JP2004351338A - Coater of protective layer forming material - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To feed a protective layer forming material heated to a suitable temperature to a coating part in a robot while suppressing the consumption of energy for warming the protective layer forming material. <P>SOLUTION: The coater of a protective layer forming material is provided with: a feeding mechanism of feeding the protective layer forming material to each roller 48; a main feed conduit 204 and branched feed conduits 206 connected from the tank 20 of the protective layer forming material to each roller 48 through a pump 32; and branched return conduits 208 branched from the branched feed conduits 206 and returning to the tank 20 and a main return conduit 210. Each branched return conduit 208 is provided with a diaphragm 212. The protective layer forming material in the tank 20 is warmed so as to be a suitable temperature by a temperature control unit 202 in a temperature control chamber 200. Even if trigger valves 164 are shut-off, the protective layer forming material circulates so as to pass through the main feed conduit 204, the branched feed conduits 206, the branched return conduits 208, and the main return conduit 210, and to return to the tank 20, and it does not stay. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a protective layer forming material coating apparatus for coating a protective layer forming material on an outer surface mainly of a painted portion of a painted vehicle, and in particular, a liquid protective layer acting as a peelable protective layer after drying. The present invention relates to a protective layer forming material application device for applying a forming material.
[0002]
[Prior art]
Vehicles such as automobiles are often stored in outdoor stock yards or transported by trailers, boats, etc. before being handed to a user after manufacturing. During this time, the vehicle is exposed to dust, metal powder, salt, oil, acid, direct sunlight, etc. Quality may be affected. In order to prevent such a situation, a method is known in which a peelable protective layer is formed on a painted portion at a stage before shipment of a vehicle (for example, see Patent Document 1). The peelable protective layer is formed by applying and drying a protective layer forming material (also called a strippable paint), which is a liquid wrap material, and can protect the painted portion. In addition, it can be easily peeled at the time of removal, and does not peel naturally during normal storage.
[0003]
In the step of applying the protective layer forming material before the releasable protective layer is dried, the protective layer forming material is attached to the roller, and a plurality of workers roll the roller to apply the protective layer forming material.
[0004]
A method of extracting such a protective layer forming material on a body and then blowing the air to spread the protective layer forming material in order to automate such work, reduce the burden on the worker, and uniformize the coating quality. Has been proposed (for example, see Patent Document 2). According to this method, much of the work in the step of applying the protective layer forming material is automated, and the burden on the operator can be reduced, and the tact time can be improved, which is preferable.
[0005]
In a factory that produces vehicles, a resin cover called a scratch cover may be temporarily attached so as not to damage the body during the assembling work. The scratch cover is temporarily attached to, for example, a front lateral surface of the body and is removed before shipment. It is necessary to prepare a scratch cover having a different shape for each vehicle type, and further, it is necessary to prepare a large number of scratch covers according to the daily production number on the transfer line.
[0006]
[Patent Document 1]
JP 2001-89697 A (paragraphs [0022] to [0027])
[Patent Document 2]
JP-A-8-173882 (FIG. 1)
[0007]
[Problems to be solved by the invention]
By the way, in the method disclosed in Patent Document 2 described above, the degree of spreading of the protective layer forming material is not always uniform, and the method is applied to the edge of the roof in order to prevent the protective layer forming material from scattering. Not.
[0008]
Furthermore, the body of recent automobiles is becoming more and more complicated, and some have uneven portions and complicated curved surfaces. It is difficult to spread the protective layer forming material on such uneven portions and curved surfaces using an air nozzle. Furthermore, it is necessary to apply a thicker protective layer forming material to places where coating quality is particularly important, but it is difficult to adjust the thickness of the coating film when spreading the protective layer forming material with an air nozzle. It is.
[0009]
For this reason, after spreading the protective layer forming material with the air nozzle, several workers need to apply the protective layer forming material to the details such as the edge and unevenness of the roof with a roller to perform the finishing process. There is. Therefore, the coating process of the protective layer forming material partially relies on manual work, which imposes a burden on the operator, and the coating quality varies depending on the skill of the operator.
[0010]
In order to reduce such worker's work and to make the work quality uniform, an industrial robot is employed, and the robot is provided with an application section for applying a protective layer forming material to a vehicle. Will be considered.
[0011]
By the way, when the protective layer forming material is adjusted to an appropriate temperature, the coating quality is improved. For this reason, for example, it is conceivable that the temperature of the protective layer forming material is adjusted in the storage tank, and the temperature-controlled protective layer forming material is pumped from the storage tank by a pump and supplied to the coating unit of the robot.
[0012]
On the other hand, the robot does not always perform the coating operation on the vehicle, but has a predetermined downtime. During this time, the protective layer forming material stays in the pipeline, and the temperature decreases to reduce the coating quality. Invite. In order to avoid such a situation, it is conceivable to directly heat the conduit for supplying the protective layer forming material or to adjust the temperature of the entire booth in which the robot is provided, but these methods consume energy. The amount is large.
[0013]
The present invention has been made in consideration of such problems, and provides a coating apparatus for a protective layer forming material capable of always supplying a protective layer forming material at an appropriate temperature to a coating section of a robot. With the goal.
[0014]
[Means for Solving the Problems]
An apparatus for applying a protective layer forming material according to the present invention is provided near a transport line of a vehicle, and has a robot capable of teaching operation, and a liquid protective layer formed to be connected to the robot and to act as a peelable protective layer after drying. An end effector having an application section for applying the material to the vehicle, and a supply mechanism for supplying the protective layer forming material to the application section, wherein the supply mechanism is pumped up from a storage tank by a pump. A supply line for supplying the protective layer forming material to the coating section; and a return line branched from the supply line and connected to the storage tank.
[0015]
As described above, the protective layer forming material is supplied to the robot from the supply pipe, and a part of the protective layer forming material is returned to the tank and circulated by the return pipe, so that the coating section of the robot is always kept at an appropriate temperature. A protective layer forming material can be supplied.
[0016]
The return pipe may be provided with a throttle that restricts the flow rate of the protective layer forming material. With this restriction, the circulation flow rate of the protective layer forming material can be suppressed to an appropriate value.
[0017]
A plurality of the robots may be provided, and the supply pipeline and the return pipeline may be connected to each robot by branched pipelines. In this way, by branching the supply pipe and the return pipe, it is possible to supply a protective layer forming material at an appropriate temperature to each robot with a simple circuit.
[0018]
The storage tank is provided inside a temperature control room isolated from the transfer line and the robot, and controls the temperature of the temperature control room to adjust the temperature of the protective layer forming material in the storage tank. You may do so. Thus, it is not necessary to control the temperature of a portion other than the temperature control room, and it is possible to suppress energy consumption.
[0019]
When at least a part of the supply pipe and the return pipe are covered with a heat insulating material, the temperature of the inner protective layer forming material is less reduced, and the temperature can be controlled more efficiently.
[0020]
Furthermore, a control valve between the supply pipe and the return pipe from a branch portion to the coating section may be provided on the end effector or on a foremost arm of the robot to which the end effector is connected.
[0021]
In this case, the branching unit may be provided on the end effector or on the most distal arm of the robot to which the end effector is connected.
[0022]
An acrylic copolymer agent is used as the material of the protective layer forming material. This makes it possible to more reliably protect the painted portion of the vehicle. Moreover, when the protective layer forming material is removed from the painted portion of the vehicle, it can be easily peeled off.
[0023]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a preferred embodiment of an apparatus for applying a protective layer forming material according to the present invention will be described with reference to the attached FIGS. 1 to 9.
[0024]
As shown in FIG. 1, a protective layer forming material applying apparatus 10 according to the present embodiment is provided on a transport line 12 of an automobile, and applies a protective layer forming material to a vehicle 14 which has completed painting. Is what you do. The coating apparatus 10 includes three robots 16a, 16b, and 16c, which are industrial robots, a control unit 18 that controls the entire system, a tank 20 containing a protective layer forming material, and each robot from the tank 20. It has a main supply line 204 and a branch supply line 206 communicating with 16a, 16b, 16c, and a water line 26 for supplying water from the water supply source 24 to the robots 16a, 16b, 16c. The robots 16a, 16b, 16c are controlled by robot controllers 28a, 28b, 28c connected to the control unit 18, respectively.
[0025]
The robots 16a and 16c are provided on the transport line 12 on the left hand side in the traveling direction of the vehicle 14, and the robot 16b is provided on the right hand side in the traveling direction. The robot 16a is provided in the forward direction, the robot 16b is provided in the middle of the travel direction, and the robot 16c is provided in the rear direction. The robots 16a, 16b, 16c can move on a slide rail 30 parallel to the transport line 12.
[0026]
A pump 32 is provided in the middle of the main supply line 204, and sucks the protective layer forming material from the tank 20 and supplies the material to the robots 16 a, 16 b, and 16 c. At the distal ends of the robots 16a, 16b, 16c, there are provided roller mechanism parts 34 to which the protective layer forming material is supplied by tubes 22a connected from the branch supply conduit 206, respectively.
[0027]
The material of the protective layer forming material is mainly composed of an acrylic copolymer agent, and preferably has two acrylic copolymer portions having different glass transition temperatures. Specifically, for example, a protective layer forming material disclosed in Patent Document 1 described above may be used. The viscosity of the protective layer forming material can be adjusted by changing the mixing ratio with water and the temperature, and when dried, the material closely adheres to the vehicle 14 so that dust, metal powder, salt, oil, acid, direct sunlight, etc. Thus, the painted portion of the vehicle 14 can be chemically and physically protected. Further, when removing the vehicle 14 to the user at the time of delivery or the like, the vehicle 14 can be easily peeled off.
[0028]
As shown in FIG. 2, the robots 16a, 16b, and 16c are, for example, articulated robots for industrial use, and a base part 40, a first arm 42, a second arm An arm 44 and a third arm 46 are provided, and the roller mechanism 34 is provided at the tip of the third arm 46. The roller mechanism 34 is detachable from the third arm 46 and acts as a so-called end effector. The first arm 42 is rotatable about axes J1 and J2 that are horizontally and vertically rotatable with respect to the base 40. The second arm 44 is rotatably connected to the first arm 42 about a shaft J3. The second arm 44 can be twisted and rotated by the axis J4.
[0029]
The third arm 46 is rotatably connected to the second arm 44 about a shaft J5. The third arm 46 can be twisted and rotated by the axis J6. The root portion 46a on the side closer to the second arm 44 than the axis J6 and the rotating portion 46b on the distal end side are both defined as a part of the third arm 46 because their relative positions are not changed by the rotation of the axis J4. You.
[0030]
Further, the roller mechanism 34 is connected to the third arm 46, and the third arm 46 is defined as the most advanced arm. Further, the robots 16a, 16b and 16c have a fourth arm between the third arm 46 and the roller mechanism 34 in addition to the first arm 42, the second arm 44 and the third arm 46. Is also good. In this case, the fourth arm is the foremost arm.
[0031]
By the operation of the robots 16a, 16b, and 16c having such a six-axis configuration, the roller mechanism 34 connected to the distal end can be moved to an arbitrary position near the vehicle 14 and set in an arbitrary direction. It is possible. In other words, the roller mechanism 34 can move in six degrees of freedom. Each of the robots 16a, 16b, and 16c may have an operation unit such as a telescopic operation and a parallel link operation in addition to the rotation operation.
[0032]
As shown in FIGS. 3 to 5, the roller mechanism 34 is attached to the distal end of the third arm 46, and has a cylindrical shape (a coating section) made of a material capable of absorbing and storing the protective layer forming material. ) 48 and a thrust rotation mechanism 69 which is a mounting portion for the third arm 46 of the robot 16a. The thrust rotating mechanism 69 includes a mounting member 70 for the third arm 46, a thrust rotating member 74 rotatably supported by the mounting member 70 via a bearing 72, and a thrust rotating member 74. And a base 76 attached thereto.
[0033]
The roller mechanism 34 includes pneumatic cylinders 78 and 80 provided at both ends of the base 76, and a swing member 84 pivotally supported by a swing shaft 82 at a substantially lower end of the base 76. , A holder connecting portion 88 that connects the holder 86 that holds the roller 48 and the swinging member 84. The roller 48 is swingable in a radial direction about a swing shaft 82. The swinging member 84 has two upwardly extending portions 84a extending upward, and a pin 90 parallel to the swinging shaft 82 is provided at a substantially upper end of the upwardly extending portion 84a. The pin 90 is set above the swing shaft 82. Further, the roller mechanism 34 has two pin pressing members 92 and 94 that rotate about the swing shaft 82 by receiving forces from the rods 78a and 80a of the pneumatic cylinders 78 and 80. The pressing surface 92a of the pin pressing member 92 presses the left surface of the pin 90 in FIG. 5 when the rod 78a is retracted, and the pressing surface 94a of the pin pressing member 94 is pressed when the rod 80a is retracted. Press the right side of.
[0034]
Two lower extending portions 76a extending downward from the base portion 76 are arranged between the two upper extending portions 84a, and pressing surfaces 92a and 94a are arranged between the two lower extending portions 76a. Have been.
[0035]
The thrust rotating member 74 is provided with a rotation regulating member 96, and a small projection 98 projecting downward from the mounting member 70 is arranged in a concave portion 96 a on the upper surface of the rotation regulating member 96. The width of the small protrusion 98 is slightly smaller than the width of the concave portion 96a, and the thrust rotating member 74 is rotatable in the thrust direction in the range of this gap. Here, the thrust direction is a direction orthogonal to the axis of the roller 48 itself, and is a rotation direction about the axis C of the third arm 46. The bolt 100 for attaching the attachment member 70 to the third arm 46 may also serve as the small projection 98.
[0036]
The holder connection portion 88 is provided with two clampers 102 and 104 that are opposed at the upper and lower portions. These clampers 102 and 104 hold an aluminum pipe 106, and the swing member 84 and the holder 86 are connected by the aluminum pipe 106. An annular groove 106 a is provided on the surface of the aluminum pipe 106.
[0037]
Furthermore, the roller mechanism section 34 has a trigger valve 164 as a control valve, a regulator 158, and an MCV (Material Control Valve, supply switching valve) 162 (each described later). The trigger valve 164, the regulator 158, and the MCV 162 are attached to the thrust rotating member 74 and the base portion 76 of the roller mechanism, and are very close to the roller 48. The trigger valve 164 is lightweight because it has a function of merely connecting and disconnecting the pipeline. In particular, since the trigger valve 164 is a pneumatic pilot type operated by the pneumatic pilot line 108, a solenoid, a coil, a magnetic core, and the like used in an electric pilot type are not required, and the trigger valve 164 is small and lightweight.
[0038]
The tube 22 a and the pneumatic pilot line 108 are connected to the trigger valve 164. The other end of the tube 22a is connected to a roller 48.
[0039]
The regulator 158 is provided with a branch joint 35 having a T-shaped internal pipe, and is connected to the branch supply pipe 206 and the branch return pipe 208 via the branch joint 35.
[0040]
Since the trigger valve 164, the regulator 158, and the MCV 162 have a function of supplying or blocking the protective layer forming material or water to the roller 48, the trigger valve 164, the regulator 158, and the MCV 162 come close to the roller 48 in consideration of the supply response of these liquids. It is preferable to be provided in the place where it does. Since the trigger valve 164 is relatively lightweight, the effect of the weight of the trigger valve 164 on the operation of the robots 16a, 16b, 16c is small even if it is provided near the roller 48.
[0041]
Specifically, when the trigger valve 164, the regulator 158, and the MCV 162 are provided on the roller mechanism 34 as the end effector or the third arm 46, which is the most advanced arm, the distance to the roller 48 is short, which is preferable.
[0042]
In addition, if the trigger valve 164 is kept in the shut-off state, the protective layer forming material in the pipeline upstream of the trigger valve 164 does not come into contact with air, and the protective layer forming material does not dry and solidify and is not clogged. . Even if the protective layer forming material is dried and solidified, the effect is limited to the inside of the tube 22a connecting the trigger valve 164 and the roller 48. Since the tube 22a can be set very short, when the protective layer forming material is solidified, the labor and cost for replacing the tube 22a are reduced.
[0043]
Further, a branch joint 35, which is a branch point between the branch supply line 206 and the branch return line 208, is provided in the roller mechanism 34, and the line up to the roller 48 beyond the branch joint 35 is very short. Therefore, when the coating operation is stopped, the amount of the protective layer forming material that stays during this time is very small, and almost all the protective layer forming material can be returned to the tank 20 via the return line 208.
[0044]
By providing the MCV 162 in the roller mechanism 34, when the water is supplied from the water pipe 26 to clean the inside of the pipe, the amount of the protective layer forming material discarded is small, which is economical.
[0045]
Both ends of the roller 48 are rotatably held by a holder 86, and the tube 22 a communicates with the inside of the roller 48 via one end of the holder 86. The roller 48 is detachable from the holder 86.
[0046]
As shown in FIG. 6, a combined hydraulic and pneumatic circuit (supply mechanism) 150 for supplying the protective layer forming material to the roller 48 includes a compressor 152 and an air tank connected to a discharge section of the compressor 152. 154, a manual pneumatic input valve 156 for switching between supply and cutoff of air pressure, a regulator operating valve 160 for reducing the secondary pressure by an electric signal supplied from the control unit 18, and a regulator operating valve 160. A regulator 158 that is piloted by the secondary pressure to reduce the pressure in line 23. Further, the composite circuit 150 includes an MCV 162 to which the secondary pipe and the water pipe 26 of the regulator 158 are connected, and a trigger valve 164 provided between the secondary of the MCV 162 and the roller 48. The trigger valve 164 supplies or shuts off the protective layer forming material or water to the roller 48 via the tube 22a. Inside the MCV 162, switching valves 162a and 162b for switching between communication and shutoff of the pipeline 23 and the water pipeline 26 are provided, and the secondary sides of the switching valves 162a and 162b communicate with each other. The broken line in FIG. 6 indicates a pneumatic pipeline.
[0047]
The MCV 162, the trigger valve 164, and the regulator operation valve 160 are not limited to the pneumatic pilot type, and may be of a drive type such as an electric solenoid.
[0048]
The composite circuit 150 further includes an MCV switching electromagnetic valve 166 that operates the switching valves 162a and 162b in a pilot manner by switching the air pressure supplied from the pneumatic input valve 156, and a trigger switching electromagnetic valve that pilot-operates the trigger valve 164. 168. The MCV switching electromagnetic valve 166 connects one of the switching valves 162a and 162b and shuts off the other, and switches between water and the protective layer forming material and supplies the same to the trigger valve 164 by an electric signal supplied from the control unit 18. I do. The trigger switching electromagnetic valve 168 switches the trigger valve 164 to the open / closed state by an electric signal supplied from the control unit 18, and supplies water or the protective layer forming material to the roller 48.
[0049]
In the middle of the main supply line 204 and the water line 26, manual stop valves 170 and 172 are provided, respectively. Normally, stop valves 170 and 172 are kept in communication. In the composite circuit 150, silencers 174 are provided at the air outlets, respectively, to reduce exhaust noise. The compressor 152, the pump 32, and the water supply source 24 are provided with a relief valve (not shown) for preventing an excessive rise in pressure.
[0050]
Note that the compressor 152, the air tank 154, the water supply source 24, and the pump 32 in the composite circuit 150 are common to each of the robots 16a, 16b, and 16c, and the other devices are individually provided for each of the robots 16a, 16b, and 16c. ing.
[0051]
As shown in FIG. 7, the tank 20 is provided in a narrow temperature control room 200, and the protective layer forming material sucked up by the pump 32 is supplied to each of the robots 16a, 16b, 16c. . A temperature control unit 202 is provided in the temperature control room 200 to control the internal temperature. By controlling the temperature of the temperature control chamber 200, the material for forming the protective layer in the tank 20 is also adjusted, and the temperature is controlled to be an appropriate temperature. When the wall of the temperature control room 200 is made to have a heat insulating structure, heat dissipation of the protective layer forming material can be prevented, and energy consumption can be suppressed.
[0052]
The protective layer forming material sucked up by the pump 32 is supplied to each of the robots 16a, 16b, and 16c through a main supply line 204 and a branch supply line 206 branched from the main supply line 204. The branch supply pipe 206 communicates with a regulator 158, and is connected to the inside of the roller 48 via the regulator 158, the MCV 162, and the trigger valve 164, and the protective layer forming material is supplied to the roller 48. . The main supply line 204, the branch supply line 206, the branch return line 208, and the main return line 210 are each covered with a heat insulating material, which can prevent heat radiation of the protective layer forming material and reduce energy consumption. Can be suppressed.
[0053]
The branch supply line 206 is connected to the branch return line 208 before the regulator 158, and each branch return line 208 joins the main return line 210 and communicates with the tank 20. The branch return line 208 is provided with a throttle 212 that limits the flow rate.
[0054]
The ends of the main supply line 204 and the main return line 210 are closed by plugs 214a and 214b. The number of robots can be increased by removing the plugs 214a and 214b and connecting and extending appropriate conduits for the main supply conduit 204 and the main return conduit 210. The robot 16b is provided near the final end of the main supply line 204, and a branch supply line 206 connected to the robot 16b branches off from the main supply line 204 very close to the plug 214a. Similarly, a branch return line 208 connected to the robot 16b joins the main return line 210 very close to the plug 214b. Therefore, the amount of the protective layer forming material that stays near the plugs 214a and 214b is extremely small.
[0055]
Next, an operation of applying the protective layer forming material to the vehicle 14 using the coating apparatus 10 configured as described above will be described.
[0056]
First, the operation is taught to each of the robots 16a to 16c in advance. Specifically, the robots 16a to 16c are instructed to share the hood portion 14a, the roof central portion 14b, and the roof rear portion 14c of the vehicle 14, respectively, and apply a protective layer forming material to each assigned portion. Then, the teaching data taught is recorded and held in a predetermined recording unit of the control unit 18. When the vehicle 14 is, for example, a sedan type, the robot 16c shares a trunk portion.
[0057]
As shown in FIG. 8, the distance between the third arm 46 of the robot 16a and the surface of the vehicle 14 is appropriately maintained, and specifically, the inclination angle of the swing member 84 at the flat place Pa is set to an appropriate angle θ. The third arm 46 is moved in parallel with the surface of the vehicle 14 from a flat place Pa. Further, even at a position Pb of the shallow concave portion 500 on a surface continuous from the flat portion Pa, the surface may be moved in parallel with the surface at the flat portion Pa as it is. Further, even at the position Pc of the low convex portion 502 on the surface continuous from the flat portion Pa, it may be moved as it is in parallel with the surface at the flat portion Pa. As described above, the concave portion 500 and the convex portion 502 may be ignored, and the tilt angle of the swing member 84 may be slightly changed. By ignoring the shallow concave portion 500 and the relatively low convex portion 502, the operation teaching of the robot 16a becomes easy.
[0058]
The process of applying the protective layer forming material is instructed to be completed within the tact time set for each vehicle 14 on the transport line 12.
[0059]
Next, by operating the temperature control unit 202 of the temperature control room 200 (see FIG. 7), the temperature of the protective layer forming material in the tank 20 is controlled to be an appropriate temperature, and the pump 32 is operated to protect the material. The layer forming material is supplied to the main supply line 204. The trigger valve 164 is shut off. In this way, the protective layer forming material circulates from the main supply line 204 through each of the branch supply lines 206 and the branch return line 208, and returns from the main return line 210 to the tank 20. Since a throttle 212 is provided in each branch return line 208, the flow rate is limited to an appropriate amount, and the main supply line 204 and the branch supply line 206 are maintained at a high pressure. In addition, the circulation of the protective layer forming material ensures that the protective layer forming materials in the main supply line 204, the branch supply line 206, the branch return line 208, and the main return line 210 as well as in the tank 20 have an appropriate temperature. Will be kept.
[0060]
Since the temperature control unit 202 heats the inside of the narrow temperature control room 200, there is no need to heat a booth or the like provided with the robots 16a, 16b, and 16c, and the energy consumption is small. Further, since the main supply line 204, the branch supply line 206, the branch return line 208, and the main return line 210 are each covered with a heat insulating material, there is little heat radiation, and the protective layer forming material is efficiently heated. can do.
[0061]
After the temperature of the protective layer forming material is adjusted to an appropriate temperature by the operation of the temperature control unit 202, the transport line 12 is operated to carry in the vehicle 14, and the protective layer forming material is applied to the vehicle 14. At this time, the protective layer forming material is supplied to the roller 48 by communicating the trigger valve 164. Since the protective layer forming material supplied to the roller 48 is supplied from the branch supply pipe 206, it has an appropriate temperature, and the coating quality is improved.
[0062]
At this time, the protective layer forming material in the branch supply line 206 also flows to the branch return line 208, but the flow rate is suppressed by the throttle 212, and the protective layer forming material to be supplied to the roller 48 runs short. Never.
[0063]
When the protective layer forming material is applied to the vehicle 14, when the robot 16a is moved to the right (see FIG. 8), the right pneumatic cylinder is configured to generate a relatively weak force Fa in the direction in which the rod 80a contracts. Supply air to 80. In addition, air is supplied to the left pneumatic cylinder 78 so that the rod 78a extends. Accordingly, the pressing surface 94a of the right pin pressing member 94 presses the right side surface of the pin 90 with a relatively weak force, and the pressing surface 92a of the left pin pressing member 92 is separated from the pin 90. Accordingly, the swing member 84 and the roller 48 receive a counterclockwise force about the swing shaft 82, and the roller 48 is pressed against the surface of the vehicle 14 with an appropriate pressing force. The force Fa is appropriately adjusted according to the application position and the moving method of the roller 48.
[0064]
On the other hand, when the protective layer forming material is applied to the vehicle 14 while moving the robot 16a to the left (see FIG. 9), the left side of the rod 78a generates a relatively weak force Fa in the retracting direction. Air is supplied to the pneumatic cylinder 78. In addition, air is supplied to the right pneumatic cylinder 80 so that the rod 80a extends. Thereby, the pressing surface 92a of the left pin pressing member 92 presses the left side surface of the pin 90 with a relatively weak force Fa, and the pressing surface 94a of the right pin pressing member 94 is separated from the pin 90. Therefore, the swing member 84 and the roller 48 receive a clockwise force about the swing shaft 82, and the roller 48 is pressed against the surface of the vehicle 14 with an appropriate pressing force.
[0065]
As described above, by controlling the direction and pressure of the flow of air supplied to the pneumatic cylinders 78 and 80 according to the traveling direction of the robot 16a, the roller 48 can be appropriately pressed against the surface of the vehicle 14. it can.
[0066]
The application operation is stopped while the vehicle 14 is being transported by the transport line 12 or during a predetermined pause time. At this time, the trigger valve 164 is shut off, and the supply of the protective layer forming material to the rollers 48 is stopped. Stop. This prevents the protective layer forming material from being wastefully discharged and prevents the material from forming on the floor or the like. Further, the pump 32 is kept rotating, and the protective layer forming material is circulated without stagnation, so that the protective layer forming material at an appropriate temperature is always supplied into the main supply pipe 204 and the branch supply pipe 206. Therefore, the coating operation can be quickly restarted, and a decrease in coating quality can be prevented.
[0067]
The vehicle 14 to which the protective layer forming material has been applied by the robots 16a to 16c is transported by the transport line 12 to the next step. Then, the robots 16a to 16c hold a standby posture that does not interfere with the vehicle 14, and wait until the next vehicle 14 is carried in. At this time, the trigger valve 164 is shut off to stop the supply of the protective layer forming material. The applied protective layer forming material is dried naturally or while being blown to form a peelable protective layer to protect the painted portion of the vehicle 14.
[0068]
Furthermore, some bumpers of the vehicle 14 are colored and do not need to be painted. The protective layer forming material may be applied to a portion other than the painted portion such as the bumper.
[0069]
The apparatus for applying a protective layer forming material according to the present invention is not limited to the above-described embodiment, but may adopt various configurations without departing from the gist of the present invention.
[0070]
【The invention's effect】
As described above, according to the protective layer forming material applying apparatus according to the present invention, a protective layer forming material at an appropriate temperature can always be supplied to the application portion of the robot.
[0071]
In addition, if a throttle for restricting the flow rate of the protective layer forming material is provided in the return pipe, the circulation flow rate can be suppressed to an appropriate value.
[0072]
Further, by using an acrylic copolymer as a material of the protective layer forming material, the vehicle can be more reliably protected, and moreover, is easily peeled off when removed.
[Brief description of the drawings]
FIG. 1 is a perspective view of an apparatus for applying a protective layer forming material according to the present embodiment.
FIG. 2 is a perspective view of a robot in the coating apparatus and a roller mechanism provided in the robot.
FIG. 3 is an enlarged perspective view of the roller mechanism.
FIG. 4 is a partial cross-sectional front view of the roller mechanism.
FIG. 5 is a side view of the roller mechanism.
FIG. 6 is a circuit diagram showing a combined hydraulic and pneumatic circuit.
FIG. 7 is a circuit diagram illustrating a circulation circuit that supplies a protective layer forming material to each robot.
FIG. 8 is a schematic diagram showing a positional relationship between the robot and a surface of a vehicle in a process of moving a robot having a roller mechanism to the right.
FIG. 9 is a schematic diagram showing the positional relationship between the robot and the surface of the vehicle in the process of moving the robot having the roller mechanism to the left.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Coating device 12 ... Transport line 14 ... Vehicle 16a-16c ... Robot 18 ... Control part 20 ... Tank 30 ... Slide rail 32 ... Pump 34 ... Roller mechanism part 40, 76 ... Base part 48 ... Roller 78, 80 ... Pneumatic cylinder 164: trigger valve 200: temperature control chamber 202: temperature control unit 204: main supply line 206 ... branch supply line 208 ... branch return line 210 ... main return line 212 ... throttles 214a, 214b ... plug

Claims (8)

A robot provided near the transport line of the vehicle and capable of teaching operation;
An end effector that is connected to the robot and includes an application unit that applies a liquid protective layer forming material that acts as a peelable protective layer after drying to a vehicle,
A supply mechanism unit that supplies the protective layer forming material to the application unit,
Has,
A supply pipe for supplying the protective layer forming material sucked up by a pump from a storage tank to the coating section,
A return line branched from the supply line and connected to the storage tank;
A coating device for a protective layer forming material, comprising: The coating device for a protective layer forming material according to claim 1,
An apparatus for applying a protective layer forming material, wherein a throttle for restricting a flow rate of the protective layer forming material is provided in the return conduit. The coating device for a protective layer forming material according to claim 1 or 2,
A plurality of robots are provided,
The supply pipe and the return pipe are connected to each robot by branched pipes, respectively. An apparatus for applying the protective layer forming material according to any one of claims 1 to 3,
The storage tank is provided inside a temperature control room isolated from the transfer line and the robot, and controls the temperature of the temperature control room to adjust the temperature of the protective layer forming material in the storage tank. An apparatus for applying a protective layer forming material, characterized in that: In a coating apparatus of the protective layer forming material according to any one of claims 1 to 4,
An apparatus for applying a protective layer forming material, wherein at least a part of the supply pipe and the return pipe are covered with a heat insulating material. An application device for the protective layer forming material according to any one of claims 1 to 5,
A control valve between a branch portion of the supply pipe and the return pipe from the branch to the coating section is provided on the end effector or on a foremost arm of the robot to which the end effector is connected. Coating device for layer forming material. An apparatus for applying a protective layer forming material according to claim 6,
The said branch part is provided in the said most effect arm of the said end effector or the said robot to which this end effector is connected, The coating device of the protective layer forming material characterized by the above-mentioned. An application device for the protective layer forming material according to any one of claims 1 to 7,
The material for the protective layer forming material is an acrylic copolymer agent.

Images