JP2000104152A - Hot-dip galvanizing method, robotic device for hot-dip galvanizing and apparatus for hot-dip galvanizing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the formation of damage on the plated film of each work by immersing a plurality of works into a post-treating solution in such a state that the plurality of works are held a housing vessel. SOLUTION: A housing vessel 3 capable of housing a plurality of works, on each of which hot-dip galvanizing liquid is stuck, is attached to an end member 2 of a robotic hand and a vibrator 71 is also attached to the end member 2 so as to impart minute vibration to the housing vessel 3. The vibrator 71 is provided so as to impart minute vibration to the housing vessel 3 when the housing vessel is immersed into a post-treating solution such as ammonia water or cooling water, and the minute vibration is transferred to each work held within the housing vessel 3. Thereby, bonding between the plated films in each work can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a hot dip galvanizing method, a robot apparatus in hot dip galvanizing and a hot dip galvanizing apparatus.

[0002]

2. Description of the Related Art In hot-dip galvanizing, a work immersed in a hot-dip galvanizing solution is separated from an excess hot-dip galvanizing solution by a dripping device such as a centrifugal separator and then placed in a storage container. A plurality of works are stored in the storage container, and the plurality of works in the storage container are immersed in a predetermined post-treatment liquid while being stored in the storage container. In particular, when the work has an uneven portion such as a screw portion such as a bolt or a nut, excessive hot-dip galvanizing solution adheres to a concave portion such as a screw groove or a convex portion such as a screw thread. Ammonia water is used as a post-treatment liquid for removing burrs, and post-treatment with cooling water is often performed after the post-treatment with the ammonia water.

[0003]

However, each work in the storage container after the extra hot-dip galvanizing solution has been separated by the sagging device has not yet been soaked in the hot-dip galvanizing solution. The workpiece is still in a high temperature state (compared to the temperature of the post-treatment liquid), and the workpieces are in contact with each other in the storage container. For this reason, when a plurality of works in such a storage container are immersed in the post-treatment liquid, the temperature of the post-treatment liquid is considerably lower than the temperature of the work at that time, so that the work is rapidly cooled and the work is cooled. There is a possibility that the plating film portions in contact with each other may be combined (solidified).
As a result, when the workpieces thus joined are separated from each other, the plating film is peeled off, and it becomes difficult to obtain a workpiece that has been subjected to the hot-dip galvanizing process.

The present invention has been made in view of the above circumstances, and a first object of the present invention is to immerse a plurality of works in a post-treatment liquid in a state of being stored in a storage container. An object of the present invention is to provide a hot-dip galvanizing method capable of preventing a plating film from being damaged in a work. A second object is to provide a robot apparatus in hot dip galvanizing that can perform the above hot dip galvanizing method. A third object is to provide a hot-dip galvanizing apparatus capable of performing the hot-dip galvanizing method.

[0005]

In order to achieve the first object, according to the present invention (claim 1), a plurality of workpieces to which a hot-dip galvanizing solution is adhered are stored in a storage container. When immersing in a post-treatment solution having a lower temperature than the hot-dip galvanizing solution, a slight vibration is applied to the storage container. Preferred embodiments based on claim 1 are as described in claims 2 to 10 in the claims.

In order to achieve the second object, according to the present invention (claim 11), a plurality of workpieces to which a hot-dip galvanizing solution is adhered are stored in a storage container while the post-processing solution A robot device that is used when immersing in a post-treatment liquid and applies micro-vibration to the storage container in the post-processing liquid, wherein a plurality of workpieces to which a hot-dip galvanizing liquid is attached are stored at the tip of the robot hand. Wherein the storage container is held, and a microvibration applying means for applying microvibration to the storage container is provided. Preferred embodiments based on claim 11 are as described in claims 12 to 21 in the claims.

In order to achieve the third object, according to the present invention (claim 22), the robot apparatus is provided with a centrifugal separator for the hot-dip galvanizing solution within a movement trajectory of the tip end of the robot hand. A plurality of workpieces after the hot-dip galvanizing solution is centrifuged by the centrifugal separator are housed at the tip of the robot hand. The storage container is held, and the robot hand is provided with microvibration applying means for applying microvibration to the storage container. A preferred mode based on the above claim 22 is:
It is as described in claim 23 of the claims.

[0008]

According to the first aspect of the invention, when the storage container is immersed in the post-processing liquid, the storage container is subjected to slight vibration, so that the plating film is solidified by the post-processing liquid. Even if the tendency is increased, micro-vibration is transmitted to each work, so that it is possible to prevent solidification in a state where the plating film of each work is in contact and the respective works are not likely to be combined. . For this reason, the plating film does not peel off due to the separation of the joined workpieces, and the plating film on each workpiece is damaged due to immersion in the post-treatment liquid while a plurality of workpieces are stored in the storage container. Can be prevented.

According to the second aspect of the present invention, since the fine vibration with respect to the storage container is applied before the storage container is immersed in the post-processing liquid, the work is simultaneously immersed in the post-processing liquid. Is rapidly cooled to increase the tendency of the plating film to solidify, but before that, micro vibrations are transmitted to each work with a margin, and solidification of the plating film of each work in a contact state can be reliably prevented.

According to the third aspect of the present invention, the micro-vibration of the storage container is stopped after the storage container is taken out of the post-processing liquid. Even if it comes out of the processing liquid, the micro-vibration is transmitted to each work, and it is possible to reliably prevent the plating film of each work from solidifying in a state of contact.

According to the fourth aspect of the invention, the minute vibration is transmitted to each work with a margin before immersion in the post-processing liquid and after coming out of the post-processing liquid. Thus, solidification of the plating film of each work in a contact state can be prevented very reliably.

According to the fifth aspect of the present invention, the fine vibration to the storage container is applied to the storage container together with the vertical vibration larger than the fine vibration. In addition to producing the effect, it is possible to always perform the vertical vibration work for bringing the respective workpieces into sufficient contact with the post-treatment liquid in a constant mode, and it is possible to improve the uniformity of the quality of hot-dip galvanizing in each workpiece. Become.

According to the invention described in claim 6, since the post-treatment liquid contains at least one of ammonia water and cooling water immersed after the ammonia water, ammonia water or cooling water is used as the post-treatment liquid. Even in the case of performing a general post-treatment using at least one of water, it is possible to prevent the plating films of the respective works from solidifying in a state of contact with each other based on the minute vibration with respect to the storage container.

According to the seventh aspect of the invention, in addition to producing the same operation and effect as the above-mentioned sixth aspect, fine vibrations to the storage container are caused before the storage container is immersed in the post-treatment liquid. Because of the provision, fine vibrations can be transmitted to each work with a margin before immersion in the post-treatment liquid of the storage container, and solidification of the plating film of each work in a contact state can be reliably prevented.

According to the invention described in claim 8, when at least one of the ammonia water and the cooling water immersed after the ammonia water is used as the post-treatment liquid, before and after immersion in the treatment liquid, Even after coming out of the post-treatment liquid, fine vibration is transmitted to each work with a margin, and solidification of the plating film of each work in a state of contact can be extremely reliably prevented.

According to the ninth aspect of the present invention, in addition to producing the same operation and effect as in the above-mentioned eighth aspect, the fine vibration with respect to the storage container, together with the vertical vibration larger than the fine vibration, is generated in the storage container. , It is possible to always perform the vertical vibration work for bringing the respective workpieces into sufficient contact with the post-treatment liquid in a constant mode, and it is possible to improve the uniformity of the quality of hot-dip galvanizing in each workpiece. Become.

According to the tenth aspect of the present invention, since the centrifugal force vibration is applied as the fine vibration to the storage container, it is possible to easily apply the preferable fine vibration to the storage container using a general-purpose product. You can do it.

According to the eleventh aspect of the present invention, a storage container for storing a plurality of workpieces to which a hot-dip galvanizing solution is attached is held at the tip of the robot hand, and the storage container is subjected to slight vibration. Since a plurality of works are immersed in the post-treatment liquid in the storage container based on the fine vibration by the fine vibration applying means because the microvibration applying means for applying is provided, the plating films of the respective works are in contact with each other. Therefore, it is possible to prevent the respective workpieces from solidifying and trying to combine with each other, so that the method according to claim 1 can be implemented.

According to the twelfth aspect of the present invention, the robot hand is provided with liquid detecting means for detecting the post-processing liquid, and the liquid detecting means detects that the storage container is in the post-processing liquid. The condition is set so that the micro-vibration applying means is activated, so that the storage container is reliably vibrated in the post-treatment liquid, and the micro-vibration is transmitted to each work in the storage container. Therefore, it is possible to prevent the workpieces from solidifying in a state where the plating films of the workpieces are in contact with each other and trying to combine the workpieces. For this reason, it is possible to provide a robot device capable of reliably and specifically performing the method according to the first aspect.

According to the thirteenth aspect of the present invention, on the condition that the liquid detecting means detects that the storage container has fallen below the predetermined upper position from the liquid level of the post-treatment liquid, the minute vibration is applied. Since the means is set to start the operation, it is possible to apply a slight vibration to the storage container before the storage container is immersed in the post-treatment liquid, so that the method according to claim 2 can be performed. A robot device can be provided.

According to the fourteenth aspect of the present invention, since the liquid detecting means is a liquid level sensor protruding downward from the storage container, the liquid level sensor is configured such that the storage container is in the post-processing liquid. The post-processing liquid is detected before the immersion, and the storage container comes out with a delay after the storage container comes out of the post-processing liquid, and the storage container is subjected to slight vibration before the storage container is immersed in the post-processing liquid. In addition to stopping the work after exiting from the post-treatment liquid, not only can it be obtained with a very simple structure, but also with this structure, the work is solidified in a state where the plating films of the works are in contact with each other and the works are combined. Attempts can be further prevented.

According to the fifteenth aspect of the present invention, in addition to obtaining the same operation and effect as the above-mentioned fourteenth aspect, the storage container is held at the tip of the robot hand so as to be vertically movable, and Since the driving means for vertically moving the storage container up and down more than the fine vibration and providing vertical movement to the storage container is provided,
Along with the vertical vibration larger than the fine vibration, the vibration is applied to the storage container, so that it is possible to prevent solidification in a state where the plating films of the respective workpieces are in contact with each other and to attempt to combine the respective workpieces. The vertical vibration operation for bringing the respective workpieces into sufficient contact with each other is always performed in a fixed manner, so that the quality of the hot-dip galvanizing of each workpiece can be made more uniform.

According to the sixteenth aspect of the present invention, the storage container is held at the distal end of the robot hand so as to be vertically movable. Is provided with driving means for imparting vertical movement to the storage container, so that a vertical vibration greater than the fine vibration is applied to the storage container together with the fine vibration, and the plating film of each work is formed. In addition to preventing solidification of the respective workpieces in contact with each other and preventing the respective workpieces from joining, the vertical vibration operation for sufficiently contacting the respective workpieces with the post-treatment liquid is always performed in a fixed manner, and the molten zinc It is possible to improve the uniformity of plating quality.

According to the invention described in claim 17, since the microvibration applying means is a centrifugal vibration vibrator, a preferable microvibration can be easily stored using a general-purpose centrifugal vibration vibrator. It can be applied to the container.

According to the eighteenth aspect of the present invention, the steps after the hot dip galvanizing solution is dripped out can be automated by the robot apparatus by effectively utilizing the robot apparatus. Become.

According to the nineteenth aspect, the subsequent steps including the transfer of the work from the centrifugal separator to the storage container attached to the robot hand can be automated.

According to the twentieth aspect of the present invention, since the post-treatment liquid is at least one of ammonia water and cooling water used after the ammonia water, ammonia water or cooling water is used as the post-treatment liquid. Even when a general post-treatment using at least one of the above is performed, it is possible to prevent the plating film of each work from solidifying in a contact state based on the minute vibration with respect to the storage container.

According to the twenty-first aspect of the present invention, even when the post-treatment with the ammonia water and the post-treatment with the cooling water are performed, the plating films of the respective workpieces are bonded based on the minute vibration with respect to the storage container. (Coagulation) can be prevented.

According to the twenty-second aspect of the present invention, the robot apparatus is effectively used to prevent the plating films of the respective works from binding (solidifying) after centrifugal separation of the hot-dip galvanizing solution. Post-processing steps to be performed can be automated.

According to the invention described in claim 23, as the post-treatment liquid tank, the first post-treatment liquid tank and the second post-treatment liquid tank used in a process subsequent to the first post-treatment liquid tank are provided. When ammonia water is stored in the first post-treatment liquid tank and cooling water is stored in the second post-treatment liquid tank, post-treatment with ammonia water and post-treatment with cooling water are performed. Even in this case, it is possible to prevent the plating films of the respective works from being combined (solidified) based on the minute vibration with respect to the storage container.

[0031]

FIG. 1 shows a hot-dip galvanizing apparatus according to an embodiment. The hot-dip galvanizing apparatus stores a hot-dip galvanizing solution in a high temperature state (for example, around 520 ° C.). A galvanizing pot 41, a galvanizing solution dripping device 42 using vertical vibration, a hot-dip galvanizing solution dripping (centrifugal separation) device 43 using centrifugal force, a robot device R, Temperature lower than the temperature of the plating solution (around 90-100 ° C)
A first post-treatment liquid tank (flux treatment tank) 44 that stores ammonia water (first post-treatment liquid) and cooling water (for example, about 20 to 30 ° C.) lower than the temperature state of the ammonia water. Second post-treatment liquid tank 45 storing the second post-treatment liquid)
The robot device R has the robot hand 1 accessible to the centrifugal separator 43 and the first and second post-treatment liquid tanks 44 and 45. The process can be automated using the robot device R.

In a hot dip galvanizing process using such a hot dip galvanizing apparatus, basically, as shown by arrows in FIG. 1, first, a plurality of works (for example, bolts and nuts) are melted. The hot-dip galvanizing solution in the hot-dip galvanizing vessel 41 is drenched in the hot-dip galvanizing solution, and the excess hot-dip galvanizing solution adhering to each work is roughly removed by the dripping device 42 by shaking the work in the vertical direction. Thereafter, the plurality of works are supplied to the centrifugal separator 43, and excess hot-dip galvanizing solution is removed from each work. Then, a plurality of works are transferred from the centrifugal separator 43 to the robot device R (a storage container 3 described later held by the robot device R), and the robot device R causes the first post-treatment liquid tank 44 and the second post-treatment liquid to move. Each work is discharged to the discharge position near the second post-treatment liquid tank 45 via the tank 45.

More specifically, the centrifugal separator 43 and the robot R will be mainly described. First, the centrifugal separator 43 will be described.
As shown in FIG. 2, a separation container 57 and the like that can be centrifuged and inverted can be provided to perform the above function. That is, a pair of columns 52 are provided on a frame 51 disposed on the floor in a direction perpendicular to the plane of FIG.
The rotating shaft 53 is rotatably held across the. One end of a substantially L-shaped holding member 54 is integrated with the rotating shaft 53, and a hydraulic rotary actuator 55 is connected to the rotating shaft 53. The holding member 54 includes
A cylindrical outer cylinder 56 is integrated, and a bottomed cylindrical separating container 57 is provided in the outer cylinder 56. The separation vessel 57 has, for example, a side wall and a bottom wall formed of, for example, a metal perforated plate (punched metal) so as to be capable of centrifugal separation, and has many openings through which a hot-dip galvanizing solution passes. The separation container 57 is
It is held by a holding member 54 via a hydraulic rotary actuator 58 (rotary shaft 58 a) and is rotatably held by the holding member 54.

The separating container 57 is swingable about the rotation shaft 53 together with the holding member 54, the outer cylinder 56, and the actuator 58.
The posture of the separation container 57 can be changed between a separation position indicated by a solid line in FIG. 2 and a removal position indicated by a dashed line in FIG.

At the above separation position, the work entrance 57a of the separation container 57 faces upward and the bottom wall thereof is substantially horizontal.
When the separating container 57 is rotated by the tab 58, excess hot-dip galvanizing solution is scattered toward the outer cylinder 56 by centrifugal force from the work in the separating container 57, and the hot-dip galvanizing liquid collides with the outer cylinder 56. The liquid falls downward and is collected through a radial gap 59 between the outer cylinder 56 and the separation container 57.

At the take-out position, from the separation position,
The rotation shaft 53 is to be rotated approximately 145 degrees clockwise in FIG. At this take-out position, the work entrance 57a of the separation container 57 is directed obliquely downward, and the work inside the work is dropped by gravity. In this case, since the separation container 57 is moved from the separation position to the take-out position in such a manner that the separation container 57 is lifted upward, the work accidentally drops from the separation container 57 on the way. It will not be done. Also, the rotating shaft 53 is
Since it is located outside the separation container 57, the fall space where the work falls from the separation container 57 at the take-out position can be made sufficiently large.

Before the separation container 57 is rotated by the actuator 58 at the separation position, the lid member 6 is closed.
0 closes the work inlet / outlet 57a of the separation container 57, and after the centrifugation is completed, before the separation container 57 swings toward the take-out position, the lid member 60 is moved to the separation container 5
7 is retracted toward the side opposite to the rotation shaft 53.

Next, the robot device R will be described. As shown in FIGS. 3 and 4, the robot device R has a total of six rotation axes, and the distal end member 2 located at the distal end of the robot hand 1 has a storage container via a frame 70. 3 are attached. The storage container 3 has a shallow bottomed cylindrical shape as a whole, but is made of a material having excellent heat resistance, for example, an iron-based metal basket or zigzag so as to ensure sufficient liquid permeability. This storage container 3
A plurality of works in a high-temperature state to which a hot-dip galvanizing solution is attached are received from the centrifugal separator 43, and the plurality of works are immersed in a post-processing solution while being stored. In this case, the storage container 3 is
When receiving a plurality of workpieces from the robot device R
As a result, at the position where the separation container 57 is taken out, the plurality of works are dropped from the separation container 57. At this time, in order to confirm that the storage container 3 has reached the position where the work from the separation container 57 has been received (confirmation that the storage container 3 has reached the position indicated by the dashed line in FIG. 2), for example, a pressing operation is performed by a part of the robot apparatus R. A switch (sensor) 61 to be operated, and provided that the operation of the switch 61 has been confirmed,
7 can be started to swing from the separation position to the removal position.

As shown in FIG. 4, a vibrator 71 is attached to the frame 70 on the side opposite to the storage container 3 as a microvibration applying means. The vibrator 71 generates microvibration by its operation (rotation). As the vibrator 71, a centrifugal vibration motor, a pneumatic ball vibrator 71 that generates centrifugal vibration, or the like is used (in the present embodiment, Exen Corporation CS-25 11000 with starting air pressure of 6 kg / cm2
V. P. In this embodiment, the micro-vibration caused by the vibrator 71 is as follows.
The vibration is transmitted to the storage container 3 via the frame 70 as lateral vibration or the like. In the present embodiment, the fine vibration does not change the posture and position of the storage container 3 in appearance (when viewed by human eyes). In this case, a minute approach / separation movement (micro vibration) is caused in each work. Of course, the vibrator 71 is subjected to a liquid resistant treatment.

As shown in FIG. 4, a liquid detecting sensor 73 as liquid detecting means is fixed to the frame 70 via a bracket 72. Liquid detection sensor 73
Has a detecting portion 73a that extends long downward,
The tip of 3a is projected further below the bottom wall of the storage container 3 to detect before the storage container 3 is immersed in the post-treatment liquid 31. Such a liquid detection sensor 73 outputs a predetermined signal by detecting the liquid when a specific range including the front end of the detection unit 73a and a predetermined distance from the front end to an upper position is immersed in the liquid. The vibrator 71 is operated based on the signal.

In such a hot-dip galvanizing apparatus (robot apparatus 42 or the like), when a plurality of works are transferred from the centrifugal separator 43 to the storage container 3 (see FIG. 2), the work is performed in order to perform post-processing. As shown in FIG. 5, the storage container 3 is obliquely penetrated into the ammonia water (post-treatment liquid 31) in the first post-treatment liquid tank 44 so as to have a shallow angle from the liquid surface thereof. After being completely immersed in water for a predetermined time, the storage container 3 is withdrawn from the aqueous ammonia at a shallow angle with respect to the liquid level. In the present embodiment, using a timer or the like,
The liquid detection sensor 73 is set so as not to detect ammonia water.

When the container 3 is pulled out of the aqueous ammonia, the container 3 is transported to the cooling water in the second post-treatment liquid layer 45. For this cooling water, the storage container 3
As shown in FIG. 5, the liquid detection sensor 73 is obliquely penetrated so as to have a shallow angle with respect to the liquid surface. Is detected, and the vibrator 71 is actuated (slight vibration starts) based on the detection. Thereby, the micro-vibration by the vibrator 71 is transmitted to the storage container 3, and the plurality of works in the storage container 3 are also micro-vibrated, and the storage container 3 is kept in the cooling water while maintaining the micro-vibration state. Will be infiltrated.

The storage container 3 is completely immersed in the cooling water for a predetermined time. Even in this case, the storage container 3 keeps its micro-vibration state. When the storage container 3 has been completely immersed in the cooling water for a predetermined period of time, it is pulled out of the cooling water at a shallow angle with respect to the liquid level, similarly to the case of the ammonia water.

When the storage container 3 is pulled out of the cooling water,
When the liquid detection sensor 73 is also drawn out of the cooling water, the micro-vibration with respect to the storage container 3 is stopped, and the storage container 3 discharges a plurality of works in the storage container 3 to a predetermined discharge position.

Therefore, in the hot-dip galvanizing treatment, when the storage container 3 is immersed in the cooling water, the storage container 3 is slightly vibrated. Even if the plating film increases the tendency to solidify, fine vibrations are transmitted to each work, and it is prevented that the work solidifies in a state where the plating film of each work is in contact with each other and the respective works are prevented from joining. Will be.

Moreover, in this case, the micro-vibration with respect to the storage container 3 is transmitted to each work with a margin before immersion in the cooling water and after exiting from the cooling water. Solidification in the state where the plating film of the workpiece is in contact with the workpiece is extremely reliably prevented.

6 to 10 show another embodiment. In the other embodiments, the same components as those in the above embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In this embodiment, the robot device R
Thus, at the time of post-processing, a vertical vibration larger than the fine vibration is applied to the storage container 3 together with the fine vibration.

That is, as shown in FIGS. 6 to 8, the storage container 3 is attached to the distal end member 2 located at the distal end of the robot hand 1 via the drive set S. As shown in FIGS. 7 and 8, the drive set body S has a mounting board 11 made of an iron plate or the like.
Fixed by bolts. The cylinder 12a of the air cylinder device 12 is provided on one side plate surface of the mounting board 11.
However, the piston rod 12b of the air cylinder device 12 extends downward, and the distal end thereof is fixed to the connecting member 13 fixed to the outer wall of the storage container 3 by welding or the like. It is directly connected. Cylinder device 1
2 has a pair of flange members 12c so as to sandwich the cylinder 12a from the axial direction, and the pair of flange members 12c are connected to each other by a total of four connecting rods 12d extending in parallel with the cylinder 12a. .
The connecting rods 12d are arranged at equal intervals in the circumferential direction of the cylinder 12a so as to surround the cylinder 12a (9 in the embodiment).
(0-degree interval).

Of the four connecting rods 12d, the two front connecting rods 12d far from the mounting board 11 constitute guide rods, and are fitted to the front connecting rods 12d as the guide rods. The member 14 is fitted slidably in the vertical direction (see also FIG. 9). The length of the fitting member 14 in the vertical direction is shorter than the distance between the upper and lower flange portions 12c, and is displaceable in the vertical direction between the upper and lower flange portions 12c by a predetermined stroke. A virtual plane obtained by connecting the two front connection rods 12d is parallel to the mounting board 11.

The fitting member 14 is integrally connected to the outer wall of the storage container 3 via a rod-shaped connecting member 15 extending in the vertical direction. The connecting member 15, the fitting member 14, and the front connecting rod 12d constitute a guide mechanism G for smoothly guiding the storage container 3 in the vertical direction. That is, when the cylinder device 12 is expanded and contracted, the storage container 3 is driven up and down.
The up and down movement of the storage container 3 is performed smoothly.

As shown in FIG.
As shown in FIG. 8, a liquid detection sensor 17 as liquid detection means is fixed via a bracket 16. The liquid detection sensor 17 has a detection unit 17a that extends long downward, and the tip of the detection unit 17a is located substantially near the bottom wall of the storage container 3. This liquid detection sensor 17 is provided with
When a specific range including the front end of 7a and up to a predetermined distance above the front end is immersed in the liquid, a predetermined signal is output by detecting the liquid.

A switching valve 18 is fixed to the mounting substrate 11 on the side opposite to the cylinder device 12. The switching valve 18 changes the manner in which air is supplied to the cylinder device 12 so that the cylinder device 12 alternately expands and contracts.

FIG. 10 shows a connection system between the cylinder device 12 and the switching valve 18. In FIG. 10, two chambers in a cylinder 12a defined by a piston are denoted by reference numeral 2.
1, 22 are shown. The switching valve 18 is of a 4-port / 2-position electromagnetic type, and the chamber 21 is connected to the switching valve 18 via a system path 21A, and the chamber 22 is connected to the switching valve 18 via a system path 22A.

When the switching valve 18 is in the switching state shown in FIG. 10, air from a compressor (not shown) is supplied to the system passage 22A.
Is supplied to the chamber 22 via the switching valve 18.
, And the cylinder device 12 is contracted. When the switching valve 18 is switched from the state shown in FIG.
1 is supplied with air while the chamber 22 is released to the atmosphere, and the cylinder device 12 is extended.

By switching the switching valve 18 at high speed, the cylinder device 12 expands and contracts at high speed, and the storage container 3 is vibrated up and down (for example, several times a second). The speed and amplitude of the vertical vibration of the storage container 3 and the operating time of the vertical vibration are determined by the timer device 23 that controls the switching valve 18. The timer device 23 detects the liquid by the liquid detection sensor 17 and the predetermined position of the storage container 3 from the robot control system in the post-treatment liquid 31 (the position where the storage container 3 shown by the dashed line in FIG. 8 is substantially horizontal). It is activated on condition that both of the position signals indicating that the state has been received.

As shown in FIG. 7, the vibrator 71 according to the embodiment is attached to the mounting substrate 11 on the side opposite to the cylinder device 12, and the fitting member 14 is attached to the fitting member 14 as shown in FIGS. As shown, the liquid detection sensor 73 according to the embodiment is fixed via the bracket 72.

In such a hot-dip galvanizing apparatus (such as the robot apparatus 42), when the storage container 3 is completely immersed in the aqueous ammonia, the switching valve 18 is operated based on the liquid detection sensor 17 in that state. The switching operation is performed at a high speed, the cylinder device 12 is extended and contracted at a high speed, and the storage container 3 is in a state of being vertically vibrated together with the fine vibration. Therefore, not only is it possible to prevent the plating film of each work from solidifying in a state of contact based on the fine vibration of the storage container 3, but also to perform post-processing based on the fact that the vertical vibration larger than the fine vibration is applied together with the fine vibration. The vertical vibration operation for bringing the respective works into sufficient contact with the liquid 31 can be always performed in a fixed manner, and the quality of the hot-dip galvanizing of the respective works can be made more uniform.

Although the embodiment has been described above, the present invention is not limited to this, and includes, for example, the following case. As a driving unit for vertically driving the storage container 3, for example, an appropriate device such as a hydraulic cylinder device or an electric motor can be used. The post-treatment with the post-treatment liquid can be performed after performing only one of the sagging devices 42 and 43, or the post-processing can be immediately performed without performing the sagging (depending on the type of workpiece). different).

The liquid detection sensors 17 and 73 may be of appropriate types, and may not have such sensors separately.

The vibrator 71 is directly attached to the storage container 3.
It may be attached or attached to the connecting member 15 or the like.

In aqueous ammonia as a post-treatment liquid,
Even when each workpiece is post-processed, the storage container 3 may be subjected to slight vibration.

The vertical movement of the storage container 3 based on the cylinder device 12 may be performed by the robot device R itself.

The liquid detection sensor 73 may be attached to a member such as the storage container 3 or the like whose relative positional relationship with the storage container 3 is known.

When the storage container 3 enters or withdraws from the post-treatment liquid 31, the storage container 3 may move linearly, or may move in a substantially circular locus.

The object of the present invention is not limited to the specified contents, but implicitly includes providing what is substantially preferred or corresponding to the contents described as advantages.

[Brief description of the drawings]

FIG. 1 is a plan view showing a preferred arrangement example of a hot-dip galvanizing apparatus.

FIG. 2 is a side sectional view of a main part showing a preferred example of a centrifugal separator.

FIG. 3 is a perspective view showing an example of a robot device according to the present invention.

FIG. 4 is a side view showing details of a portion that causes the storage container to slightly vibrate.

FIG. 5 is a simplified explanatory view showing a state in which a posture of a storage container with respect to a post-treatment liquid is changed.

FIG. 6 is a perspective view showing another example of the robot device according to the present invention.

FIG. 7 is a side view showing details of a part for vertically driving and finely vibrating the storage container.

FIG. 8 is a view when FIG. 7 is viewed from an arrow X direction.

FIG. 9 is a sectional view taken along line X4-X4 in FIG. 8;

FIG. 10 is a system diagram of an air cylinder device.

[Explanation of symbols]

 1: Robot hand 2: Tip member of robot hand 3: Storage container 12: Cylinder device 17: Liquid detection sensor 31: Post-treatment liquid 41: Hot-dip galvanizing liquid tank 43: Centrifugal separator 44: First post-treatment liquid tank ( Ammonia water) 45: Second post-treatment liquid tank (cooling water) 71: Vibrator 73: Liquid detection sensor R: Robot device

Claims (23)

[Claims] When a plurality of workpieces to which a hot-dip galvanizing solution is attached are stored in a receiving container and immersed in a post-treatment solution having a lower temperature than the hot-dip galvanizing solution, A hot-dip galvanizing method, wherein micro-vibration is applied. 2. The hot-dip galvanizing method according to claim 1, wherein the fine vibration is applied to the storage container before the storage container is immersed in the post-treatment liquid. 3. The hot-dip galvanizing method according to claim 1, wherein the micro-vibration of the storage container is stopped after the storage container is taken out of the post-treatment liquid. 4. The hot-dip galvanizing method according to claim 3, wherein the fine vibration is applied to the storage container before the storage container is immersed in the post-treatment liquid. 5. The hot-dip galvanizing method according to claim 1, wherein the fine vibration with respect to the storage container is applied to the storage container together with a vertical vibration larger than the fine vibration. 6. The hot-dip galvanizing method according to claim 1, wherein the post-treatment liquid includes at least one of ammonia water and cooling water immersed after the ammonia water. 7. The hot-dip galvanizing method according to claim 6, wherein the fine vibration to the storage container is applied before the storage container is immersed in the post-treatment liquid. 8. The hot-dip galvanizing method according to claim 7, wherein the micro-vibration of the storage container is stopped after the storage container is taken out of the post-treatment liquid. 9. The hot-dip galvanizing method according to claim 8, wherein the fine vibration with respect to the storage container is applied to the storage container together with a vertical vibration larger than the fine vibration. 10. The hot-dip galvanizing method according to claim 1, wherein centrifugal force vibration is applied as the minute vibration to the storage container. 11. A method in which a plurality of workpieces to which a hot-dip galvanizing solution is attached are immersed in a post-processing liquid while being stored in a storage container. A storage container for storing a plurality of workpieces to which a hot-dip galvanizing solution is attached is held at a distal end portion of the robot hand, and a microvibration applying means for applying microvibration to the storage container. A robot apparatus in a hot-dip galvanizing process, comprising: 12. The robot hand according to claim 11, wherein the robot hand is provided with a liquid detecting means for detecting the post-processing liquid, and the liquid detecting means detects that the storage container is in the post-processing liquid. A robot apparatus in a hot-dip galvanizing process, wherein the condition is set such that the microvibration applying means is operated. 13. The microvibration applying means according to claim 12, wherein the liquid detecting means detects that the storage container has become below a predetermined upper position from a liquid level of the post-processing liquid. Is set to start operation, wherein the robot apparatus in the hot-dip galvanizing process. 14. The robot apparatus according to claim 13, wherein the liquid detection unit is a liquid level sensor protruding below the storage container. 15. The storage container according to claim 14, wherein the storage container is held at the tip of the robot hand so as to be vertically movable, and the robot hand is caused to move the storage container up and down more than the minute vibration. A robot device for hot-dip galvanizing processing, wherein a driving means for imparting vertical movement to the robot is provided. 16. The storage container according to claim 11, wherein the storage container is vertically movably held at a distal end portion of the robot hand, and the robot hand moves the storage container up and down more than the fine vibration. A robot device for hot-dip galvanizing processing, wherein a driving means for imparting vertical movement to the robot is provided. 17. The robot apparatus according to claim 11, wherein the micro vibration applying means is a centrifugal vibration type vibrator. 18. The method according to claim 11, wherein the work is transferred into the post-processing liquid after receiving the work from the hot-dip galvanizing solution dripping device into the storage container, and then the work is removed from the storage container after the processing is completed. A robot apparatus in a hot-dip galvanizing process, wherein the robot apparatus is set to discharge to a predetermined discharge position. 19. The method according to claim 18, wherein the dripping device is a centrifugal separator, and the centrifugal separator automatically discharges the workpiece to a predetermined take-out position after centrifuging the hot-dip galvanizing solution. A robot apparatus in a hot-dip galvanizing process, wherein the robot apparatus is set to: 20. The method according to claim 11, wherein the post-treatment liquid is at least one of ammonia water and cooling water used after the ammonia water. Robotic equipment for galvanizing. 21. The hot dip galvanizing process according to claim 20, wherein the post-treatment liquid is ammonia water and cooling water, and the storage container is slightly vibrated in both the ammonia water and the cooling water. Robotic device in. 22. A robot apparatus, wherein a centrifugal separator for a hot-dip galvanizing solution and a post-treatment liquid tank for storing a post-treatment liquid are located within a movement locus range of a tip end portion of the robot hand. A storage container for storing a plurality of works after the hot-dip galvanizing solution is centrifuged by the centrifugal separation device is held at a distal end portion of the robot hand, and the robot hand applies a slight vibration to the storage container. Hot-dip galvanizing apparatus is provided with microvibration imparting means for the purpose. 23. The post-treatment liquid tank according to claim 22, comprising a first post-treatment liquid tank and a second post-treatment liquid tank used in a process subsequent to the first post-treatment liquid tank. A hot dip galvanizing apparatus, wherein ammonia water is stored in the first post-treatment liquid tank, and cooling water is stored in the second post-treatment liquid tank.