JP2004337732A - Apparatus for feeding adhesive and cartridge for adhesive - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for feeding an adhesive which has a simple structure and can efficiently feed the adhesive, in the apparatus for feeding the adhesive which is fitted on a robot hand and feeds the adhesive on a coating face and a cartridge for the adhesive. <P>SOLUTION: In the apparatus for feeding the adhesive, a rack axis 16 is moved by rotating a motor shaft 14, and a piston 26b of the cartridge 26 is pushed thereby. The adhesive in the cartridge 26 is pushed out thereby and is discharged from an adhesive discharging pipe 30. In addition, connection between the inside and the outside of the cylinder 26a can be controlled by rotating a lid body 28 against a cylinder 26a, and extrusion and injection of the adhesive can be controlled thereby. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an adhesive supply device and an adhesive cartridge which are attached to a robot hand and supply an adhesive to an application surface.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, robots have been used for various operations in production equipment in factories. For example, an adhesive is attached to the periphery of an automobile windshield or rear glass. The adhesion of the adhesive is performed by moving the adhesive supply device along the periphery of the glass while discharging the adhesive while holding the glass. The adhesive supply device is fixed to the robot and the robot moves.
[0003]
In such a system, the adhesive needs to be filled in the adhesive supply device, and the adhesive is usually supplied to the adhesive supply device through a hose.
[0004]
[Problems to be solved by the invention]
However, in such a conventional system, an adhesive supply hose is connected to the adhesive supply device. Therefore, when the robot is moved by a robot, the hose is cut or the load on the movement of the robot fluctuates greatly, which makes the control difficult. Furthermore, there is a problem that it is necessary to secure a space for the routing of the hose, and the restriction on the arrangement of the apparatus is increased.
[0005]
The present invention has been made in view of the above problems, and has as its object to provide an adhesive supply device that can efficiently supply an adhesive with a simple structure.
[0006]
[Means for Solving the Problems]
The present invention is an adhesive supply device that is attached to a robot hand and supplies an adhesive to an application surface. The adhesive supply device receives and fixes an independent cartridge, and is detachably mounted inside the cartridge reception portion. A cartridge for storing an adhesive and discharging the adhesive from an adhesive discharge port, the cartridge having a piston slidably movable in a cylinder open at one end, and a cartridge from a substantially central portion of a cartridge receiving portion. A press mechanism that is movable back and forth to press the piston, and a lid that covers the adhesive discharge port of the cartridge, and the adhesive discharge port is moved by moving the lid. Can be opened and closed, and while the adhesive discharge port is open, the adhesive is discharged from the adhesive discharge port of the cartridge by driving the press mechanism. And characterized in that out.
[0007]
Thus, according to the present invention, a cartridge filled with an adhesive is used. Therefore, there is no need to connect a hose for supplying the adhesive to the adhesive supply device. Therefore, there is no problem of adverse effects on the operation of the adhesive supply device due to the durability of the hose, the weight of the hose, and the like, and it is not necessary to consider the routing of the hose. Therefore, the layout of the device in the factory becomes easy. Further, the supply of the adhesive can be controlled by the lid.
[0008]
It is preferable that the discharge port position of the cartridge is aligned with the movement center axis of the robot hand. This facilitates positioning of the discharge port by the robot hand.
[0009]
It is preferable that the movement of the piston is controlled as one axis of a robot that moves the cartridge. This makes it easy to synchronize the movement of the cartridge by the robot with the control of the adhesive discharge amount.
[0010]
An adhesive cartridge containing an adhesive therein and detachably attached to an adhesive supply device, comprising: a cylinder having one end open; a piston slidably movable within the cylinder; and a cylinder. An adhesive discharge port provided at an end opposite to the open end of the cylinder and communicating between the inside and the outside of the cylinder, and a concave portion provided at an outer peripheral portion on the cylinder open side and engaged and fixed to the adhesive supply device, A protrusion provided at an end opposite to the open end of the cylinder and formed so as to protrude from an outer surface of the cylinder, and a lid covering the adhesive discharge port of the cartridge; and moving the lid. Accordingly, it is preferable that the adhesive discharge port can be opened and closed, and that the adhesive is discharged from the adhesive discharge port of the cartridge by moving the piston with the adhesive discharge port opened.
[0011]
The adhesive can be supplied using this cartridge, and when the adhesive is used up, the cartridge may be replaced with a cartridge filled with the adhesive. If a vacuum filling method in which the adhesive is sucked by the movement of the piston is adopted, it is possible to prevent the adhesive (material) from remaining on the intermediate route and solidifying there. Then, for the cartridge that has run out of the adhesive, the adhesive may be refilled.
[0012]
In particular, by supplying (filling) the adhesive in an amount corresponding to the amount of each adhesive-applied object into the cartridge each time it is used, the adhesive (material) is not left unused, and unnecessary disposal is eliminated. It is possible to prevent the generation of objects and to consider the environment.
[0013]
Also, the cylinder has an outer surface which is cylindrical, and the lid has a cylindrical inner surface which matches the outer surface, and the lid is slid and rotated along the outer periphery of the cylinder, thereby bonding the cylinder. It is preferable that the adhesive can be discharged from the agent discharge port.
[0014]
Further, it is preferable that the cylinder is provided with an adhesive inflow port separately from the adhesive discharge port, and the adhesive inflow port is opened and closed by sliding rotation of the lid. This allows the adhesive to be injected into the cartridge without contacting the air.
[0015]
Since the adhesive (material) can be filled without contacting with air, it is possible to prevent the material from hardening and the like. Waste can be eliminated.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0017]
FIG. 1 is a front sectional view showing a configuration of a main part of an adhesive supply device according to one embodiment.
[0018]
A rotating shaft 12 rotated by a motor protrudes from a motor assembly 10 attached to the robot hand. The motor shaft 12 has a pinion gear 14 formed around the distal end thereof. On the lower side of the pinion gear 14, a rack meshing therewith is arranged orthogonally to a rack shaft 16 formed on the upper surface side. In FIG. 1, the motor shaft 12 is located in a direction perpendicular to the plane of the paper, and the rack shaft 16 is located in the left-right direction. Therefore, when the motor shaft 12 and the pinion gear 14 rotate clockwise, the rack shaft 16 moves leftward, and when the pinion gear 14 rotates counterclockwise, the rack shaft 16 moves rightward. . In addition, a motor that rotates the motor shaft 12 is disposed behind the motor shaft 12 in the drawing.
[0019]
Here, the motor shaft 12 is allocated to the seventh axis of the simultaneous seven-axis control of the robot, and is controlled as one axis of the robot by the robot controller. Thus, the rotation of the motor shaft 12 can be controlled according to the operation of the robot, and the supply of the adhesive can be controlled according to the operation of the robot.
[0020]
The supply of the adhesive is, for example, the supply of the adhesive around the body such as a windshield and a rear glass of an automobile. In the case of supplying the adhesive around the glass, the robot hand has to move largely at the corner. That is, the robot hand must move in an arc shape at the corner of the glass, and the movement amount increases. Therefore, in this corner portion, the supply amount of the adhesive is reduced, and the movement of the robot hand with respect to the glass and the supply amount of the adhesive are made equal to the linear portion. In particular, since the robot controller performs the control of the seventh axis of the robot until the operation of supplying the adhesive, it is easy to perform control so as to match the timing of the entire control, and suitable control can be performed. it can.
[0021]
A cartridge receiver 18 is fixed to the gear assembly. The cartridge receiving portion 18 has a cylindrical shape, and the bottom surface thereof is fixed to the motor assembly 10. The rack shaft 16 projects from the center of the bottom surface so as to be able to move forward and backward.
[0022]
A plurality (for example, four) of locking cylinders 20 are formed inside a peripheral portion of the cartridge receiving portion 18, and a locking piston 22 is disposed inside each of them. A concave portion 22a is formed on the left side in the drawing inside the locking piston 22. An opening is formed on the inner side surface of the locking cylinder 20 corresponding to the inside of the locking piston 22, and a ball 24 is inserted therein. Therefore, when the locking piston 22 is located on the left side in the figure (in the case of FIG. 1), the concave portion 22a of the locking piston 22 is not at a position corresponding to the opening, and the ball 24 is located around the locking piston 22. It is pushed inside and is located inside. On the other hand, when the locking piston 22 moves to the right in the drawing, the concave portion 22a of the locking piston 22 reaches a position corresponding to the opening, the ball 24 fits into the concave portion 22a, and the ball 24 is placed on the locking cylinder 20 side, that is, outside. It will be able to move towards. Compressed air is supplied to and discharged from the locking cylinder 20 on both sides of the locking piston 22, whereby the movement of the locking piston 22 and the ball 24 is controlled.
[0023]
A cartridge 26 is detachably inserted into the cartridge receiving portion 18. The cartridge 26 has a hollow cylindrical cylinder 26a having an open end, and a cylindrical piston 26b inserted and slidably inserted therein. The surface (outer surface) of the piston 26b facing the open end of the cylinder 26a faces the cartridge receiving portion 18 and can contact the tip of the rack shaft 16.
[0024]
A lid 28 is provided outside the cylinder 26a to cover almost the entire outer surface thereof. That is, the inner surface of the lid 28 has a shape conforming to the outer surface of the cylinder 26a, and the two are superimposed substantially without any gap. The central axis of the cylinder of the lid 28 and the central axis of the cylinder of the cylinder 26a are the same. When the lid 28 rotates, the lid 28 slides and rotates with respect to the cylinder 26a. I have. The lid 28 also constitutes a part of the cartridge 26.
[0025]
A concave streak 28 a is formed on the outer peripheral surface on the open end side of the lid 28, and the concave streak 26 c is provided in the cartridge receiving portion 18 when the cylinder 26 a is inserted into the cartridge receiving portion 18. 24 is located. For this reason, in this state, when the locking piston 22 moves to the left in the locking cylinder 20, the ball 24 is pushed out toward the concave streak 28c of the lid 28, and the cartridge 26 is inserted into the cartridge receiving portion 18. Locked. On the other hand, when the locking piston 22 moves to the right, the lock is released.
[0026]
Further, on the closed side end surface (left side in FIG. 1) of the lid 28, a rod-shaped grip portion 28b is formed. Accordingly, the gripping portion 28b can be gripped by the robot hand to insert (attach) the cartridge 26 to the cartridge receiving portion 18 and discharge (remove) the cartridge 26.
[0027]
The cylinder 26a of the cartridge 26 is provided with an opening 26c at the end on the grip side, and the lid 28 is also provided with an opening 28c at a position corresponding to the opening 26c. In particular, in the present embodiment, there is a chamfered oblique surface in the peripheral portion on the distal end side of the cylinder 26a, an opening 28c is provided therein, and the opening 28c of the lid 28 is also provided on the oblique surface. Then, by rotating the lid 28, the opening 28c moves relatively to the opening 26c, and the opening 26c can be opened and closed. An opening 26d is provided at an eccentric position on the abutting surface of the cylinder 26a, and the opening 26d can be opened and closed by rotating the lid 28. In the drawing, the openings 26c and 28c are shown to be coincident and the openings 26d and 28d are coincident. However, actually, both are not at the open positions and one by one is opened. Is set to
[0028]
An adhesive discharge pipe 30 is connected to a position corresponding to the opening 28c of the lid 28.
[0029]
Therefore, with the valve 28 opened, the motor shaft 12 is rotated, the rack shaft 16 is moved, and the piston 26b is pushed toward the inside of the cylinder 26a. 30 is pushed out from the tip 30a. Therefore, by arbitrarily moving the robot hand, it is possible to supply the adhesive from the tip opening 30a of the adhesive discharge pipe 30 to an arbitrary position.
[0030]
Further, by rotating the lid 28, the opening 26c is closed, and the discharge of the adhesive can be stopped.
[0031]
Further, the inside of the holding portion 28b of the lid 28 is hollow, and forms an adhesive passage 28e connecting the outside and the opening 28d. That is, in a state where the adhesive passage 28e, the opening 28d, and the opening 26d are communicated with each other, by supplying the adhesive from the adhesive passage 28e, the adhesive is supplied into the cylinder 26a, and the piston 26b is retracted. Become.
[0032]
Further, as shown in FIG. 2, the rack shaft 16 is formed in a hollow shape, and a moving shaft 32 is disposed inside the rack shaft 16 so as to be relatively movable with respect to the rack shaft 16. Further, a slightly wider spring accommodating portion 16a is formed at the end of the rack shaft 16 on the cartridge 26 side, and a spring 34 for urging the moving shaft 32 toward the cartridge 26 is provided inside the spring accommodating portion 16a. Therefore, as shown by the two-dot chain line in FIG. 2, when the rack 16 shaft is not in contact with the back of the piston 26 b, the end of the moving shaft on the cartridge 26 side is discharged from the rack shaft 26. Has become. A stopper 32a is provided at the end opposite to the moving shaft 32 to restrict the movement of the moving shaft 32 toward the cartridge.
[0033]
A ring 32a is provided at the end of the movable shaft 32 opposite to the cartridge 26, and an optical detection unit 36 is provided at a position corresponding to the ring 32a. That is, when the moving shaft 32 projects from the rack shaft 16 by a predetermined amount, the ring portion 32a is below the detecting portion 36, and the detecting portion 36 detects the presence of the ring portion 32a.
[0034]
As a result, the piston 26b and the cylinder 26a are located sufficiently behind (the adhesive is sufficiently applied), and when the cartridge 26 is mounted on the cartridge receiving portion 18, the ring portion 32a is detected by the detecting portion 36. Is detected. Therefore, at the time of replacement of the cartridge 26, it is possible to confirm whether or not the cartridge 26 to be mounted is the one where the piston position is sufficiently behind and the adhesive is contained, by the detection result of the detection unit 36.
[0035]
FIG. 3 shows the overall configuration of the system including the adhesive supply device. A six-axis robot 42 is installed on the base 40, and the adhesive supply device 44 of the present embodiment is connected to the tip of the robot hand 42a.
[0036]
In the present embodiment, the drive shaft of the robot hand 42a and the center axis of the adhesive discharge pipe 30, particularly the tip opening 30a are aligned. Therefore, it is easy to control the position of the distal end opening 30a by moving the robot hand 42a.
[0037]
In addition, the glass holding base 46 includes a base 46a, a lower supporting portion 46b formed by a suction cup, and a peripheral supporting portion 46c. The glass 48 is supported by the lower supporting portion 46b, and in this state, the robot hand 42a moves and moves the piston 26b to apply an adhesive around the glass 48. Here, as described above, the drive of the motor shaft is assigned to the seventh shaft of the robot, and is controlled so as to reduce the discharge amount of the adhesive when applied to the corner of the glass 48. Thus, the amount of the adhesive applied to the periphery of the glass 48 can be made uniform.
[0038]
FIG. 4 shows a fixed station 50 having a receiving portion having the same structure as the cartridge receiving portion 18 described above. That is, the station 50 is provided with a cartridge receiving portion 54 that supports the cartridge 26 by fixing the grip portion 28 b extending from the lid 28 of the cartridge 26 on the upper surface of the base 52. A concave streak is provided at the tip of the grip portion 28b, and is held using an air cylinder or the like in the same configuration as the receiving portion 18 described above.
[0039]
The station 50 is provided with an injection pipe 56 that engages with the distal end of the grip portion 28 and communicates with the adhesive passage 28e so that the interior thereof communicates. Therefore, when the cartridge 26 is attached to the station, the adhesive is supplied from the other end of the injection tube 56 by keeping the opening 26d and the opening 28d coincident, so that the adhesive is supplied into the cylinder 26a. Can be.
[0040]
In addition, a presser 58 can be arranged above the cartridge 26, whereby the top dead center of the piston 26b is determined. The presser 58 can be moved three-dimensionally by its driving mechanism 60. After the cartridge 26 is attached to the station 50 by the robot 42, the presser 58 is located on the back side of the piston 26b of the cartridge 26 from above, and the lid of the cylinder 26a is , The top dead center of the piston 26b is determined. There are a plurality of stations 50, and the drive mechanism 60 can move the presser 58 to each station 50 to cover the cartridge 26. By injecting the adhesive through the injection pipe 56 with the presser 58 installed, the adhesive can be injected until the piston 26b reaches a predetermined position. Therefore, the adhesive may be supplied as much as possible without controlling the injection amount itself.
[0041]
Then, when the injection of the adhesive is completed, it is only necessary to wait in this state. When the adhesive of the cartridge 26 is finished, the robot 42 carries the cartridge 26 to an empty station 50, holds the grip portion 28b of the cartridge 26 by the cartridge receiving portion 54, and separates it from the robot hand. Next, the cartridge 26 after the adhesive injection, which is already waiting at another station 50, is attached. At this time, the detection unit 36 determines whether or not the cartridge 26 contains the adhesive. Then, the cartridge 26 is attached, and the application of the adhesive to the glass is restarted. On the other hand, in the station 50 to which the empty cartridge 26 is attached, the adhesive is injected to prepare for the next replacement of the cartridge 26 by the robot 42.
[0042]
As described above, in the present embodiment, the cartridge 26 filled with the adhesive is used. Therefore, there is no need to connect a hose for supplying the adhesive to the adhesive supply device. Therefore, there is no problem of adverse effects on the operation of the adhesive supply device due to the durability of the hose, the weight of the hose, and the like, and it is not necessary to consider the routing of the hose. Therefore, the layout of the device in the factory becomes easy.
[0043]
By rotating the lid 28, the connection between the inside of the cylinder 26a, the adhesive discharge pipe 30 for discharging the adhesive, and the adhesive passage 28e for injecting the adhesive can be controlled. Therefore, the adhesive can be sequentially filled in the cartridge 26 without making contact with the air.
[0044]
In addition, such an adhesive supply device is used for applying an adhesive for molding to the periphery of a windshield and a rear glass of a vehicle, and for applying an adhesive to various members such as bonding a rib to a back side of a bonnet. can do.
[0045]
【The invention's effect】
As described above, the cartridge filled with the adhesive is used. Therefore, there is no need to connect a hose for supplying the adhesive to the adhesive supply device. Therefore, there is no problem of adverse effects on the operation of the adhesive supply device due to the durability of the hose, the weight of the hose, and the like, and it is not necessary to consider the routing of the hose. Therefore, the layout of the device in the factory becomes easy. Further, the discharge and supply of the adhesive to the cartridge can be easily controlled by the lid.
[Brief description of the drawings]
FIG. 1 is a front sectional view of an apparatus according to an embodiment.
FIG. 2 is a diagram illustrating a configuration for detecting a cartridge after an adhesive is injected.
FIG. 3 is a diagram illustrating a configuration of a robot system.
FIG. 4 is a diagram showing a configuration of an adhesive injection station.
[Explanation of symbols]
Reference Signs List 10 motor assembly, 12 motor shaft, 14 pinion gear, 16 rack shaft, 18 cartridge receiving portion, 20 locking cylinder, 22 locking piston, 24 ball, 26 cartridge, 28 valve, 30 adhesive discharge pipe.

Claims (6)

An adhesive supply device attached to the robot hand and supplying an adhesive to an application surface,
A cartridge receiving portion for receiving and fixing an independent cartridge,
A cartridge that detachably accommodates the adhesive inside the cartridge receiving portion and discharges the adhesive from the adhesive discharge port, the cartridge having a piston that is slidably disposed in a cylinder that is open at one end; ,
A press mechanism that is movable back and forth from a substantially central portion of the cartridge receiving portion toward the cartridge side and presses the piston;
A lid covering the adhesive discharge port of the cartridge,
Has,
By moving the lid, the adhesive discharge port can be opened and closed, and the adhesive is discharged from the adhesive discharge port of the cartridge by driving the press mechanism while the adhesive discharge port is open. Agent supply device. The apparatus according to claim 1,
An adhesive supply device, wherein a discharge port position of the cartridge is aligned with a movement center axis of the robot hand. The apparatus according to claim 1 or 2,
An adhesive supply device in which movement of the piston is controlled as one axis of a robot that moves the cartridge. An adhesive cartridge containing an adhesive therein and detachably attached to an adhesive supply device,
A cylinder open at one end,
A piston slidably disposed within the cylinder;
An adhesive discharge port provided at an end opposite to the open end of the cylinder and communicating between the inside and the outside of the cylinder,
A concave portion provided on the outer peripheral portion on the cylinder open side and engaged and fixed to the adhesive supply device;
A projecting portion provided at the end opposite to the open end of the cylinder and projecting from the outer surface of the cylinder;
A lid covering the adhesive discharge port of the cartridge,
Has,
By moving the lid, the adhesive discharge port can be opened and closed, and the adhesive that discharges the adhesive from the adhesive discharge port of the cartridge by moving the piston with the adhesive discharge port opened. For cartridges. An apparatus or cartridge according to any one of claims 1 to 4,
The cylinder has a cylindrical outer surface, and the lid has a cylindrical inner surface that matches the outer surface of the cylinder. By sliding and rotating the lid along the outer periphery of the cylinder, the adhesive is discharged. An adhesive supply device or an adhesive cartridge capable of discharging an adhesive from an outlet. An apparatus or cartridge according to claim 5,
The cylinder is provided with an adhesive inlet separately from the adhesive outlet, and an adhesive supply device or an adhesive cartridge that opens and closes the adhesive inlet by sliding rotation of the lid. .

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