JP2015199034A - Sealer application apparatus of vehicle and teaching method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sealer application apparatus of a vehicle and a teaching method thereof capable of applying sealer at an overlapping part of the hemming, with a workpiece attached to a body, and easily teaching a locus of a sealer gun from the outside of the vehicle.SOLUTION: A sealer application apparatus 10 of a vehicle includes: a robot 1; and a sealer gun 2 attached to the robot. The sealer application apparatus of a vehicle applies sealer from a discharge port 31 of a sealer nozzle 3 formed at the sealer gun, to an overlapping part W3 of the hemming obtained by folding, to an outer panel back surface side, and closing an outer peripheral flange tip W1 standing at an outer edge of an outer panel W0, so as to sandwich an outer edge of an inner panel W2. The discharge port 31 of the sealer nozzle is opened in a direction facing the sealer gun 2, and the sealer gun is equipped with a light radiation device 5 for radiating spot-shaped visible light L1 toward the discharge port.

Description

  The present invention relates to a vehicle sealer application device that applies a sealer to an overlapping portion of a vehicle door by hemming, for example, and a teaching method therefor.

  Generally, the outer peripheral edge of the door for a vehicle overlaps the outer peripheral edge of the outer panel and the outer peripheral edge of the inner panel, and sandwiches the outer peripheral flange end standing on the outer peripheral edge of the outer panel between the outer peripheral edge of the inner panel. A hemming process is performed by folding back to the back side of the outer panel. As shown in FIG. 9, a sealer coating device 100 in which a sealer gun 101 having a sealer nozzle 103 formed at the tip thereof is attached to the tip of an arm of a robot 102 is provided, and an overlapped portion where a vehicle door (work W) is hemmed. In addition, a sealer is automatically applied to improve waterproofness and rust prevention. Therefore, the position of the sealer nozzle 103 in the sealer gun 101 needs to be accurately taught (teaching) to the robot 102 so as to correspond to the overlapped portion of the workpiece W that has been hemmed.

  For example, as shown in FIG. 10, a sealer coating apparatus 200 described in Patent Document 1 includes a sealer gun 201 attached to a robot 202 via a floating mechanism 203, and a sealer nozzle 204 attached to the sealer gun 201. The positioning guide 205 includes a positioning guide 205 for positioning the sealer nozzle 204 and an adjustment bolt 206 for adjusting the height of the sealer nozzle 204. The positioning guide 205 extends along the outer peripheral flange tip W1 of the outer panel W0. The positioning guide 205 and the sealer nozzle 204 are arranged so that the center portion of the sealer nozzle 204 is always positioned at the outer peripheral flange tip W1 while moving while being in contact. According to this sealer coating apparatus 200, even if the shape of the outer peripheral flange tip W1 changes, the positioning guide 205 moves while being in contact with the outer peripheral flange tip W1, so it is necessary to change the position of the sealer nozzle 204 one by one. Therefore, the teaching man-hour of the robot 202 can be reduced.

JP 2009-172455 A

  However, since the sealer nozzle 204, the positioning guide 205, and the adjustment bolt 206 are disposed adjacent to each other in the sealer coating apparatus 200 described in Patent Document 1, the work W is attached to the vehicle body. It is difficult to arrange the sealer nozzle 204, the positioning guide 205, and the adjusting bolt 206 on the back side of the outer panel W0 through a narrow gap between the workpiece W and the body. Therefore, the sealer coating apparatus 200 described in Patent Document 1 is arranged in such a manner that the sealer coating apparatus 200 is arranged on the back side of the outer panel W0 in the step before the work W is attached to the body, and the sealer is applied from the back side of the outer panel W0. There was a problem that it was limited to the case of applying.

  On the other hand, as shown in FIG. 11, when the workpiece W is attached to the body B, the sealer nozzle 301 of the sealer coating device 300 is formed in a substantially L shape and passes through a narrow gap between the workpiece W and the body B. It is possible to arrange the sealer nozzle 301 on the back side of the outer panel W0. However, even in this case, since the position of the discharge port 302 for discharging the sealer S in the sealer nozzle 301 is hidden behind the outer panel W0 and is difficult to see from the outside of the vehicle, it is not easy to teach the locus of the sealer gun to the robot. Absent. As a result, teaching the sealer gun trajectory to the robot at a location where the position of the discharge port 302 of the sealer nozzle 301 is difficult to see from the outside of the vehicle depends on the teaching of the robot teaching worker. There has been a problem that the setting man-hours and the correction man-hours increase significantly.

  The present invention has been made to solve the above-described problems, and can be applied to a hemming overlapped portion with a workpiece attached to the body, and the sealer gun can be applied from the outside of the vehicle. It is an object of the present invention to provide a vehicle sealer coating apparatus and a teaching method thereof that can easily teach a trajectory.

In order to solve the above problems, a vehicle sealer coating apparatus and a teaching method thereof according to the present invention have the following configurations.
(1) A hemming overlapped portion that includes a robot and a sealer gun attached to the robot, and closes the outer peripheral flange tip erected on the outer edge of the outer panel by folding the outer panel back to the back side of the outer panel. In addition, a vehicle sealer application device for applying a sealer from a discharge port of a sealer nozzle formed on the sealer gun,
The discharge port of the sealer nozzle is opened in a direction facing the sealer gun, and a light emitting device that emits a spot-like visible ray toward the discharge port is mounted on the sealer gun. .

In the present invention, since the discharge port of the sealer nozzle is opened in a direction facing the sealer gun, the sealer gun is disposed on the outer panel surface side with the work attached to the body, and the outer panel It is possible to apply the sealer from the back side to the overlapped portion of the hemming process.
Since the sealer gun is equipped with a light emitting device that emits spot-like visible light toward the discharge port of the sealer nozzle, the spot-like visible light emitted from the light emitting device hits the outer panel surface and travels outward. reflect. The visible light projection mark that hits the outer panel surface is visible from the outside of the vehicle and corresponds to the position of the discharge port of the sealer nozzle. In addition, the hemming overlapping portion for applying the sealer is formed with a substantially constant width along the outer edge of the outer panel.
Therefore, using the visible light projection mark that hits the surface of the outer panel as a guide, the position of the overlapping part of the hemming process formed with a substantially constant width along the outer edge of the outer panel, and the discharge port of the sealer nozzle The locus of the sealer gun can be taught to the robot while matching the position of from the outside of the vehicle.
Therefore, it is possible to provide a vehicle sealer coating apparatus that can apply sealer to a hemming overlapped portion with a workpiece attached to the body and can easily teach a sealer gun from the outside of the vehicle. .

In addition, it is not restricted to the case where the discharge port of the sealer nozzle is formed on the optical axis of the spot-like visible light emitted from the light emitting device. The discharge port of the sealer nozzle may be separated from the optical axis of the spot-like visible light by a predetermined distance. This is because it is only necessary to input position data supplementing the amount of separation to the robot.
The light emitting device may be detachably attached to the sealer gun. Further, the optical axis cross section of the spot-like visible light may be circular or polygonal.

(2) In the vehicle sealer coating apparatus described in (1),
The image forming apparatus includes a transfer unit that linearly copies the position of the outer peripheral flange tip of the hemmed outer panel on the surface of the outer panel.

  In the present invention, since there is a transfer means for linearly copying the position of the outer peripheral flange tip of the hemmed outer panel on the outer panel surface, a spot-like visible light projection mark emitted from the light emitting device Can be easily matched with the position of the outer peripheral flange tip copied linearly on the outer panel surface by the transfer means. Therefore, it is possible to teach the robot the locus of the sealer gun to the robot while visually confirming from outside the vehicle that the position of the discharge port of the sealer nozzle matches the position of the outer peripheral flange tip of the hemmed outer panel. it can. As a result, the robot can be taught more accurately and quickly without requiring the skill of a teaching worker. Moreover, the position accuracy of the sealer application is improved, and the waterproofness and rustproofness of the sealer can be further enhanced.

The transfer means may be a digital transfer means or an analog transfer means.
For example, as the means for digitally transferring, the position data of the outer peripheral flange tip of the outer panel that has been hemmed is input to the robot, and the robot draws a line on the surface of the outer panel based on the position data, or A means for inputting position data of the outer peripheral flange tip of the outer panel subjected to hemming processing to the video apparatus and projecting the data on the surface of the outer panel by the video apparatus based on the position data may be considered.
Further, for example, as a means for transferring in an analog manner, a scribing tool in which a copying needle is formed at one end and the core of the writing tool is held opposite to the needle tip of the copying needle at the other end can be considered. According to this scoring tool, a scribing line can be formed on the surface of the outer panel by the core of the writing tool by causing the tip of the copying needle to follow the tip of the outer peripheral flange of the hemmed outer panel. Even with such a simple scoring tool, the position of the outer peripheral flange tip of the hemmed outer panel can be easily copied onto the surface of the outer panel.

(3) In the vehicle sealer coating apparatus described in (1) or (2),
The light emitting device emits another spot-like visible ray toward the edge in the width direction of the sealer applied to the overlapping portion of the hemming process.

  In the present invention, the light emitting device emits other spot-like visible rays toward the edge in the width direction of the sealer applied to the overlapping portion of the hemming process, so that other spot-like visible rays are The robot can be taught while correcting the position of the discharge port of the sealer nozzle using the projection mark on the surface of the outer panel as a guide. For example, if another spot-like visible light projection mark facing the edge in the width direction of the sealer protrudes from the surface of the outer panel, the sealer may protrude from the outer panel. The position of the discharge port of the sealer nozzle can be corrected in a direction that does not protrude from the surface. As a result, it is possible to prevent sealer application failure such that the sealer protrudes from the outer panel.

  Note that the spot-like visible light toward the discharge port of the sealer nozzle and the other spot-like visible light toward the edge in the width direction of the sealer applied to the hemming overlap portion have different colors. A light beam is preferred. This is because the teaching of a robot teaching worker can be avoided and teaching can be performed quickly.

(4) In the vehicle sealer coating apparatus described in any one of (1) to (3),
An indicator line is formed on the outer peripheral surface of the sealer nozzle to coincide with the surface position of the outer panel when a gap between the discharge port and the overlapping portion has a predetermined dimension.

  In the present invention, the outer peripheral surface of the sealer nozzle is formed with an indicator line that matches the surface position of the outer panel when the gap between the discharge port and the overlapping portion has a predetermined dimension. By applying the sealer with the surface position of the panel being matched, the gap between the discharge port of the sealer nozzle and the overlapping portion of the hemming process can be kept substantially constant with a predetermined dimension. As a result, the width, height, etc. of the applied sealer can be easily adapted to a predetermined reference value. Further, the indication line of the sealer nozzle can be easily seen from the outside of the vehicle. Therefore, the robot can be quickly taught in a state where the gap between the discharge port of the sealer nozzle and the overlapping portion of the hemming process is adapted to a predetermined dimension.

(5) A teaching method for a vehicle sealer coating apparatus according to any one of (1) to (4),
A first step of copying the position of the outer peripheral flange tip of the hemming-processed outer panel linearly on the surface of the outer panel;
A second step of projecting spot-like visible light radiated toward the discharge port of the sealer nozzle onto the surface of the outer panel;
The position of the outer peripheral flange tip of the hemmed outer panel copied linearly on the surface of the outer panel in the first step, and the spot-like visible light projected on the surface of the outer panel in the second step And a third step of teaching the robot the locus of the sealer gun when the projection marks coincide with each other.

In the present invention, since the first step of copying the position of the outer peripheral flange tip of the outer panel subjected to hemming processing on the surface of the outer panel in a line shape is provided, the position of the outer peripheral flange tip of the hemming outer panel is determined. The line copied on the surface of the outer panel can be seen from the outside of the vehicle.
Moreover, since the second step of projecting spot-like visible light radiated toward the discharge port of the sealer nozzle on the surface of the outer panel is provided, the position of the discharge port of the sealer nozzle is placed on the surface of the outer panel. A spot-like visible light projection mark can be displayed.
In addition, the position of the outer peripheral flange tip of the outer panel that has been hemmed copied linearly on the surface of the outer panel in the first step, and the spot-like visible light projected on the surface of the outer panel in the second step A third step of teaching the robot the locus of the sealer gun when the projection mark coincides with the robot, so that the position of the outer peripheral flange tip of the hemmed outer panel and the position of the discharge port of the sealer nozzle are the same. You can teach the robot the path of the sealer gun while observing what you are doing from the outside of the vehicle.
Therefore, it is possible to apply a sealer to the hemming overlapped part with the workpiece attached to the body, and to provide a teaching method for a vehicle sealer application device that can easily teach the locus of the sealer gun from the outside of the vehicle. can do.

  According to the present invention, a sealer coating device for a vehicle capable of applying a sealer to a hemming overlapped portion with a workpiece attached to the body and easily teaching the locus of a sealer gun from the outside of the vehicle, and The teaching method can be provided.

1 is a perspective view of a vehicle sealer coating apparatus according to an embodiment of the present invention. FIG. 2 is a detailed plan view of a sealer nozzle and a light emitting device shown in FIG. 1. It is A view side view shown in FIG. It is detail drawing of the discharge outlet in the sealer nozzle shown in FIG. It is a top view of the scoring tool used for the sealer coating device of the vehicle shown in FIG. It is detail drawing of the sealer apply | coated by the sealer application device of the vehicle shown in FIG. It is a perspective view explaining the usage method of the scribing tool shown in FIG. It is a perspective view explaining the usage method of the scribing tool shown in FIG. It is a typical perspective view of the conventional sealer coating device of a vehicle. It is sectional drawing of the sealer coating device described in patent document 1. FIG. It is a fragmentary sectional view of the sealer application device which applies sealer from the vehicle outside.

  Next, a vehicle sealer coating apparatus and a teaching method thereof according to an embodiment of the present invention will be described in detail with reference to the drawings. First, the structure of the vehicle sealer coating apparatus according to the present embodiment will be described, and then the teaching method of the sealer coating apparatus will be described. Finally, operational effects of the vehicle sealer coating apparatus and the teaching method thereof according to the present embodiment will be described.

<Structure of sealer coating device>
First, the structure of the vehicle sealer coating apparatus according to the present embodiment will be described with reference to FIGS. FIG. 1 is a perspective view of a vehicle sealer coating apparatus according to an embodiment of the present invention. FIG. 2 shows a detailed plan view of the sealer nozzle and the light emitting device shown in FIG. FIG. 3 shows a side view of the A view shown in FIG. FIG. 4 shows a detailed view of the discharge port in the sealer nozzle shown in FIG. FIG. 5 shows a plan view of a scoring tool used in the vehicle sealer coating apparatus shown in FIG.

As shown in FIG. 1, the sealer coating apparatus 10 for a vehicle according to this embodiment includes a sealer gun 2 on the surface side of the outer panel W0 in a state where a work (vehicle door) W is attached to a body B of a vehicle V. Is arranged, and the sealer S is applied from the back side of the outer panel W0 to the hemming overlapped portion W3. The workpiece W is not limited to the vehicle door. For example, various lids attached to the body B such as a bonnet and a trunk are applicable.
The vehicle sealer coating apparatus 10 includes a robot 1 installed outside the vehicle, a sealer gun 2 attached to the tip of the arm of the robot 1, a sealer nozzle 3 formed at the tip 21 of the sealer gun 2, and a sealer gun 2 And a light emitting device 5 that is detachably mounted.

  As shown in FIGS. 1 and 2, a cylindrical sealer nozzle 3 formed in a substantially L shape is formed at the distal end portion 21 of the sealer gun 2. The outer diameter of the sealer nozzle 3 is about 2 to 3 mm. A slit-like discharge port 31 is formed at the tip of the sealer nozzle 3 along the cylinder axis. The discharge port 31 is opened in a direction facing the sealer gun 2. A gap d1 between the discharge port 31 of the sealer nozzle 3 and the overlapped portion W3 subjected to hemming is about 4 to 5 mm. In addition, an instruction line 32 that coincides with the surface position of the outer panel W0 is formed on the outer peripheral surface of the sealer nozzle 3 when the gap d1 between the discharge port 31 and the overlapping portion W3 of the workpiece W has a predetermined dimension. Yes. Since the indication line 32 only needs to be able to display the surface position of the outer panel W0, it can be formed in various shapes. As shown in FIG. 4, the discharge port 31 of the sealer nozzle 3 may be formed in a circular shape 31A (FIG. 4A), but may be formed in an oval shape or a rectangular shape 31B (FIG. b)).

The light emitting device 5 emits spot-like visible light L (L1, L2, L3) forward from the tip of the case, and when it hits the workpiece W, the spot-like projection mark P (P1, P2, P3) on the workpiece.
3) display device. The light emitting device 5 emits a spot-like visible ray L1 from the central portion of the case tip toward the central portion of the discharge port 31 of the sealer nozzle 3. The spot-like visible light L1 emitted from the light emitting device 5 hits the surface of the outer panel W0 and is reflected outward of the vehicle. The visible light projection mark P1 that hits the surface of the outer panel W0 is visible from the outside of the vehicle and corresponds to the position of the discharge port 31 of the sealer nozzle 3.

The light emitting device 5 is preferably a laser light emitting device having a constant spot diameter and excellent straightness. The light emitting device 5 emits the sealer S from the discharge port 31 of the sealer nozzle 3 (in the direction of arrow J) and the spot-like visible light L1 emitted from the light emitting device 5 toward the discharge port 31. It is preferable that the directions are mounted so as to coincide with each other or to be parallel to each other. In that case, even if the distance d1 between the discharge port 31 of the sealer nozzle 3 and the overlapping portion W3 of the workpiece W changes, the spot-like visible light L1 is projected onto the surface of the outer panel W0 at a substantially constant position. . As a result, the projection mark P of the spot-like visible light L1
1 can accurately correspond to the position of the discharge port 31 of the sealer nozzle 3 as viewed from the direction in which the sealer S is discharged (the direction of the arrow J).

  As shown in FIG. 3, the optical axis of the spot-like visible light L1 radiated from the light emitting device 5 and the central axis 311 of the discharge port of the sealer nozzle may be separated in parallel by a distance d2. This is because even when the sealer S is discharged from the discharge port 31 of the sealer nozzle 3 without the workpiece W, the sealer is not attached to the light emission port of the light emission device 5. In this case, it is only necessary to input the position data complemented by the separated distance d2 to the robot. In addition, the optical axis cross section of the spot-like visible light L1 emitted from the light emitting device 5 may be circular or polygonal. For example, if the cross section of the optical axis of the visible light L1 is a perfect circle, the angle of the sealer gun 2 with respect to the outer panel W0 is corrected so that the projection mark P1 projected on the surface of the outer panel W0 becomes a perfect circle. By doing so, the discharge port 31 of the sealer nozzle 3 can be set parallel to the overlapping portion W3 for hemming.

As shown in FIGS. 1 to 3, the light emitting device 5 includes a spot-like visible ray L <b> 1 directed toward the discharge port 31 of the sealer nozzle 3 and a sealer S applied to the overlapping portion W <b> 3 for hemming. Other spot-like visible rays L2 and L3 are emitted toward the edges S2 and S3 in the width direction. The visible light L1 corresponds to the central portion of the discharge port 31 of the sealer nozzle 3. The visible rays L1, L2, and L3 are arranged to radiate in parallel at a predetermined interval in a direction orthogonal to the feeding direction of the sealer gun 2 (the direction of the arrow F).
Here, the spot-like visible light beam L1 directed toward the discharge port 31 of the sealer nozzle 3 is a red light beam and is directed toward the widthwise edges S2 and S3 of the sealer S applied to the overlapping portion W3 for hemming. The other spot-like visible rays L2 and L3 are green rays. By using light beams of different colors, it is possible to avoid the error of the teaching worker of the robot 1 and to quickly teach.

As shown in FIG. 5, the vehicle sealer coating apparatus 10 according to the present embodiment includes a scoring tool (transfer means) 6. The scribing tool 6 is a tool for copying the position of the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed on the surface of the outer panel W0.
Specifically, the scribing tool 6 has a structure in which a copying needle 61 is formed at one end 64 of the connecting portion 63, and a core 621 of the writing instrument 62 is held by the other end 65 facing the needle tip 611 of the copying needle 61. It is. The holding position of the writing instrument 62 can be adjusted according to the thickness of the workpiece. The writing instrument 62 corresponds to, for example, an oil-based pen or a water-based pen.

<Teaching method of sealer coating device>
Next, a teaching method for a vehicle sealer coating apparatus 10 according to another embodiment will be described with reference to FIGS. 1 and 6 to 8. FIG. 6 is a detailed view of the sealer applied by the vehicle sealer application device shown in FIG. 7 and 8 are perspective views for explaining how to use the scoring tool shown in FIG.

As shown in FIG. 6, the outer periphery of the work (vehicle door) W is erected on the outer periphery of the outer panel W0 after the outer periphery of the outer panel W0 and the outer periphery of the inner panel W2 are overlapped. A hemming process is performed in which the outer peripheral flange tip W1 is folded back to the back side of the outer panel W0 with the outer peripheral edge of the inner panel W2 interposed therebetween. A sealer S is applied to the hemming overlapped portion W3 with a predetermined width in order to improve waterproofness, rustproofness, and the like.
The width of the sealer S extends to the outer peripheral side of the outer panel W0 and the inner peripheral side of the inner panel W2 with the outer peripheral flange tip W1 as a substantial center. As described above, the slit-like discharge port 31 is formed at the tip of the sealer nozzle 3 along the cylinder axis. Therefore, the center part of the discharge port 31 of the sealer nozzle 3 is made to coincide with the position S1 of the outer peripheral flange tip W1 of the hemmed outer panel W0.

  First, as shown in FIGS. 7 and 8, the position S1 of the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed is copied linearly on the surface of the outer panel W0 (first step). Specifically, in a state where the needle tip 611 of the copying needle 61 is in contact with the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed, the writing tool 62 moves on the surface of the outer panel W0 by moving in the direction of the arrow. A ruled line K1 is formed by the core 621. The thickness of the ruled line K1 is preferably about 1 to 2 mm. Thereby, the position S1 of the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed can be visually observed from the outside of the vehicle by the ruled line K1 copied on the surface of the outer panel W0.

Next, as shown in FIG. 1, spot-like visible light L1 radiated toward the discharge port 31 of the sealer nozzle 3 is projected onto the surface of the outer panel W0 (second step). The visible light projection mark P1 that hits the surface of the outer panel W0 is visible from the outside of the vehicle and corresponds to the position of the discharge port 31 of the sealer nozzle 3. Thereby, the position of the discharge port 31 of the sealer nozzle 3 can be displayed by the projection mark P1 of the spot-like visible light L1 that projects on the surface of the outer panel W0.

  Next, as shown in FIG. 1, the ruled line K1 copied linearly on the surface of the outer panel W0 in the first step, and the spot-like visible light projected on the surface of the outer panel W0 in the second step. The locus of the sealer gun 2 when the projection mark P1 of the light beam L1 coincides is taught to the robot 1 (third step). As a result, the locus of the sealer gun 2 can be traced while observing from the outside of the vehicle that the position S1 of the outer peripheral flange tip W1 of the hemmed outer panel W0 and the position of the discharge port 31 of the sealer nozzle 3 coincide. The robot 1 can be taught.

The sealer gun 2 is moved in the direction of the arrow H so that the surface position of the outer panel W0 coincides with the indication line 32 formed on the outer peripheral surface of the sealer nozzle 3. As a result, the gap d1 between the discharge port 31 of the sealer nozzle 3 and the overlapping portion W3 for hemming can be held substantially constant with a predetermined dimension.
Further, the discharge port of the sealer nozzle 3 is set with reference to the projection marks P2 and P3 on which the other spot-like visible rays L2 and L3 directed toward the edges S2 and S3 in the width direction of the sealer S hit the surface of the outer panel W0. Teaching the robot while correcting the position of 31. Specifically, when the projection marks P2 and P3 of the visible rays L2 and L3 are protruding from the surface of the outer panel W0, the sealer S may protrude from the outer panel W0. The position of the discharge port 31 of the sealer nozzle 3 is corrected in a direction that does not protrude from the surface. As a result, it is possible to prevent the sealer application failure such that the sealer S protrudes from the outer panel W0.

<Effect>
As described above in detail, according to the sealer coating apparatus 10 for a vehicle according to the present embodiment, the discharge port 31 of the sealer nozzle 3 is opened toward the direction facing the sealer gun 2. With the W attached to the body B, the sealer gun 2 can be disposed on the front surface side of the outer panel W0, and the sealer S can be applied from the back surface side of the outer panel W0 to the overlapping portion W3 for hemming.
Further, since the light emitting device 5 that emits the spot-like visible light L1 toward the discharge port 31 of the sealer nozzle 3 is mounted on the sealer gun 2, the spot-like visible light L1 emitted from the light emitting device 5 It hits the panel W0 surface and reflects to the outside of the vehicle. The projection mark P1 of visible light L1 that hits the surface of the outer panel W0 can be seen from the outside of the vehicle and corresponds to the position of the discharge port 31 of the sealer nozzle 3. Further, the hemming overlapped portion W3 for applying the sealer S is formed with a substantially constant width along the outer edge of the outer panel W0.
Therefore, with reference to the projection mark P1 of the visible light ray L1 that hits the surface of the outer panel W0, the position of the overlapping portion W3 of the hemming process formed with a substantially constant width along the outer edge of the outer panel W0, The locus of the sealer gun 2 can be taught to the robot 1 while matching the position of the discharge port 31 of the sealer nozzle 3 from the outside of the vehicle.
Therefore, a sealer coating apparatus 10 for a vehicle that can apply sealer to the hemming overlapped portion W3 with the workpiece W attached to the body B and can easily teach the sealer gun 2 from the outside of the vehicle. Can be provided.

  In addition, according to the present embodiment, the scoring tool (transfer means) 6 for copying the position S1 of the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed on the surface of the outer panel W0 is provided. A scoring line K1 (same as the position S1 of the outer peripheral flange tip W1) obtained by linearly copying the projection mark P1 of the spot-like visible light L1 radiated from the radiation device 5 on the surface of the outer panel W0 with the scoring tool 6 Can be easily matched to. Therefore, the locus of the sealer gun 2 can be taught to the robot 1 while visually confirming that the projection mark P1 is aligned with the ruled line K1 from the outside of the vehicle. As a result, the robot 1 can be taught more accurately and quickly without the skill of a teaching worker. Moreover, the position accuracy of the sealer application is improved, and the waterproofness and rustproofness of the workpiece W by the sealer S can be further enhanced.

  Further, according to the present embodiment, the light emitting device 5 emits other spot-like visible rays L2 and L3 toward the widthwise edges S2 and S3 of the sealer S applied to the overlapping portion W3 for hemming. Since the radiation is emitted, it is possible to teach the robot 1 while correcting the position of the discharge port 31 of the sealer nozzle 3 with reference to the projection marks P2 and P3 where the visible rays L2 and L3 hit the surface of the outer panel W0. For example, when the projection marks P2 and P3 of other spot-like visible rays L2 and L3 toward the edge S2 and S3 in the width direction of the sealer S protrude from the surface of the outer panel W0, the sealer S May protrude from the outer panel W0, so that the position of the discharge port 31 of the sealer nozzle 3 can be corrected in a direction that does not protrude from the surface of the outer panel W0. As a result, it is possible to prevent the sealer application failure such that the sealer S protrudes from the outer panel W0.

  Further, according to the present embodiment, on the outer peripheral surface of the sealer nozzle 3, the indication line 32 that coincides with the surface position of the outer panel W0 when the gap d1 between the discharge port 31 and the overlapping portion W3 has a predetermined dimension. Since the surface position of the outer panel W0 coincides with the indication line 32 and sealer application is performed, the gap d1 between the discharge port 31 of the sealer nozzle 3 and the overlapping portion W3 for hemming is formed with a predetermined dimension. It can be kept substantially constant. As a result, the width, height, etc. of the applied sealer S can be easily adapted to a predetermined reference value. Further, the indication line 32 of the sealer nozzle 3 can be easily seen from the outside of the vehicle. Therefore, teaching of the robot 1 can be quickly performed in a state in which the gap d1 between the discharge port 31 of the sealer nozzle 3 and the overlapping portion W3 for hemming is adapted to a predetermined dimension.

  Further, according to the present embodiment, since the sealer S is applied in a state where the workpiece W is attached to the body B, the sealer can be applied in a step after electrodeposition coating and before intermediate coating. Therefore, it is not necessary to pre-cure the sealer by heating prior to shower cleaning performed immediately before electrodeposition coating. Therefore, it is possible to use an inexpensive sealer without using an expensive sealer (precure sealer) corresponding to pre-curing. Further, heating equipment for pre-curing and heating energy can be omitted. As a result, the sealer cost can be greatly reduced.

  Further, according to the teaching method of the vehicle sealer coating apparatus 10 according to another embodiment, the position S1 of the outer peripheral flange tip W1 of the outer panel W0 that has been hemmed is copied linearly on the surface of the outer panel W0. Since the first step is provided, the position S1 of the outer peripheral flange tip W1 of the hemmed outer panel W0 can be visually observed from the outside of the vehicle by the ruled line K1 copied on the surface of the outer panel W0. .

  Further, since the second step of projecting the spot-like visible light L1 radiated toward the discharge port 31 of the sealer nozzle 3 onto the surface of the outer panel W0 is provided, the position of the discharge port 31 of the sealer nozzle 3 is It can be displayed by the projection mark P1 of the spot-like visible light L1 that projects on the surface of the outer panel W0.

  Further, a scribe line K1 (same as the position S1 of the outer peripheral flange tip W1 of the hemmed outer panel W0) copied linearly on the surface of the outer panel W0 in the first step, and the outer panel W0 in the second step. A third step of teaching the robot 1 the locus of the sealer gun 2 when the spot-like visible light L1 projection mark P1 projected onto the surface coincides, so that the outer panel is hemmed The locus of the sealer gun 2 can be taught to the robot 1 while observing from the outside of the vehicle that the position S1 of the outer peripheral flange tip W1 of W0 and the position of the discharge port 31 of the sealer nozzle 3 coincide.

  Therefore, in a state where the workpiece W is attached to the body B, sealer coating can be applied to the hemming overlapped portion W3, and the locus of the sealer gun 2 can be easily taught from the outside of the vehicle. The teaching method can be provided.

  INDUSTRIAL APPLICABILITY The present invention can be used, for example, in a vehicle sealer application device that applies a sealer to an overlapping portion of a vehicle door by hemming and a teaching method thereof.

DESCRIPTION OF SYMBOLS 1 Robot 2 Sealer gun 3 Sealer nozzle 5 Light emitting device 6 Ruler tool (transfer means)
DESCRIPTION OF SYMBOLS 10 Sealer coating device 31 Discharge port 32 Indicator line 61 Copying needle 62 Writing tool d1 Gap K1 Ruled line L, L1, L2, L3 Visible light P, P1, P2, P3 Projection mark S Sealer S1 Position of outer peripheral flange tip S2, S3 Sealer width direction edge W Work W0 Outer panel W1 Outer peripheral flange tip W2 Inner panel W3 Overlapping part

Claims (5)

A hemming process overlapping portion that includes a robot and a sealer gun attached to the robot, and folds the outer peripheral flange end standing on the outer edge of the outer panel back to the back side of the outer panel across the outer edge of the inner panel; A vehicle sealer application device for applying a sealer from a discharge port of a sealer nozzle formed on a sealer gun,
The discharge port of the sealer nozzle is opened in a direction facing the sealer gun, and a light emitting device that emits a spot-like visible ray toward the discharge port is mounted on the sealer gun. Vehicle sealer applicator. In the vehicle sealer coating apparatus according to claim 1,
A sealer coating apparatus for a vehicle, comprising transfer means for copying the position of the outer peripheral flange tip of the hemmed outer panel on the outer panel surface in a line. In the vehicle sealer coating apparatus according to claim 1 or 2,
The said light emission apparatus radiates | emits another spot-like visible ray toward the edge of the width direction of the sealer apply | coated to the overlapping part of the said hemming process, The sealer application apparatus of the vehicle characterized by the above-mentioned. In the vehicle sealer coating apparatus according to any one of claims 1 to 3,
A sealer for a vehicle, wherein an indicator line that coincides with a surface position of the outer panel is formed on an outer peripheral surface of the sealer nozzle when a gap between the discharge port and the overlapping portion has a predetermined dimension. Coating device. A teaching method for a vehicle sealer coating apparatus according to any one of claims 1 to 4,
A first step of copying the position of the outer peripheral flange tip of the hemming-processed outer panel linearly on the surface of the outer panel;
A second step of projecting spot-like visible light radiated toward the discharge port of the sealer nozzle onto the surface of the outer panel;
The position of the outer peripheral flange tip of the hemmed outer panel copied linearly on the surface of the outer panel in the first step, and the spot shape projected on the surface of the outer panel in the second step And a third step of teaching the robot the locus of the sealer gun when the visible light projection mark coincides with the robot.

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