Spray_Painting
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K.M. Haugan, Retab A B , Sweden,
The COAT-A-MATIC Industrial Robot has been made to replace the human operator working under unhealthy and s t r e s s i n g conditions, taking at the s a m e time full advantage of the skilled o p e r a t o r ' s technical know-how. This is possible through the easy way of programming. The expert operator simply takes the robot a r m with the spraygun attached to it - manually through the movements necessary to have the actual item thoroughly coated with paint, enamels or whatever sprayable c o m pound may be suitable for the purpose, implementing at the same time the best possible spraygun control. Every part of the movement is electronically measured throughout the procedure, and the corresponding digital values a r e picked up by the magnetic disk memory s y s tem, which is switched on to "Recording" during T e a c h in. All gun functions and interlock signals a r e e l e c tronically controlled a s well, and their digital values a r e picked up the same way. As soon a s the p r o g r a m ming procedure has been completed, the memory s y s tem is switched into "Playback", and from now on you can watch COAT-A-MATIC performing the surface treatment exactly the way it was taught-in by the p r o g r a m m e r , at the s a m e speed, at the same skill, and for a s long a s may be demanded. With a machine like that - for a machine an industrial robot is and will be - acting like a most obedient s e r vant, the skilled operator is released from the s t r e s s ing and dangerous part of the job, exceБайду номын сангаасt for the brief programming. He will s t a r t feeling happy with his job again, he will stay with it, and the factory has solved a lot of problems. And furthermore, the operator will have time available for other and m o r e vital tasks in the shop. T h e quality of the production is easily controlled. The best man in the shop will become the p r o g r a m m e r . He can immediately state if his p r o g r a m is acceptable. If not, he simply makes a new one. A successful program, however, means a p e r fect application of each s e p a r a t e part passing the spray booth on the conveyor chain. And that i s what the P r o d u c tion Manager is looking for.
270
Spray Painting Robots
Advanced paint shop automation
T h e increasing demand for industrial automation has finally reached the paint shops throughout the mechanic a l industry. The operations performed in most paint shops a r e stressing, i . e . monotonous ever-repeating movements day in and day out, as conditions also can b e unhealthy because the o p e r a t o r s b r e a t h e intoxicated a i r . Although surface treatments call for highly skilled spraygun operators, these qualified men cannot be offered a first c l a s s environment because of the specific paint shop situation. The spray painter, therefore, does not always feel happy with his job. He notices that other work shops in the factory grow better and better with r e g a r d to equipment and working conditions, while his shop stays with the old system. He i s , therefore, constantly looking for a better place, which can be dramatic to his factory because skilled spray gun operators a r e hard to r e p l a c e , or because the training-in of new men is a costly m a t t e r , it takes time, and quality as well a s capacity may be suffering during that time. It has been possible, though, to some extent, to s o l v e a few paint shop problems. F o r some y e a r s we know of a r r a n g e m e n t s of stable single nozzles as well a s those furnished to so called r e c i p r o c a t o r s . Such equipment, however, manage 2-dimensional movements only, which is not enough for the modern industry. F o r higher flexibility we have today the spray painting r o b o t s , and in the following we shall briefly be dealing with the operation abilities of the COAT-A-MATIC, the Swedish Spray Painting Robot from RETAB, Stockholm. T h e robot a r m together with the hand encompass 6 d e g r e e s of freedom, and their scope of operation i s , by far, exceeding that of any human o p e r a t o r ' s , which shows in the s p e c i f i c a t i o n s b e l o w . Arm movements: Horizontal (hip movements) 135° In/Out (shoulder " ) 90° Vertical (elbow " ) 90° See t a b l e b e l o w . Horizontal sweep Vertical Wrist torsion 210° 210° 359° 2 m/sec. 15 kgs. Continuous path If the surface coat application is so arranged that p a r t s of the same type and size follow for a certain period of time, everything is easy. One single program is being kept in the m e m o r y , and a simple start signal device will indicate that the robot has to start over again a s soon as a new item appears in front of the spray gun. Should different items follow intermixed on the s a m e line, the operator has to p r e p a r e p r o g r a m s covering each separate item to be stored in the memory under
Scope: Hand movements:
Max. a r m / h a n d operation speed Load capacity Movement pattern
The Industrial Robot
December 1974
The COAT-A-MATIC Industrial Robot has been made to replace the human operator working under unhealthy and s t r e s s i n g conditions, taking at the s a m e time full advantage of the skilled o p e r a t o r ' s technical know-how. This is possible through the easy way of programming. The expert operator simply takes the robot a r m with the spraygun attached to it - manually through the movements necessary to have the actual item thoroughly coated with paint, enamels or whatever sprayable c o m pound may be suitable for the purpose, implementing at the same time the best possible spraygun control. Every part of the movement is electronically measured throughout the procedure, and the corresponding digital values a r e picked up by the magnetic disk memory s y s tem, which is switched on to "Recording" during T e a c h in. All gun functions and interlock signals a r e e l e c tronically controlled a s well, and their digital values a r e picked up the same way. As soon a s the p r o g r a m ming procedure has been completed, the memory s y s tem is switched into "Playback", and from now on you can watch COAT-A-MATIC performing the surface treatment exactly the way it was taught-in by the p r o g r a m m e r , at the s a m e speed, at the same skill, and for a s long a s may be demanded. With a machine like that - for a machine an industrial robot is and will be - acting like a most obedient s e r vant, the skilled operator is released from the s t r e s s ing and dangerous part of the job, exceБайду номын сангаасt for the brief programming. He will s t a r t feeling happy with his job again, he will stay with it, and the factory has solved a lot of problems. And furthermore, the operator will have time available for other and m o r e vital tasks in the shop. T h e quality of the production is easily controlled. The best man in the shop will become the p r o g r a m m e r . He can immediately state if his p r o g r a m is acceptable. If not, he simply makes a new one. A successful program, however, means a p e r fect application of each s e p a r a t e part passing the spray booth on the conveyor chain. And that i s what the P r o d u c tion Manager is looking for.
270
Spray Painting Robots
Advanced paint shop automation
T h e increasing demand for industrial automation has finally reached the paint shops throughout the mechanic a l industry. The operations performed in most paint shops a r e stressing, i . e . monotonous ever-repeating movements day in and day out, as conditions also can b e unhealthy because the o p e r a t o r s b r e a t h e intoxicated a i r . Although surface treatments call for highly skilled spraygun operators, these qualified men cannot be offered a first c l a s s environment because of the specific paint shop situation. The spray painter, therefore, does not always feel happy with his job. He notices that other work shops in the factory grow better and better with r e g a r d to equipment and working conditions, while his shop stays with the old system. He i s , therefore, constantly looking for a better place, which can be dramatic to his factory because skilled spray gun operators a r e hard to r e p l a c e , or because the training-in of new men is a costly m a t t e r , it takes time, and quality as well a s capacity may be suffering during that time. It has been possible, though, to some extent, to s o l v e a few paint shop problems. F o r some y e a r s we know of a r r a n g e m e n t s of stable single nozzles as well a s those furnished to so called r e c i p r o c a t o r s . Such equipment, however, manage 2-dimensional movements only, which is not enough for the modern industry. F o r higher flexibility we have today the spray painting r o b o t s , and in the following we shall briefly be dealing with the operation abilities of the COAT-A-MATIC, the Swedish Spray Painting Robot from RETAB, Stockholm. T h e robot a r m together with the hand encompass 6 d e g r e e s of freedom, and their scope of operation i s , by far, exceeding that of any human o p e r a t o r ' s , which shows in the s p e c i f i c a t i o n s b e l o w . Arm movements: Horizontal (hip movements) 135° In/Out (shoulder " ) 90° Vertical (elbow " ) 90° See t a b l e b e l o w . Horizontal sweep Vertical Wrist torsion 210° 210° 359° 2 m/sec. 15 kgs. Continuous path If the surface coat application is so arranged that p a r t s of the same type and size follow for a certain period of time, everything is easy. One single program is being kept in the m e m o r y , and a simple start signal device will indicate that the robot has to start over again a s soon as a new item appears in front of the spray gun. Should different items follow intermixed on the s a m e line, the operator has to p r e p a r e p r o g r a m s covering each separate item to be stored in the memory under
Scope: Hand movements:
Max. a r m / h a n d operation speed Load capacity Movement pattern
The Industrial Robot
December 1974