JP7691570B1 - Painting robot - Google Patents

Abstract

To provide a painting robot capable of improving painting quality even if a defective portion is present in a painting area.
[Solution] The painting robot 10 comprises a painting head unit 50 with a painting head 53, a robot arm R1 that moves the painting head unit 50 to a desired position, a three-dimensional scanner 150 that acquires three-dimensional painting data of the painted area painted by the painting head 53, and a control unit that controls the operation of the painting head 53 and the robot arm R1 based on the three-dimensional image data transmitted from the three-dimensional scanner 150, and when it is determined that a painting defect PD2 exists in the three-dimensional painting data, the control unit performs additional painting control, and in the additional painting control, the painting head 53 is moved so that the nozzle 54 that caused the painting defect PD2 moves to a different position, while controlling the ejection of paint droplets from the painting head 53 to the painting defect PD2.
[Selected figure] Figure 2

Description

The present invention relates to a painting robot.

Robot painting using robots has become mainstream in painting lines for vehicles such as automobiles. As an example of a configuration related to this robot painting, for example, Patent Document 1 discloses the following configuration. The painting robot disclosed in Patent Document 1 discloses a technology in which nozzle discharge defects are determined based on a test pattern having multiple check lines.

JP 2023-009853 A

Incidentally, the configuration disclosed in Patent Document 1 makes it possible to determine nozzle discharge defects based on a test pattern. However, when there are defects or the like in the coating and the coating quality does not meet the predetermined coating quality, no means are disclosed for improving the coating quality to the specified coating quality.

The present invention was developed based on the above circumstances, and aims to provide a painting robot that can improve painting quality even if there are defects in the area to be painted.

In order to solve the above problems, according to a first aspect of the present invention, a painting robot that paints a specified portion of a vehicle is provided, comprising: a painting head unit having a painting head with multiple nozzles that eject droplets of paint; a robot arm to which the painting head unit is attached and which moves the painting head unit to a desired position; a three-dimensional scanner that acquires three-dimensional painting data of the painting portion that has been painted with the painting head; and a control unit that controls the operation of the painting head and the robot arm based on the three-dimensional image data transmitted from the three-dimensional scanner. When it is determined that a painting defect that occurred in the formation of a previous painting pass is present in the three-dimensional painting data, the control unit executes additional painting control, and in the additional painting control, a painting robot is provided that executes control to eject droplets of paint from the painting head to the painting defect while moving the painting head so that the nozzle that caused the painting defect is moved to a different position.

The present invention provides a painting robot that can improve painting quality even if there are defects in the area to be painted.

1 is a schematic diagram showing an 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 painting system including the painting robot shown in FIG. 1 . 2 is a diagram showing a front view of a nozzle forming surface for ejecting paint in a paint head unit included in the paint robot shown in FIG. 1 ; FIG. 4 is a plan view showing the configuration of a nozzle forming surface of another paint head unit different from the paint head unit shown in FIG. 3 . FIG. 2 is a diagram showing a flow of control during painting in the painting robot shown in FIG. 1 . 2 is a diagram showing a state in which a vehicle is painted by the paint head of the painting robot shown in FIG. 1, as viewed from above. FIG. FIG. 4 is a diagram showing a cross section of three-dimensional data of a painted area. FIG. 1 is a diagram showing a state in which painting defects are continuous at a specific portion of a painting pass.

A painting robot 10 according to one embodiment of the present invention will be described below with reference to the drawings. In the following description, where necessary, the X direction will be taken as the longitudinal direction of the nozzle forming surface 52 (painting head 53), the X1 side will be taken as the right side in FIG. 3, and the X2 side will be taken as the left side in FIG. 3. The Y direction will be taken as the lateral direction (width direction) of the nozzle forming surface 52 (painting head 53), the Y1 side will be taken as the upper side of the paper in FIG. 3, and the Y2 side will be taken as the lower side of the paper in FIG. 3.

(1. Overview of Paint Robot 10)
The painting robot 10 of this embodiment "paints" objects to be painted, such as vehicles or vehicle parts (hereinafter, vehicle parts that are part of a vehicle will also be described as vehicles) located on a painting line in an automobile manufacturing factory, and its purpose is to form a paint film on the surface of the object to be painted to protect the surface and provide a beautiful appearance. Therefore, it is necessary to paint vehicles that move along the painting line at predetermined intervals within a certain period of time with the desired painting quality.

In addition, the painting robot 10 of this embodiment is capable of forming not only the above-mentioned coating film, but also forming various designs and images on the object to be painted, such as a vehicle or vehicle part. Note that the object to be painted is not limited to a vehicle or vehicle part, but may be any part other than an automobile (for example, the exterior parts of an airplane or train), as long as it requires painting.

(1-1. Overall configuration of the painting system 1 and the painting robot 10)
Fig. 1 is a schematic diagram showing the overall configuration of a painting robot 10 according to an embodiment of the present invention. Fig. 2 is a diagram showing the schematic configuration of a painting system 1 including the painting robot 10 shown in Fig. 1. As shown in Fig. 2, the painting system 1 includes the painting robot 10 and an image processing device 200.

(1-2. About the painting robot 10)
As shown in Fig. 1, the painting robot 10 mainly comprises a robot body 20 and a painting head unit 50. The painting robot 10 shown in Fig. 1 is, as an example, a six-axis vertical articulated robot, but the painting robot 10 may be any type of robot, such as a vertical articulated type other than six axes, a horizontal articulated type, or an orthogonal robot.

(1-3. Regarding the robot body 20)
1, the main components of the robot main body 20 are a base 21, first to sixth rotating shafts 22a to 22f, legs 23, a first rotating arm 24, a second rotating arm 25, a rotating arm 26, a wrist 27, and motors M1 to M6 that drive these. Note that the portion from the legs 23 to the wrist 27 corresponds to the robot arm R1, but other portions such as the base 21 may also correspond to the robot arm R1.

Of these, the base 21 is a part that is installed on an installation site such as a floor surface, but the base 21 may be capable of moving relative to the installation site. The legs 23 are parts that stand upward from the base 21, and are provided so as to be rotatable relative to the base 21 via the first rotation shaft 22a when driven by the motor M1 (see FIG. 2). The legs 23 may be configured not to rotate relative to the base 21.

A first pivot arm 24 is provided at the upper end of the leg 23 so as to be rotatable via a second rotation shaft 22b when driven by a motor M2. A second pivot arm 25 is provided at the tip of the first pivot arm 24 so as to be rotatable via a third rotation shaft 22c when driven by a motor M3.

A rotating arm 26 is provided at the tip of the second rotating arm 25 so as to be rotatable around the central axis of the second rotating arm 25. This rotating arm 26 is rotatable via the fourth rotating shaft 22d by the drive of the motor M4. A wrist section 27 is provided at the tip of the rotating arm 26. This wrist section 27 is capable of rotating around a plurality of shafts, for example two, in different directions, by the drive of the motors M5 and M6. In FIG. 1, the rotating shafts capable of such rotation are the fifth rotating shaft 22e and the sixth rotating shaft 22f, respectively. This makes it possible to control the orientation of the painting head unit 50 with high precision. The number of shafts may be any number greater than or equal to two.

A paint head unit 50 is attached to the wrist portion 27, but this paint head unit 50 may be provided so as to be detachable from the wrist portion 27.

(1-4. Regarding the paint supply unit 40)
2, the painting system 1 and the painting robot 10 are provided with a paint supply unit 40. The paint supply unit 40 is a part for supplying paint to the painting head unit 50. For this purpose, the paint supply unit 40 is provided with a supply path 41 for supplying paint from a paint storage unit (not shown), a pump (not shown), a valve (not shown), and a return flow path 42 for recovering paint that has not been discharged.

When a configuration is adopted in which paint is supplied from outside the painting robot 10, the painting robot 10 does not need to have a portion for storing paint, and may have a portion for storing paint outside the painting robot 10.

(1-5. Regarding the painting head unit 50)
Next, the paint head unit 50 will be described. Fig. 3 is a diagram showing a front view of the nozzle forming surface 52 from which paint is ejected of the paint head unit 50. As shown in Fig. 3, the paint head unit 50 is provided with a head cover (not shown), and various components including the paint head 53 are built into the head cover. The paint head 53 is provided with a number of nozzles 54 for ejecting paint.

As shown in FIG. 3, the openings of multiple nozzles 54 are exposed on the paint ejecting surface (nozzle forming surface 52) of the paint head 53. In the following description, the openings of the nozzles 54 will also be referred to as nozzles 54.

The nozzle forming surface 52 is provided with a plurality of nozzle rows 55 in which the nozzles 54 are arranged in a direction inclined with respect to the longitudinal direction of the paint head unit 50. In this embodiment, the nozzle rows 55 include a first nozzle row 55A located on one side (Y2 side) of the main scanning direction (Y direction) and a second nozzle row 55B located on the other side (Y1 side) of the main scanning direction.

When ejecting paint, the drive timing of each nozzle 54 is controlled so that droplets ejected from a nozzle 54 in the second nozzle row 55B land between droplets ejected from adjacent nozzles 54 in the first nozzle row 55A. This makes it possible to improve dot density during painting.

3, the arrangement of the nozzles 54 in the first nozzle row 55A and the arrangement of the nozzles 54 in the second nozzle row 55B are inclined with respect to the short side direction (Y direction; main scanning direction) of the paint head 53. However, such an arrangement of the nozzles 54 does not have to be adopted. For example, the nozzle row 55 may be arranged along the short side direction (Y direction) of the paint head 53. Furthermore, the nozzle row 55 may not be divided into the first nozzle row 55A and the second nozzle row 55B in the short side direction (Y direction; main scanning direction) of the paint head 53, but may be a single nozzle row 55, or may be divided into three or more nozzle rows.

Inside the paint head 53, a flow path for flowing paint (not shown) is provided. Also, inside the paint head 53, a nozzle pressurization chamber (not shown) is provided, and a piezoelectric substrate 62 (see FIG. 2) is arranged on one of the walls of the nozzle pressurization chamber to change the volume of the nozzle pressurization chamber and eject paint from the nozzle 54. Therefore, by applying a voltage to the piezoelectric substrate 62 from the outside, the piezoelectric substrate 62 expands and contracts, changing the volume of the nozzle pressurization chamber, making it possible to eject paint from the nozzle 54.

The paint head 53 is not limited to the configuration shown in FIG. 3. For example, as shown in FIG. 4, a plurality of nozzles 54 may be arranged along the short side (width direction; Y direction) of the paint head 53 to form a nozzle row 55. Furthermore, when painting a vehicle CP1 (see FIG. 6) using a paint head 53 as shown in FIG. 4, painting may be performed with the longitudinal direction of the paint head 53 slightly tilted with respect to the main scanning direction of the paint head 53.

For example, in the configuration of the paint head 53 shown in FIG. 3, if the nozzle row 55 is inclined at an angle α with respect to the main scanning direction, the longitudinal direction of the paint head 53 can be inclined at the angle α with respect to the main scanning direction of the paint head 53. When inclined in this way, it is possible to achieve painting equivalent to that of the paint head 53 shown in FIG. 3 simply by adjusting the timing of paint ejection from each nozzle 54.

(1-6. Control configuration of the painting system 1)
Next, a control configuration for controlling the operation of the painting system 1 will be described. The control configuration described below corresponds to the control unit. As shown in Fig. 2, the painting robot 10 includes a robot arm control unit 70, a paint supply control unit 80, a head control unit 90, a main control unit 100, a scanner control unit 110, a determination unit 120, a position sensor 130, an inclination sensor 140, and a three-dimensional scanner 150. The painting robot 10 is connected to an image processing device 200 to configure the painting system 1. However, the painting robot 10 may also include the functions of the image processing device 200.

The robot arm control unit 70, paint supply control unit 80, head control unit 90, main control unit 100, scanner control unit 110, judgment unit 120, and image processing unit 210 described below are composed of a CPU (Central Processing Unit), memory such as a storage unit (ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, etc.), and other elements. The image processing unit 210 may use a GPU (Graphics Processing Unit) together with a CPU with excellent image processing performance, or instead of a CPU.

The painting robot 10 also includes various sensors (not shown), and the output from each of these sensors is input to either the robot arm control unit 70, the paint supply control unit 80, the head control unit 90, or the main control unit 100. The various sensors include the position sensor 130, the tilt sensor 140, and the 3D scanner 150 described above, as well as an acceleration sensor, an angular velocity sensor, an image sensor, etc., although other sensors may also be used.

Of these, the robot arm control unit 70 is the part that controls the driving of the motors M1 to M6 described above. This robot arm control unit 70 is equipped with a memory 71, which stores the programs and data created by robot teaching.

The robot arm control unit 70 controls the driving of the motors M1 to M6 based on the programs and data stored in the memory 71 and the image processing by the image processing unit 210 of the image processing device 200. This control allows the paint head unit 50 to pass through the desired position for painting at the desired speed and to stop at a predetermined position.

The memory 71 stores data on the trajectory of the paint head 53 (trajectory data) and posture data on the tilt and other posture of the paint head 53, which are created by robot teaching that takes into account the painting width that can be painted by the paint head 53. The memory 71 may be provided in the paint robot 10, but it may also be possible for the memory 71 to exist outside the paint robot 10, and for information to be sent and received to the memory 71 via wired or wireless communication means.

The paint supply control unit 80 is a part that controls the supply of paint to the paint head unit 50, and specifically controls the operation of the pump, valves, etc. equipped in the paint supply unit 40. It is preferable that the paint supply control unit 80 controls the operation of the pump and valves so that paint is supplied at a constant pressure to the paint head unit 50 to which paint is supplied.

The head control unit 90 is a part that controls the operation of the piezoelectric substrate 62 in the paint head unit 50 based on the image processing in the image processing unit 210. When the head control unit 90 reaches a predetermined position in the trajectory data by a means for detecting the position such as the position sensor 130 and the tilt sensor 140 described later, the head control unit 90 controls the discharge of paint based on the divided paint data corresponding to the position and the paint path PS1 (see FIG. 6). In this case, the drive frequency of the piezoelectric substrate 62 is controlled to control the number of dots (number of droplets) discharged from the nozzle 54 so that the film thickness of the painted part PD1 (see FIG. 6 and FIG. 7) is uniform, and the size of the droplets discharged from the nozzle 54 is controlled by controlling the deformation amount of the piezoelectric substrate 62 based on the drive frequency and/or voltage applied to the piezoelectric substrate 62.

When controlling the droplet size by controlling the amount of deformation of the piezoelectric substrate 62 based on the drive frequency applied to the piezoelectric substrate 62, the droplet size is largest when the piezoelectric substrate 62 is driven at a drive frequency that matches the natural frequency of the piezoelectric substrate 62. Therefore, the droplet size can be controlled to become smaller as the applied drive frequency deviates from the natural frequency. When controlling the droplet size by controlling the amount of deformation of the piezoelectric substrate 62 based on the voltage applied to the piezoelectric substrate 62, the droplet size can be controlled to become larger as the voltage applied to the piezoelectric substrate 62 increases.

The main control unit 100 is a part that transmits predetermined control signals to the robot arm control unit 70, paint supply control unit 80, and head control unit 90 described above so that the motors M1 to M6, paint supply unit 40, and piezoelectric substrate 62 work together to paint the object to be painted.

The scanner control unit 110 controls the operation of the 3D scanner 150. This scanner control unit 110 may be substituted by, for example, the main control unit 100 within the control unit, which is the control configuration of the painting robot 10.

The judgment unit 120 is a part that judges whether or not a paint defect PD2, as described below, exists based on the measurement results from the 3D scanner 150. The judgment unit 120 may be functionally realized within the control unit, which is the control configuration of the painting robot 10, but if the 3D scanner 150 constitutes a single three-dimensional sensor unit that can be externally attached, the judgment unit 120 may be functionally realized within this three-dimensional sensor unit. Also, the judgment unit 120 is a part that makes judgments based on three-dimensional data, but the judgment unit 120 may also be functionally realized within the image processing device 200, which is the part that performs such image processing.

The position sensor 130 is a sensor that detects the current position of the paint head 53. Various sensors such as a rotary encoder, resolver, laser sensor, and others can be used as the position sensor 130. The tilt sensor 140 is a sensor that detects the tilt angle of the paint head 53. Various sensors such as a gyro sensor, acceleration sensor, and others can be used as the tilt sensor 140.

The painting robot 10 is also equipped with a three-dimensional scanner 150. This three-dimensional scanner 150 is a sensor that can acquire height (thickness) data in addition to acquiring planar two-dimensional data. Examples of such three-dimensional scanners 150 include LiDAR scanners, laser scanners, and photogrammetry.

This three-dimensional scanner 150 is attached to, for example, the paint head unit 50. Therefore, when acquiring three-dimensional data of the paint area PD1 described below, the robot arm R1 is operated. However, the three-dimensional scanner 150 may be provided separately from the paint head unit 50. In such a configuration, for example, the three-dimensional scanner 150 may be provided at a predetermined location on the robot arm R1 separate from the paint head unit 50. Also, a configuration may be adopted in which a dedicated arm for attaching the three-dimensional scanner 150 to the paint robot 10 is provided, and the three-dimensional scanner 150 is attached to the arm.

The painting system 1 is also provided with an image processing device 200. The image processing device 200 includes an image processing unit 210 and a memory 220. The image processing unit 210 is a part that creates image data for each painting path PS1, which is a path along which the painting head 53 performs painting.

Additionally, memory 220 is the part that stores image data for each painting pass PS1 in accordance with the painting sequence.

The image processing device 200 corresponds to, for example, a computer, but the computer may be a component part of the painting robot 10, or may be provided separately from the painting robot 10. When the image processing device 200 is provided separately from the painting robot 10, data is sent and received between the image processing device 200 and the painting robot 10 by wired communication or wireless communication. Even if the image processing device 200 is provided separately from the painting robot 10, it may be included in the concept of the painting robot 10, or it may not be included in the concept of the painting robot 10.

(2. Regarding control during painting)
Next, the control during painting in the painting system 1 and painting robot 10 configured as described above will be described with reference to the flowchart in Fig. 5. Fig. 6 is a diagram showing a state seen from above when painting a vehicle with the painting head 53. First, painting is performed as shown in Fig. 6 (step S01). In performing this painting, the robot arm control unit 70 controls the driving of the motors M1 to M6 based on the program and data stored in the memory 71 and the image processing by the image processing unit 210 of the image processing device 200 in response to a command from the main control unit 100. This control allows the painting head unit 50 to pass a desired position for painting at a desired speed and to stop at a predetermined position.

When carrying out the above painting, the head control unit 90 drives the piezoelectric substrate 62 in response to a command from the main control unit 100 to eject paint onto the object to be painted, ejecting paint droplets from the nozzle 54. In this way, by ejecting paint droplets while the painting head 53 is moving, painting is carried out in a painting pass PS1 of a predetermined width. Then, painting is carried out in all painting passes PS1, and painting of the painting area is completed.

After the painting is performed as described above, the robot arm control unit 70 operates the robot arm R1 and the scanner control unit 110 operates the three-dimensional scanner 150 in response to a command from the main control unit 100. Then, the painted area PD1 is scanned to obtain three-dimensional data of the painted area PD1 (step S02). As a result, three-dimensional data such as that shown in FIG. 7 is obtained. FIG. 7 is a diagram showing a cross section of the three-dimensional data of the painted area PD1. In FIG. 7, the specified paint thickness is set to thickness D1. Note that this thickness D1 is a threshold value that must be cleared as the paint thickness. In other words, the painted area PD1 that does not reach thickness D1 corresponds to a paint defect. Note that in the following explanation, the paint defect area is referred to as the paint defect area PD2. This paint defect area PD2 does not have to reach thickness D1, and therefore corresponds to not only the area where the paint film thickness does not reach thickness D1, but also the area where paint is missing. Note that the paint defect area PD2 may change color, such as appearing whitish when viewed from the outside.

In addition, within the painting head 53, the position of the defective nozzle 54 in the sub-scanning direction does not change. Therefore, as shown in FIG. 8, the painting defect portion PD2 is continuous at a specific position in the width direction of the painting pass PS1.

Here, when the 3D scanner 150 is configured to be attached to the paint head unit 50 as described above, the 3D scanner 150 may scan an area downstream in the main scanning direction from the landing site of the droplets from the paint head 53 (i.e., acquire 3D data). In this case, when a paint pass of a predetermined width is formed by the landing of the droplets from the paint head 53, it becomes possible to acquire 3D data using the 3D scanner 150 within the same paint pass as the paint pass.

Then, the determination unit 120 determines whether or not a paint defect PD2 exists in the painted area PD1 based on the acquired 3D data (step S03). Then, if it is determined that a paint defect PD2 does not exist (No), the process ends.

If it is determined in step S03 above that a paint defect PD2 exists (Yes), position information of the paint defect PD2 is acquired (step S04). At this time, it is preferable to acquire information on the extent to which the thickness does not reach the threshold thickness D1.

Here, possible causes of the formation of the paint defect PD2 that does not reach the thickness D1 as described above include a clog in the nozzle 54 or some kind of defect in the piezoelectric substrate 62. Therefore, if control is performed to eject droplets from the same nozzle 54 as the nozzle 54 that formed this defect, there is a risk that the paint defect will not be eliminated.

Therefore, based on the three-dimensional data of the painted area PD1 measured by the three-dimensional scanner 150, the main control unit 100 shifts the position of the painting head 53 so that the defective nozzle 54 does not scan the painting defect area PD2 again (step S05). In this position shift, the painting head 53 can be moved to a position different from the position where the defective nozzle 54 scans the painting defect area PD2 by simply rotating the painting head 53. In addition, the painting head 53 can be moved to a position different from the position where the defective nozzle 54 scans the painting defect area PD2 by moving the painting head 53 a predetermined amount in a direction intersecting the main scanning direction (e.g., the sub-scanning direction).

In addition, in the above step S05, it is preferable to prevent the defective nozzle 54 from scanning the paint defect portion PD2 based on the position information of the paint defect portion PD2 acquired in step S04.

After shifting the position of the paint head 53 as described above, additional paint control is performed to eject paint droplets onto the paint defect PD2 (step S06). This additional paint control is performed so that the paint thickness after painting reaches the specified thickness D1. Note that this additional paint control may be performed on the return path when painting is performed on the outward path of the paint head 53, for example, or may be performed in a dedicated painting pass regardless of the outward or return path of painting.

After performing the above-described painting, the processing from step S02 onwards is performed again. At this time, in order to improve productivity in painting, it is preferable to have the 3D scanner 150 scan only the areas that were previously determined to have painting defects PD2.

By painting in the above manner, the paint defect area PD2 is eliminated.

(3. Modifications)
Although one embodiment of the present invention has been described above, the present invention can be modified in various ways in addition to the above embodiment. Modifications will be described below.

The above-mentioned three-dimensional scanner 150 may be configured to be provided separately from the painting robot 10. For example, the three-dimensional scanner 150 may be installed on a wall surface of the painting line, etc., to provide a configuration in which the three-dimensional scanner 150 is provided separately from the painting robot 10.

In addition to the painting robot 10, the painting system 1 may also include a dedicated robot (assumed to be an inspection robot) for moving the 3D scanner 150, which is attached to the end of the arm thereof, and the robot may scan the painting area PD1 with the 3D scanner 150.

When configured in this manner, an inspection robot equipped with a 3D scanner 150 can be operated at the same time that painting is performed by the painting robot 10. Therefore, when a paint pass of a predetermined width is formed by droplets landing from the paint head 53, it becomes possible to obtain 3D data using the 3D scanner 150 within the same paint pass.

The 3D scanner 150 may be any type that can acquire 3D data when incorporated into the painting system 1. For example, if a configuration is made in which 3D data can be acquired by combining multiple normal cameras that can acquire 2D data, the combination of these multiple cameras corresponds to the 3D scanner 150 of the present invention.

The 3D scanner 150 may be used not only for inspecting the painted area PD1, but also for other purposes. For example, if CAD data does not exist for the vehicle or vehicle part to be painted, the 3D scanner 150 may be used to scan the object to be painted and perform 3D measurements, and a 3D model may be generated based on the measurements, and the 3D model may be used when painting.

The above-mentioned paint head 53 is an inkjet type that uses a piezoelectric substrate 62, but it is also possible to use a paint head other than the inkjet type, such as a jet dispenser type.

(4. Notes)
The contents described in the above-mentioned embodiment can be understood, for example, as follows.
[1] That is,
A painting robot 10 that paints a predetermined portion of a vehicle CP1,
a paint head unit 50 including a paint head 53 having a plurality of nozzles 54 for ejecting paint droplets;
a robot arm R1 having a paint head unit 50 attached to its tip and moving the paint head unit 50 to a desired position;
a three-dimensional scanner 150 for acquiring three-dimensional painting data of a painting area PD1 that has been painted by the painting head 53;
and a control unit (main control unit 100, robot arm control unit 70, head control unit 90) that controls the operation of the painting head 53 and the robot arm R1 based on the three-dimensional image data transmitted from the three-dimensional scanner 150.
The control unit (main control unit 100, robot arm control unit 70, head control unit 90) executes additional painting control when it is determined that a painting defect portion PD2, which is a painting defect that occurred in the formation of the previous painting pass PS1, exists in the three-dimensional painting data,
In the additional painting control, the painting head 53 is moved so that the nozzle 54 that caused the painting defect PD2 moves to a different position, while control is performed to eject droplets of paint from the painting head 53 onto the painting defect PD2.

In this way, by executing additional painting control, it is possible to complement the defective painting area PD2 and improve the painting quality. In other words, when a painting defect such as a defect or thin thickness occurs in the painted area due to poor discharge from the nozzle 54, it is possible to identify the painting position with the 3D scanner 150 and complement it with a sufficient amount of droplets discharged.

[2] In addition to the above-mentioned embodiment, in addition to the contents described in [1],
In the additional coating control, the control unit (main control unit 100, robot arm control unit 70, head control unit 90) may perform control such that the nozzle 54 moves to a different position by rotating the coating head 53.

In this way, in additional painting control, by rotating the painting head 53 and moving the nozzle 54 to a different position, the painting defect area PD2 can be complemented, thereby improving the painting quality.

[3] In addition to the above-mentioned [1] and [2], or a combination thereof, in the above-mentioned embodiment,
When the previous painting pass PS1, where the first painting is performed, is set as the outbound path, the control unit (main control unit 100, robot arm control unit 70, head control unit 90) may control the operation of the painting head 53 and the robot arm R1 so that painting using additional painting control is performed on the return path.

In this way, by executing additional painting control on the return path of painting pass PS1, it becomes easy to move the nozzle to a different position. This makes it possible to complement the painting defect PD2 and improve the painting quality.

[4] In addition to the above-mentioned embodiments, in addition to any of the above-mentioned [1] to [3] or a combination thereof,
In additional painting control, the control unit (main control unit 100, robot arm control unit 70, head control unit 90) may control the movement of the nozzle 54 to a different position by moving the painting head 53 a predetermined amount in a sub-scanning direction perpendicular to the main scanning direction, which is the movement direction in the painting pass PS1.

In this way, by moving the painting head 53 a predetermined distance in the sub-scanning direction perpendicular to the main scanning direction, which is the direction of movement in the painting pass PS1, it becomes easy to move the nozzle to a different position. This makes it possible to complement painting defects and improve painting quality.

[5] In addition to the above-mentioned embodiments, in addition to any of the above-mentioned [1] to [4] or a combination thereof,
The 3D scanner 150 may acquire 3D painting data within the same painting pass PS1 as the painting is performed in the painting pass PS1.

In this way, the 3D painting data is acquired within the same painting path PS1 as when painting is performed in the painting path PS1, so there is no need to move the 3D scanner 150 to acquire the 3D painting data. This makes it possible to improve productivity in painting the vehicle CP1.

[6] In addition to the above-mentioned embodiments, in addition to any of the above-mentioned [1] to [5] or a combination thereof,
The three-dimensional scanner 150 may be configured to be fixed to the painting head 53 .

In this way, since the 3D scanner 150 is fixed to the painting head 53, it is possible for the 3D scanner 150 to recognize the painting defect PD2 at the stage when painting is performed. Therefore, there is no need to take the trouble of moving the 3D scanner 150 to acquire the 3D painting data. This makes it possible to improve the productivity in painting the vehicle CP1.

[7] In addition to the above-mentioned embodiments, in addition to any of the above-mentioned [1] to [6] or a combination thereof,
The three-dimensional scanner 150 may be provided separately from the painting robot 10 .

In this way, since the 3D scanner 150 is provided separately from the painting head 53, it is possible to scan the entire paint film after painting is completed with the 3D scanner 150 and recognize the paint defect area PD2.

1...painting system, 10...painting robot, 20...robot body, 21...base, 22a...first rotating shaft, 22b...second rotating shaft, 22c...third rotating shaft, 22d...fourth rotating shaft, 22e...fifth rotating shaft, 22f...sixth rotating shaft, 23...leg, 24...first rotating arm, 25...second rotating arm, 26...rotating arm, 27...wrist, 40...paint supply section, 41...supply path, 42...return path, 50...painting head unit, 52...nozzle forming surface, 53...painting head, 54...nozzle, 55 ...Nozzle row, 55A...First nozzle row, 55B...Second nozzle row, 70...Robot arm control unit, 71...Memory, 80...Paint supply control unit, 90...Head control unit, 100...Main control unit, 110...Scanner control unit, 120...Judgment unit, 130...Position sensor, 140...Inclination sensor, 150...3D scanner, 200...Image processing device, 210...Image processing unit, 220...Memory, CP1...Vehicle, PD1...Painted area, PD2...Painting defect area, PS1...Painting path, R1...Robot arm

Claims (7)

A painting robot that paints a predetermined portion of a vehicle,
a paint head unit including a paint head having a plurality of nozzles for ejecting paint droplets;
a robot arm having a tip end to which the painting head unit is attached and which moves the painting head unit to a desired position;
a three-dimensional scanner for acquiring three-dimensional painting data of a portion of the vehicle that has been painted by the painting head;
A control unit that controls the operation of the painting head and the robot arm based on the three-dimensional image data transmitted from the three-dimensional scanner,
The control unit executes additional painting control when it is determined that a painting defect portion, which is a painting defect that occurred in the formation of a previous painting pass, exists in the three-dimensional painting data, and
In the additional coating control, a control is executed to eject droplets of paint from the coating head to the coating defect portion while moving the coating head so that the nozzle that caused the coating defect portion moves to a different position based on position information of the coating defect portion in the three-dimensional coating data acquired by the three-dimensional scanner.
A painting robot characterized by the above. The painting robot according to claim 1,
The control unit performs control in the additional coating control such that the nozzle moves to a different position by rotating the coating head.
A painting robot characterized by the above. The painting robot according to claim 1,
When the painting pass in which the first painting is performed is determined as the outward path, the control unit controls the operation of the painting head and the robot arm so that the painting in the additional painting control is performed in the return path.
A painting robot characterized by the above. The painting robot according to claim 1,
In the additional coating control, the control unit controls the nozzle to move to a different position by moving the coating head a predetermined amount in a sub-scanning direction perpendicular to a main scanning direction, which is a movement direction in the coating pass.
A painting robot characterized by the above. The painting robot according to claim 1,
The three-dimensional scanner acquires the three-dimensional painting data within the same painting pass as the painting is performed in the painting pass.
A painting robot characterized by the above. The painting robot according to claim 1,
The three-dimensional scanner is fixed relative to the paint head.
A painting robot characterized by the above. The painting robot according to claim 1,
The three-dimensional scanner is provided separately from the painting robot.
A painting robot characterized by the above.

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