines for vehicles such as automobiles. As an example of a configuration relating to such robotic painting, for example, the following configuration is disclosed in patent document 1. In the painting robot disclosed in this patent document 1, a technique is disclosed whereby nozzle ejection defects are determined based on a test pattern having multiple check lines. [Prior art documents] [Patent documents] [Patent document 1] Japanese Unexamined Patent Application Publication No. 2023-009853 [Summary of the invention] [Problem to be solved by the invention] In the configuration disclosed in patent document 1, it is disclosed that three-dimensional image data is generated based on imaging data obtained from multiple imaging units, but the disclosure does not extend to the aspect of eliminating ejection defects due to vibration or other fluctuation of the three-dimensional scanner. Here, if droplets are ejected from the painting head while the presence of fluctuation remains unknown, the droplets may land at positions that deviate from the original intended landing positions. The present invention was made based on the circumstances described above, and it is an object of the present invention to provide a painting system that makes it possible to improve painting quality even if vibration or other fluctuation occurs in the image acquisition means. [Means for solving the problem] To solve the aforementioned problem, according to a first aspect of the present invention, there is provided a painting system comprising a painting robot that performs painting on a painting portion of a vehicle, the painting system being characterized in that it comprises: a painting head unit comprising a painting head having multiple nozzles that eject droplets of a painting material; a robot arm which has the painting head unit mounted on its distal end and which moves the painting head unit to a desired position; an image acquisition means which acquires painting data of the painting portion on which painting has been performed with said painting head; and a control unit that controls activation of the image acquisition means and controls activation of said painting head and said robot arm based on said image data transmitted from said image acquisition means; wherein the control unit: activates the image acquisition means to acquire measurement image data that reflects a vibration state of said image acquisition means by scanning an image for measurement with the image acquisition means prior to execution of painting; generates painting data for correction based on the measurement image data acquired by the image acquisition means, for the purpose of eliminating deviation in the landing positions of the droplets ejected from the painting head; and performs driving control of the robot arm and the painting head based on the painting data for correction. [Advantageous effect of the invention] According to the present invention, a painting system can be provided which makes it possible to improve painting quality even when vibration or other fluctuation occurs in the image acquisition means. [Brief description of the drawings] [FIG. 1] is a schematic drawing illustrating the overall configuration of a painting robot according to an embodiment of the present invention.[FIG. 2] is a drawing illustrating a schematic configuration of a painting system comprising the painting robot shown in FIG. 1.[FIG. 3] is a drawing illustrating, in front view, a nozzle forming surface from which painting material is ejected in the painting head unit provided in the painting robot shown in FIG. 1.[FIG. 4] is a plan view illustrating a configuration of a nozzle forming surface in another painting head unit different from the painting head unit shown in FIG. 3.[FIG. 5] is a drawing illustrating the flow relating to control for generating painting data for correction during painting and performing painting with the painting robot shown in FIG. 1.[FIG. 6] is a drawing illustrating an example of an image for measurement that is scanned by a three-dimensional scanner provided in the painting robot shown in FIG. 1.[FIG. 7] is a drawing illustrating measurement image data obtained by scanning with the three-dimensional scanner provided in the painting robot shown in FIG. 1.[FIG. 8] is a drawing illustrating painting data for correction generated based on the measurement image data shown in FIG. 7.[FIG. 9] is a drawing illustrating nozzles for regular painting and nozzles for correction in the painting head provided in the painting robot shown in FIG. 1. [Modes for carrying out the invention] A painting system 1 and a painting robot 10 according to an embodiment of the present invention will be described below based on the drawings. It should be noted that, in the following description, as may be necessary