JP2023048024A - Panel processing device and panel processing method - Google Patents

Abstract

To enable proper filling to be performed without fail.SOLUTION: An application head 11 disposes a bottom plate on a support structure in a hole 103 in a panel 13 comprising a honeycomb core. The application head 11 applies a filler to the top face of the bottom plate, the filler to seal a gap between the side face of the bottom plate disposed on the support structure and the wall face of the honeycomb core. The application head 11 disposes a press plate on the bottom plate having the filler applied thereto, and the press plate is pressed to squeeze the filler out to the gap.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to technology for processing honeycomb sandwich panels (hereinafter also simply referred to as panels).

Lightweight and highly rigid honeycomb sandwich panels are often used for satellite structures. A honeycomb sandwich panel is a structure in which a skin material is laminated on both sides of a honeycomb core with a sheet-like adhesive.
An insert is embedded in the honeycomb sandwich panel. An insert is a metal part with an internal thread, and has the role of connecting equipment to be mounted on a satellite.
In addition to the internal thread, the insert has two injection holes with a diameter of about mm. After the insert is embedded in the honeycomb sandwich panel, the filler is injected through the injection hole and cured. Thereby, the insert is fixed to the honeycomb sandwich panel (see Patent Documents 1 to 3, for example).

The height of the top surface of the embedded insert should be about the same as or slightly below the skin surface of the honeycomb sandwich panel. For example, the height of the upper surface of the insert is set to a value from zero to several tens of microns below the skin surface of the honeycomb sandwich panel.

In order to reduce the weight of the satellite, the smaller the amount of filler injected into the insert, the better. To reduce the amount of filler to be injected, for example, filling is performed before embedding the insert. In sealing, a GFRP (glass fiber reinforced plastic) plate having the same diameter as the hole is inserted into the hole in the honeycomb sandwich panel. Then, a temporary adhesive (hereinafter referred to as a filler) is spread around the GFRP plate to fill the holes in the honeycomb core. After this step, a temporary adhesive is applied to the plate on the GFRP, the insert is inserted into the hole, and the insert is temporarily fixed (see, for example, Patent Document 4).

This sealing operation prevents the filler injected after the temporary fixing from flowing into the honeycomb core below the insert, making it possible to reduce the amount of filler injected into the insert.

JP-A-11-348157 JP-A-11-348155 FR2990890B1 WO2018/100721

When the honeycomb core is filled manually by an operator, the amount of filling agent and/or the manner in which the filling agent spreads over the honeycomb core differs from person to person, and there are cases where suitable filling cannot be achieved.

The main object of the present disclosure is to solve such problems. Specifically, the main object of the present disclosure is to always perform appropriate sealing.

The panel processing apparatus according to the present disclosure includes
a bottom plate arranging mechanism for arranging the bottom plate on a support structure provided in a hole provided in a panel using a honeycomb core;
a filler applicator for applying a filler to the top surface of the bottom plate to close a gap between the side surface of the bottom plate arranged in the support structure and the wall surface of the honeycomb core;
and a push plate arranging mechanism for arranging a push plate on the bottom plate to which the filler is applied and for pushing the push plate so that the filler protrudes into the gap.

According to the present disclosure, blinding can be performed without manual intervention. Therefore, according to the present disclosure, there is no individual difference in the amount of filling agent and/or how the filling agent is spread over the honeycomb core, and appropriate filling can always be performed.

1 is a perspective view of a panel processing apparatus according to Embodiment 1; FIG. 1 is a perspective view of a coating head according to Embodiment 1; FIG. 1 is a perspective view of an insert insertion head according to Embodiment 1; FIG. FIG. 2 is a top view of the insert insertion head according to Embodiment 1; FIG. 2 is a perspective view of the inside of the insert insertion head according to Embodiment 1 and an insert supply table; 1 is a perspective view of an insert gripping mechanism according to Embodiment 1, and an image diagram of the inside of the insert gripping mechanism. FIG. FIG. 8 is a perspective view of an insert gripping mechanism according to Embodiment 2; FIG. 11 is a perspective view of a height holding jig according to Embodiment 3, and an image diagram of the inside of the height holding jig; 4A and 4B are diagrams for explaining a sealing process according to the first embodiment; FIG. 4A and 4B are diagrams for explaining a sealing process according to the first embodiment; FIG. 4A and 4B are diagrams for explaining a sealing process according to the first embodiment; FIG. 4A and 4B are views for explaining insertion of the insert according to the first embodiment; FIG.

Embodiment 1.
FIG. 1 shows a panel processing apparatus 1000 according to this embodiment.
A panel processing apparatus 1000 according to the present embodiment fills a honeycomb core and inserts an insert into the honeycomb core.

*** Prerequisite explanation ***
Before describing the details of the panel processing apparatus 1000, first, the panel 13, which is a honeycomb sandwich panel, will be described.
( 1 ) of FIG. 9 shows a cross section of the panel 13 .

As shown in (1) of FIG. 9 , the panel 13 is a plate including a honeycomb core 101 and two skin materials 102 . That is, the panel 13 is configured by sandwiching the honeycomb core 101 between the skin materials 102 .
The honeycomb core 101 is configured by arranging a plurality of polygonal columns (for example, hexagonal columns). Each polygonal column has a tubular shape.
The skin material 102 is adhered to the upper and lower portions of the honeycomb core 101 with an adhesive sheet. A specific skin material 102 is aluminum or CFRP (Carbon Fiber Reinforced Plastic). The adhesive sheet is a sheet-like adhesive.

A hole 103 for embedding an insert is provided in the panel 13 by drilling using a drill or the like.
The depth of hole 103 is shallower than the thickness of panel 13 . For example, the depth of hole 103 is about half the thickness of panel 13 .
A part of the honeycomb core 101 left after the drilling process functions as a support structure 109 . That is, the hole 103 is provided with a support structure 109 . Support structure 109 is used to position the bottom plate, which will be described later.

For example, the panel 13 is a honeycomb sandwich panel used in structures such as satellites, flying bodies, and car shelters.

Next, sealing processing and insertion of inserts will be described.
Conventionally, as shown in Patent Document 4, the sealing process and the insertion of inserts have been performed manually.
In this embodiment, the panel processing apparatus 1000 performs sealing and insertion of inserts. By automating the panel processing apparatus 1000, sealing and insertion of inserts are performed with high accuracy. Moreover, labor saving is promoted.

First, the sealing process will be described with reference to FIGS. 9, 10 and 11. FIG.

(1) of FIG. 9 shows a cross section of the panel 13 before sealing.
As mentioned above, the panel 13 is pre-drilled with holes 103 for fixing the inserts. There is also support structure 109 in hole 103, as previously described.

(2) of FIG. 9 shows the operation of applying the temporary fixing adhesive for the first time.
In the first temporary fixing adhesive application operation, the first adhesive 110 is applied onto the support structure 109 of the hole 103 . The adhesive 110 is, for example, a cyanoacrylate adhesive. Adhesive 110 may be an acrylic adhesive. Also, the adhesive 110 may be a hybrid type adhesive in which a cyanoacrylate adhesive and an acrylic adhesive are mixed.

(1) of FIG. 10 shows the operation of inserting the bottom plate.
The inserting operation of the bottom plate presses the bottom plate 111 over the adhesive 110 to secure the bottom plate 111 to the support structure 109 . The bottom plate 111 is, for example, a GFRP plate.

(2) of FIG. 10 shows the work of applying the filler.
In the work of applying the filler, the upper surface of the bottom plate 111 is coated with the filler 113 . The filler 113 is used to close the gap between the side surface of the bottom plate 111 arranged on the support structure 109 and the wall surface 105 of the honeycomb core 101 .
Filler 113 is, for example, the same type of adhesive as adhesive 110 .

(1) of FIG. 11 shows the operation of inserting the push plate.
In the work of inserting the push plate, the push plate 112 is arranged on the filler 113 . Then, the push plate 112 is pushed.
The push plate 112 is, for example, a GFRP plate.
As a result, as shown in FIG. 11B, the filler 113 protrudes between the bottom plate 111 and the push plate 112 and adheres to the wall surface 105 of the honeycomb core 101 . A gap between the bottom plate 111 and the wall surface 105 is filled with a filler 113 to seal the gap. At this time, by using an adhesive with an appropriate viscosity as the filler 113, it is possible to prevent the filler 113 from dripping down. A space is maintained between the filler 113 and the skin material 102 below. Since this space is not filled with the filler, it is possible to prevent the weight of the panel 13 from increasing due to the filler.

The above is the sealing process. Conventionally, the filling process has been performed manually, so that the amount of filler and/or the manner in which the filler is spread over the honeycomb core varies from person to person, and there are cases where suitable filling cannot be achieved.

Next, insertion of the insert will be described with reference to FIG.

(1) of FIG. 11 shows the operation of applying the temporary fixing adhesive for the second time.
In the second temporary fixing adhesive application operation, the adhesive 114 is applied to the upper surface of the push plate 112 . Adhesive 114 is also, for example, the same type of adhesive as adhesive 110 .

(2) of FIG. 11 shows the temporarily fixing operation of the insert.
In the temporarily fixing work of the insert, the insert 36 is inserted into the hole 103 and temporarily fixed by the adhesive 114 . The insert 36 is a metal component that serves as an interface for connecting a component such as a structural member or mounted equipment to the panel 13 .
An injection hole 361 for injecting a filler is provided in the upper portion of the insert 36 . Although not shown in FIG. 12(2), two injection holes 361 are provided.
After that, the height of the insert 36 (whether it is flush or not, whether or not there is a recess amount) is measured.

In this way, the insertion of the insert involves temporary fixing of the insert 36, but this work is also done manually, and thus takes a lot of time.
Further, after temporary fixing of the insert 36 and before injecting the filler from the injection hole 361, the height between the upper surface of the insert 36 and the skin material 102 of the panel 13 is measured.
If the height difference between the insert 36 and the skin 102 of the panel 13 is outside the set range, the insert 36 must be removed and replaced. Also, if the difference in height is found to be outside the set range after the step of filling and fixing the insert 36, the insert 36 needs to be ground.
Thus, if the insert 36 is not properly inserted, the repair work will take a lot of time. Conventionally, since the insertion of the insert 36 was also performed manually, there were cases where the insert 36 was not inserted at an appropriate height.

*** Configuration description ***
Next, a configuration example of the panel processing apparatus 1000 according to this embodiment will be described with reference to FIG.

The panel processing apparatus 1000 is mainly composed of the following mechanisms (1) to (4).
(1) An installation table mechanism for installing the panel 13 .
(2) A moving mechanism for moving the application head and the insert head along the rail.
(3) A coating head mechanism and an insert head mechanism provided in the moving mechanism.
(4) a control unit that controls the operation of the panel processing apparatus 1000;

(1) The installation stand mechanism will be explained.
In FIG. 1, a frame 1 is a stand on which a panel 13 is installed.
As mentioned above, the panel 13 has a plurality of holes 103 for embedding the inserts 36 therein.
Ball bearings 2 are embedded in the pedestal 1 below the upper surface of the pedestal 1 at regular intervals. The ball bearing 2 floats 2 mm above the upper surface of the pedestal 1 by air supply. The ball bearing 2 allows the panel 13 to slide with a small load.

(2) Movement Mechanism The stage 3 moves the X-axis 4 (movement axis movable in the X direction).
The X-axis 4 includes an insert head Y-axis 5 (a moving axis that can move in the Y direction), an insert supply table 8, a coating head Y-axis 9 (a moving axis that can move in the Y direction), and a scrap table 12. move.
The insert supply table 8 is a table for supplying the inserts 36 to the insert head 7 .
The random shot table 12 is a table on which the coating head 11 performs random shot.
The insert head Y-axis 5 moves the insert head Z-axis 6 (moving axis that can move in the Z direction).
A coating head Y-axis 9 moves a coating head Z-axis 10 (moving axis that can move in the Z direction).
The insert head Z-axis 6 moves the insert head 7 .
A coating head Z-axis 10 moves a coating head 11 .

(3) Application Head Mechanism, Insert Head Mechanism The application head 11 applies the adhesive 110, the filler 113, and the adhesive 114 described above. Also, the coating head 11 has a bottom plate 111 and a push plate 112 arranged thereon.
The application head 11 corresponds to an adhesive application mechanism, a filler application mechanism, a bottom plate arrangement mechanism, and a push plate arrangement mechanism.
The insert head 7 inserts the insert 36 into the hole 103 after the sealant 113 protrudes into the gap 115 and places the insert 36 on the push plate 112, as shown in FIG. 12(2).
The insert head 7 corresponds to an insert placement mechanism.

Next, the coating head 11 will be described with reference to FIG.
In FIG. 2, elements other than the coating head Y-axis 9 and the coating head Z-axis 10 constitute a coating head 11 .
The coating head 11 is connected to the coating head Z-axis 10 by a base plate 14 .

The GFRP stocker 18 stocks a GFRP plate (hereinafter simply referred to as GFRP) having a diameter approximately equal to that of the hole 103 in this cylinder.
The GFRP positioning mechanism 17 raises and lowers the GFRP stocked in the GFRP stocker 18 .
The GFRP adsorption rod 16 is attached to a GFRP insertion Z-axis 15 (moving axis movable in the Z direction). A suction pad is provided at the tip of the GFRP suction rod 16 . The GFRP adsorption rod 16 adsorbs GFRP with a suction pad.
The air cylinder 19 moves the GFRP stocker 18 and the GFRP positioning mechanism 17 in the X direction.

A liquid agent is stored in each of the two liquid agent containers 22 . By mixing the two liquid agents stored in the two liquid agent containers 22, the adhesive 110, the filler 113 and the adhesive 114 are produced.
The dispenser Z-axis 20 raises and lowers the dispenser 21 (in the Z direction).
The dispensers 21 are composed of a pair of two dispensers 21 and are capable of simultaneously discharging the two liquids replenished from the two liquid agent containers 22 . A mixing mixer 23 is attached to the discharge port of the two-liquid dispenser 21 .
The mixing mixer 23 is generally called a static mixer, and is a mixer in which liquid agents are mixed by passing two liquids through the mixer. The two liquids are mixed in the mixing mixer 23 to obtain the adhesive 110 , the filler 113 and the adhesive 114 .
The anti-dripping mechanism 24 is composed of a metal plate and an air cylinder that prevent dripping of the liquid after ejection, and is capable of moving the metal plate.

Image processor 25 detects the position of hole 103 .

Next, FIG. 3 shows the insert head 7 .
In FIG. 3, elements other than the insert head Y-axis 5 and the insert head Z-axis 6 constitute an insert head 7 .
The insert head 7 is connected by a base plate 28 to the insert head Z-axis 6 (moving axis that can move in the Z direction).

The gimbal θx27 is a rotation axis around the X-axis, is fixed to the base plate 28, and rotates the base plate 29. As shown in FIG.
The gimbal θy 26 has a rotation axis around the Y-axis, is fixed to the base plate 29 and rotates the base plate 30 .
More specifically, the gimbal θx27 and the gimbal θy26 are set when the insert gripping mechanism 32 is positioned above the hole 103 while gripping the insert 36 and the insert gripping mechanism 32 does not face the hole 103. The position of the insert gripping mechanism 32 is corrected so that the insert gripping mechanism 32 directly faces the hole 103 . Here, “directly facing” means that the insert gripping mechanism 32 is arranged at an angle and position that allows the insert 36 to be inserted into the hole 103 . In other words, "directly facing" means that the following angular deviation does not occur.
The insert 36 and the hole 103 have the same diameter or a maximum gap of 100 μm. Therefore, the insert 36 should be inserted perpendicularly into the hole 103 . However, due to deflection of the axis of the panel processing apparatus 1000, distortion of the frame 1 on which the panel 13 is placed, and deflection of the panel 13 itself, an angular deviation occurs between the insert 36 and the hole 103. FIG. As a countermeasure against such angular deviation, the gimbals θx 27 and θy 26 rotate and correct the entire insert gripping mechanism 32 that grips the insert 36 so that the insert gripping mechanism 32 faces the hole 103 .
A non-contact height sensor (non-contact height sensor 34 to be described later) measures the height of the skin material 102 of the panel 13, and the controller calculates the relative angle between the panel surface and the insertion axis. Based on the calculation result of the relative angle, the gimbal θx 27 and the gimbal θy 26 correct the rotation of the insert head 7 under the control of the control unit. This correction allows insert 36 to be inserted vertically into hole 103 .
The gimbal θx27 and gimbal θy26 correspond to the second position correction mechanism.

FIG. 4 is a view of the insert head 7 viewed from above. FIG. 5 is a diagram of the insert head 7 viewed obliquely. In FIGS. 4 and 5 as well, elements other than the insert head Y-axis 5 and the insert head Z-axis 6 constitute the insert head 7 .
In FIG. 5 , the insert head 7 is shown with its front portion cut away to clearly show the insert gripping mechanism 32 , the insert gripping mechanism Z-axis 33 , the non-contact height sensor 34 and the image processor 35 . FIG. 5 also shows an insert feed table 8 . The insert supply table 8 is provided with a tray 37 , an insert rotation mechanism 38 and an image processor 39 .

The insert removal mechanism 31 removes the inserts 36 arranged on the tray 37 from the tray 37 . The insert removal mechanism 31 places the removed insert 36 in the insert rotation mechanism 38 .

The insert rotation mechanism 38 chucks the insert 36 and rotates the insert 36 .

The insert gripping mechanism 32 obtains the insert 36 from the insert rotating mechanism 38 and grips the insert 36 . As will be described later, the insert gripping mechanism 32 is provided with gripping claws 47 shown in FIG. 6(2). The insert gripping mechanism 32 grips the insert 36 by inserting the gripping claws 47 into the injection hole 361 . In order to grip the insert 36, when the gripping claws 47 are positioned above the insert 36 on the insert rotating mechanism 38 by the insert gripping mechanism 32, if the gripping claws 47 do not face the injection hole 361, the insert rotation is prevented. Mechanism 38 rotates to correct the position of insert 36 . Here, “directly facing” means that the gripping claws 47 are arranged at an angle and a position that allow insertion into the injection hole 361 .
The injection hole 361 of the insert 36 is typically a hole with a diameter of about 2 mm. The grip claws 47 are claws with a diameter of about 1.5 mm. The insert gripping mechanism 32 needs to insert the gripping claws 47 into the injection hole 361 with high accuracy. Therefore, the image processor 39 detects whether or not the gripping claws 47 are facing the injection hole 361, and if the gripping claws 47 are not facing the injection hole 361, the insert rotation mechanism 38 is controlled by the control unit. rotates the insert 36 to finely adjust (correct) the position of the insert 36 so that the gripping claw 47 can be inserted into the injection hole 361 .
The insert rotation mechanism 38 corresponds to a first position correction mechanism.
In addition to correcting the position of the insert 36 by the insert rotating mechanism 38, the position of the gripping claw 47 can be corrected by moving the insert gripping mechanism 32 without correcting the position of the insert 36 by the insert rotating mechanism 38. good. In this case, the insert gripping mechanism 32 also corresponds to the first position correcting mechanism.

The image processor 39 is a camera whose imaging directions are upward and horizontal. The positional relationship between the gripping claws 47 and the injection hole 361 when the insert gripping mechanism 32 grips the insert 36 of the insert rotation mechanism 38 is monitored. Also, the position of the insert 36 gripped by the insert gripping mechanism 32 is monitored.

The insert gripping mechanism Z-axis 33 (moving axis movable in the Z direction) is fixed to the base plate 30 and moves up and down the insert gripping mechanism 32 (in the Z direction).

The non-contact height sensor 34 is an optical sensor that measures the distance in the Z direction without contact.

Image processor 35 senses the position of insert 36 and hole 103 .

Next, the configuration of the insert gripping mechanism 32 will be described with reference to FIG.
(1) of FIG. 6 is a perspective view of the insert gripping mechanism 32. FIG. In (1) of FIG. 6 , elements other than the insert gripping mechanism Z-axis 33 constitute the insert gripping mechanism 32 .
FIG. 6B shows elements from the air cylinder 44 to the gripping claws 47 of the insert gripping mechanism 32 and the insert 36 . In (2) of FIG. 6, the air cylinder 44, the parallel pin 45, the heating mechanism 46, and the grip surface 49 are represented by dashed lines in order to clarify the internal structure of the air cylinder 44. As shown in FIG.

A load cell 40 monitors the load when the insert 36 is inserted.
The air cylinder 41 raises and lowers the cylinder rod 42 by air and pushes the air cylinder 44 downward.
The compression spring 43 presses the air cylinder 44 so that the parallel pin 45 attached to the air cylinder 44 contacts the opposing parallel pin 45 .
Three pairs of parallel pins 45 are arranged at 120° intervals so as to surround the central axis of the insert gripping mechanism 32 .
When all these parallel pins 45 contact each other, the axis of the insert gripping mechanism Z-axis 33 and the upper surface of the gripped insert 36 become perpendicular.

The air cylinder 44 raises and lowers the cylinder rod 48 by adjusting the air pressure.

The grip claws 47 are in a non-contact state and a contact state.
The contact state is a state in which each gripping claw 47 is not in contact with the injection hole 361 . The non-contact state is a state in which each gripping claw 47 presses the inner surface of the injection hole 361 .
The insert gripping mechanism 32 inserts the two gripping claws 47 into the two injection holes 361 in a non-contact state, and then grips the insert 36 with the two gripping claws 47 in a contact state.
The gripping claw 47 has a cam mechanism at its base. Then, the grasping claws 47 open outward, centering on the root portion. In other words, after each gripping claw 47 is inserted into the injection hole 361, the lowering of the cylinder rod 48 pulls up the gripping claw 47 obliquely upward in the direction away from the other gripping claw 47 centering on the root portion, and comes into contact. In this embodiment, the opening degree (movable range) of the gripping claws 47 can be controlled by adjusting the air pressure acting on the cylinder rod 48 .
When the cylinder rod 48 rises, the gripping claws 47 return to their original positions (return to the non-contact state) due to the spring force.

Although the position of the insert 36 is finely adjusted by the insert rotation mechanism 38 so that the gripping claw 47 is inserted into the injection hole 361, the absolute accuracy of the actuator and/or the resolution of the image processor 39 may be limited. A minute error may remain.
However, as described above, since the movable range of the gripping claws 47 can be controlled by adjusting the air pressure acting on the cylinder rod 48, the minute errors described above can be absorbed.

The gripping surface 49 is the surface with which the gripped insert 36 contacts. The gripping surface 49 is provided with a step having a diameter smaller than that of the insert 36, and the height of the insert 36 after temporary fixing can be adjusted by the amount of this step.
For example, when the height of the insert 36 and the skin of the panel 13 is zero, the step amount is zero.

The heating mechanism 46 has a heater rod inside. Heating mechanism 46 heats adhesive 114 after insert 36 is placed on push plate 112 . Also, as the adhesive 114, an adhesive that can be cured at a faster rate by heating may be selected.

As shown in (2) of FIG. 6, the insert 36 is also provided with a screw hole 362 in addition to the two injection holes 361 . Threaded holes 362 connect the insert 36 to components such as structural members or on-board equipment.

(4) Control Unit A control unit (not shown) controls the overall operation of the panel processing apparatus 1000 including the installation table mechanism, the moving mechanism, the coating head mechanism, and the insert head mechanism. The control unit is implemented by, for example, a processor such as a CPU (Central Processing Unit) and a program.
The program describes commands corresponding to the operations of the mounting table mechanism, the moving mechanism, the application head mechanism, and the insert head mechanism. By the processor executing the program, the operation of the installation table mechanism, the movement mechanism, the application head mechanism, and the insert head mechanism is realized.
The program is stored in an auxiliary storage device such as an HDD (Hard Disk Drive). The program is loaded from the auxiliary memory to the main memory, which is RAM (Random Access Memory). Then, the processor reads the program from the main memory and executes the program.
By executing the program, the control unit performs "calculation", "calculation", "correction", "detection", "measurement", "movement", "rise", "fall" and "rotation" described in the present embodiment. ”, the movement mechanism, the coating head mechanism, and the insert head mechanism.

***Description of operation***
Next, an operation example of the panel processing apparatus 1000 will be described.
Filling processing and insertion of inserts by the panel processing apparatus 1000 will be described below.

(A) Sealing process First, the details of the sealing process by the panel processing apparatus 1000 will be described.
When the panel 13 is placed on the frame 1, the panel 13 is slid to a desired position by the ball bearings 2 lifted by air.
Next, the panel 13 is fixed on the pedestal 1 by lowering the ball bearings 2 . After that, the user presses the start switch of the panel processing apparatus 1000 . Thereby, the panel processing apparatus 1000 starts the sealing processing operation.

The operation of the coating head 11 will be described.
First, the stage 3 moves to the position of the hole 103 into which the insert 36 is to be inserted. In addition, hereinafter, the “hole 103” means the hole 103 into which the insert 36 is inserted.
Next, the X-axis 4 and Y-axis 9 of the coating head move the coating head 11 to the position of the hole 103 .
Next, the coating head 11 is lowered by the coating head Z-axis 10 and the image processor 25 detects the position of the hole 103 . Based on the detection result of the image processor 25, the X-axis 4 and coating head Y-axis 9 move the mixing mixer 23 directly above the hole 103. FIG.
Next, the dispenser 21 simultaneously discharges the two liquids, and the mixing mixer 23 mixes the two liquids to form the adhesive 110 . The mixing mixer 23 then drops the adhesive 110 into the hole 103 and applies the adhesive 110 to the support structure 109 as shown in FIG. 9(2).

Also, the GFRP suction rod 16 of the coating head 11 sucks the GFRP plate lifted by the GFRP positioning mechanism 17 .
After the adsorption, the GFRP stocker 18 and the GFRP positioning mechanism 17 are retracted by the air cylinder 19 so as to avoid the GFRP adsorption rod 16 .

After the application of the adhesive 110 is completed, the GFRP insertion Z axis 15 lowers the GFRP suction rod 16, and as shown in FIG. bottom plate placement process).

The mixing mixer 23 produces the filler 113 in the same procedure as the application of the adhesive 110, and drops the filler 113 into the hole 103 (filler application step). As a result, as shown in FIG. 10(2), the bottom plate 111 is coated with the filler 113 .

In addition, by the same procedure as the arrangement of the bottom plate 111, the GFRP adsorption rod 16 adsorbs GFRP, the GFRP insertion Z axis 15 lowers the GFRP adsorption rod 16, and as shown in FIG. 11 (1), the push plate Place GFRP as 112 on top of filler 113 . Then, the GFRP adsorption rod 16 presses the push plate 112 (press plate arrangement step).
As a result, the sealing agent 113 is pressed by the pressing plate 112 . The filler 113 protrudes into the gap between the side portion of the bottom plate 111 and the wall surface 105 of the honeycomb core 101 . As a result, as shown in (2) of FIG. 11, the gap is filled with the sealant 113 .

(B) Insertion of Insert Next, details of insertion of the insert by the panel processing apparatus 1000 will be described.

First, the mixing mixer 23 produces the adhesive 114 in the same procedure as the adhesive 110 and the filler 113 , and drops the adhesive 114 into the hole 103 . As a result, the adhesive 114 is applied to the push plate 112 as shown in FIG. 12(1). After that, the coating head 11 is moved to the discard table 12 .
In order to prevent the adhesive from hardening inside the mixing mixer 23, the mixing mixer 23 continues dumping on the dumping table 12 until the insertion of the insert, which will be described later, is completed.

Next, the insert head 7 is moved by the X-axis 4 and the insert head Y-axis 5 so that the insert removal mechanism 31 of the insert head 7 is positioned directly above the insert 36 placed on the tray 37 .
The insert head Z-axis 6 lowers the insert removal mechanism 31 to remove the insert 36 from the tray 37 . Then, the insert removal mechanism 31 installs the removed insert 36 in the insert rotation mechanism 38 .
After the insert 36 is fixed to the insert rotating mechanism 38, the controller calculates the angle at which the gripping claw 47 can be inserted into the injection hole 361 of the insert 36 by the image processor 35, and the insert rotating mechanism 38 rotates based on the calculation result. Rotate to correct the insert 36 position.

The insert gripping mechanism Z-axis 33 is lowered, and the gripping claws 47 are inserted into the injection holes 361 of the insert 36 . At this time, in order to bring the upper surface of the insert 36 and the gripping surface 49 into close contact with each other, the cylinder rod 42 is raised so that the gripping surface 49 conforms to the upper surface of the insert 36 .

After the gripping claw 47 is inserted into the injection hole 361 of the insert 36, the cylinder rod 48 descends and the gripping claw 47 is rotated outward by the cam mechanism.
As the gripping claws 47 rotate outward, a force that presses the upper surface of the insert 36 against the gripping surface 49 acts.
Since curing shrinkage occurs in the adhesive 114 , a force acts to pull the insert 36 downward after being inserted into the hole 103 , but the force can be countered by the grip claws 47 .

The insert gripping mechanism Z-axis 33 is raised, and then the cylinder rod 42 is lowered. By pressing the gripping surface 49 against the insert 36 , the central axis of the insert 36 is fixed parallel to the insert gripping mechanism Z-axis 33 .

Subsequently, the position of the insert 36 is detected by the image processor 39 .
The insert head Z-axis 6 moves the insert head 7 to the hole 103 after the adhesive 114 has been applied. After the position of hole 103 is detected by image processor 35 , insert head Z-axis 6 moves non-contact height sensor 34 to the position of hole 103 .
Next, the non-contact height sensor 34 detects the skin height at a position several millimeters from the edge of the hole 103 .
The non-contact height sensor 34 sets the first detected position to 0°, and measures the height at a total of four points of 90°, 180°, and 270° with the center of the hole 103 as the center of rotation.
From these heights measured by the non-contact height sensor 34, the controller calculates the verticality of the upper surface of the panel 13 and the Z-axis 33 of the insert gripping mechanism.
If there is an error in the verticality, gimbal θy 26 and gimbal θx 27 perform angle correction. In other words, when the insert gripping mechanism 32 does not face the hole 103, the gimbal θy 26 and the gimbal θx 27 are adjusted so that the insert gripping mechanism 32 faces the hole 103 and the insert 36 can be inserted into the hole 103. correct the position of

The insert gripping mechanism Z-axis 33 is then lowered to insert the insert 36 into the hole 103 . At this time, the cylinder rod 42 descends until the upper flange of the insert 36 enters the hole 103, fixing the posture of the gripping surface 49 and the insert 36. As shown in FIG. By fixing the postures of the gripping surface 49 and the insert 36, it is possible to prevent the insert 36 from coming into contact with the burrs of the honeycomb core inside the hole 103 and losing its posture, thereby making it impossible to insert.

After the top flange of the insert 36 has entered, the cylinder rod 42 is raised. As a result, the posture of the gripping surface 49 and the insert 36 becomes free.
After that, the insert 36 is further inserted into the hole 103 and brought into close contact with the gripping surface 49 along the surface of the panel 13, so that the upper surface of the insert 36 can be embedded in parallel with the surface of the panel 13. It becomes possible.

Next, after confirming that there is no problem with the load at the time of insertion by the load cell 40, it waits until the adhesive 114 hardens.
At this time, the heating mechanism 46 can transfer heat to the adhesive 114 to speed up the curing.
It should be noted that if the cure shrinkage of the adhesive 114 is within the height regulation range, it may be left uncured or semi-cured.

After waiting, the insert gripping mechanism 32 returns the outwardly rotated gripping claws 47 to their original vertical positions to release the insert 36 .

After that, the non-contact height sensor 34 acquires the height of the skin surface of the insert 36 and the panel 13, and checks whether the step is within the specified value.
If the step is within the prescribed value, the insertion of the insert 36 is completed.

***Description of the effect of the embodiment***
As described above, according to the present embodiment, by using the panel processing apparatus 1000, sealing can be performed without manual work. Therefore, according to the present embodiment, there is no individual difference in the amount of filling agent and/or how the filling agent is spread over the honeycomb core, and appropriate filling can always be performed.
That is, in this embodiment, the GFRP is taken out from the cartridge and inserted into the hole 103 with an air chuck. After that, a two-liquid mixture type filler 113 is mixed and applied by a static mixer, and by inserting the GFRP again, the filler 113 can be spread around the GFRP to seal the surrounding honeycomb core. It is possible.

Further, in the present embodiment, by using the panel processing apparatus 1000, the insert 36 can be inserted without manual intervention. Therefore, according to the present embodiment, the time required for inserting the insert 36 can be shortened. Further, by using the panel processing apparatus 1000, the difference in height between the insert 36 and the skin surface of the panel 13 does not fall outside the set range, and the insert 36 does not need to be removed and replaced. Also, there is no need to grind the insert 36 .

Further, in the present embodiment, by finely adjusting the angle of the insert 36 with the insert rotation mechanism 38, the grasping claws 47 can be accurately inserted into the injection hole 361. FIG.

Further, in the present embodiment, the gripping claw 47 inserted into the injection hole 361 is rotated by the cam mechanism to generate an upward force component. Therefore, the frictional force and the component force are combined, and the downward force due to curing shrinkage can be counteracted.

Moreover, the panel processing apparatus 1000 according to the present embodiment includes a gimbal mechanism (gimbal θy 26 and gimbal θx 27 ) that adjusts the insertion angle of the insert 36 .
The gimbal mechanism performs rotation correction based on the calculation result of the relative angle between the panel surface and the insertion axis. This correction allows insert 36 to be inserted vertically into hole 103 .

Further, in this embodiment, the movable range of the gripping claws 47 can be controlled by adjusting the air pressure acting on the cylinder rod 48 . Therefore, according to the present embodiment, by adjusting the air pressure, minute errors due to the absolute accuracy of the actuator and/or the resolution limit of the image processor 39 can be absorbed.

After inserting insert 36 into hole 103, it is necessary to hold insert 36 until adhesive 114 hardens.
In this embodiment, a heater rod is provided inside the gripping claws 47, and the holding time can be shortened by conducting and heating the adhesive 114 with the heater rod.

Further, according to the present embodiment, after the insert 36 is inserted into the hole 103, it is possible to prevent height deviation due to burrs in the honeycomb core, hardening shrinkage of the adhesive 114, and the like.

Embodiment 2.
In this embodiment, differences from the first embodiment will be mainly described.
Matters not described below are the same as those in the first embodiment.

In this embodiment, an insert gripping mechanism 320 shown in FIG. 7 is used instead of the insert gripping mechanism 32 shown in FIG. 6 of the first embodiment. In FIG. 7 , elements other than the insert gripping mechanism Z-axis 33 correspond to the insert gripping mechanism 320 . The insert gripping mechanism Z-axis 33 and load cell 40 are the same as those shown in FIG.

The insert gripping mechanism 320 uses an elastic body 50 instead of the compression spring 43 . The elastic body 50 has a function of making the gripping surface 49 conform to the surface of the panel 13 .
Also, the electric gripper 51 slides the grip claws 47 in parallel.
That is, after the two gripping claws 47 are inserted into the two injection holes 361 , the electric gripper 51 moves each gripping claw 47 toward the other gripping claw 47 or away from the other gripping claw 47 . or to move it in parallel. As a result of the parallel movement, the two gripping claws 47 come into contact. The two gripping claws 47 thus grip the insert 36 .

After inserting the gripping claws 47 into the injection hole 361 , the electric gripper 51 closes the gripping claws 47 (translates the gripping claws 47 in a direction in which the distance between the gripping claws 47 becomes narrower), for example. grips the insert 36 .
At this time, since the elastic body 50 is deformed when the grip surface 49 hits the surface of the panel 13, the insert 36 can be inserted into the hole 103 with the surface of the panel 13 and the insert 36 parallel.
As described above, the electric gripper 51 opens the gripping claws 47 (translates the gripping claws 47 in the direction in which the distance between the gripping claws 47 increases) to allow the gripping claws 47 to grip the insert 36 . good too.

In the present embodiment, as compared with the case of the first embodiment, since the gripping force is only the frictional force, the force against curing shrinkage of the adhesive 114 is small.
Therefore, this embodiment can be applied to the case of using the adhesive 114 with small cure shrinkage.

Embodiment 3.
In this embodiment, differences from the first embodiment will be mainly described.
Matters not described below are the same as those in the first embodiment.

FIG. 8 shows a height holding jig 52 and an insert 36 according to this embodiment.
(1) of FIG. 8 is a perspective view showing a state in which the height holding jig 52 and the insert 36 are connected. ( 2 ) of FIG. 8 shows the internal state of the height holding jig 52 and the insert 36 .
In this embodiment, a height holding jig 52 is connected above the insert 36 .
A hole 54 for inserting a screw 60 is provided in the center of the height holding jig 52 . By inserting a screw 60 into the hole 54 and tightening the screw 60, the insert 36 and the height holding jig 52 can be connected.

A height adjustment step 55 is provided on the surface that contacts the insert 36 . The height of the insert 36 after temporary fixing can be adjusted by the step amount of the height adjustment step 55 .
The dimension (diameter) of the height holding jig 52 is larger than the diameter of the hole 103 . Therefore, when the insert 36 is inserted into the hole 103 while being connected to the height holding jig 52 , the height holding jig 52 is placed on the panel 13 . Therefore, the height holding jig 52 can suspend and support the insert 36 .
The gripping holes 53 are holes for gripping the height holding jig 52 with the gripping claws 47 . That is, in the present embodiment, the insert gripping mechanism 32 grips the insert 36 by inserting the gripping claws 47 into the gripping holes 53 and gripping the height holding jig 52 . Then, the insert gripping mechanism 32 inserts the insert 36 connected to the height holding jig 52 into the hole 103 .

In Embodiment 1, after the insert 36 is inserted into the hole 103, the insert gripping mechanism 32 needs to grip the insert 36 until the adhesive 114 hardens or the height falls within the specified range. Therefore, the insert gripping mechanism 32 cannot proceed to the next operation until the adhesive 114 hardens or the height falls within the specified range.
In this embodiment, the height holding jig 52 is installed on the tray 37 in a state where the height holding jig 52 and the insert 36 are connected in advance. Then, the insert gripping mechanism 32 inserts the gripping claws 47 into the gripping holes 53 to grip the height holding jig 52 and the insert 36 , and moves the insert 36 connected to the height holding jig 52 into the hole 103 . insert into
Since the height holding jig 52 suspends and supports the insert 36, the insert gripping mechanism 32 does not need to wait for hardening of the adhesive 114 after insertion. That is, the gripping claws 47 can be released from the gripping holes 53 and the insert gripping mechanism 32 can be moved to grip the next insert 36 . As a result, the cycle time can be shortened.
Then, after the adhesive 114 hardens or the height falls within the prescribed range, the screws 60 are removed and the height holding jig 52 is removed from the insert 36 .

As described above, in the present embodiment, by using the height holding jig 52, work efficiency can be improved.

Although the first to third embodiments have been described above, two or more of these embodiments may be combined for implementation.
Alternatively, one of these embodiments may be partially implemented.
Alternatively, two or more of these embodiments may be partially combined for implementation.
Also, the configurations and procedures described in these embodiments may be changed as necessary.

REFERENCE SIGNS LIST 1 pedestal 2 ball bearing 3 stage 4 X-axis 5 insert head Y-axis 6 insert head Z-axis 7 insert head 8 insert supply table 9 coating head Y-axis 10 coating head Z-axis 11 coating head , 12 throwaway stand, 13 panel, 14 base plate, 15 GFRP insertion Z axis, 16 GFRP suction rod, 17 GFRP positioning mechanism, 18 GFRP stocker, 19 air cylinder, 20 dispenser Z axis, 21 dispenser, 22 liquid container, 23 mixing Mixer, 24 anti-drip mechanism, 25 image processor, 26 gimbal θy, 27 gimbal θx, 28 base plate, 29 base plate, 30 base plate, 31 insert extraction mechanism, 32 insert gripping mechanism, 33 insert gripping mechanism Z-axis, 34 non-contact Height sensor, 35 Image processor, 36 Insert, 37 Tray, 38 Insert rotation mechanism, 39 Image processor, 40 Load cell, 41 Air cylinder, 42 Cylinder rod, 43 Compression spring, 44 Air cylinder, 45 Parallel pin, 46 Heating mechanism 47 gripping claw 48 cylinder rod 49 gripping surface 50 elastic body 51 electric gripper 52 height holding jig 53 gripping hole 54 hole 55 height adjustment step 60 screw 101 honeycomb core 102 Skin material 103 Hole 105 Wall surface 109 Support structure 110 Adhesive 111 Bottom plate 112 Push plate 113 Filler 114 Adhesive 320 Insert gripping mechanism 361 Injection hole 362 Screw hole 1000 Panel processing device .

Claims (13)

a bottom plate arranging mechanism for arranging the bottom plate on a support structure provided in a hole provided in a panel using a honeycomb core;
a filler applicator for applying a filler to the top surface of the bottom plate to close a gap between the side surface of the bottom plate arranged in the support structure and the wall surface of the honeycomb core;
A panel processing apparatus, comprising: a push plate arranging mechanism for arranging a push plate on the bottom plate to which the filler is applied, and pushing the push plate to make the filler protrude into the gap. The panel processing device further comprises:
2. The panel processing apparatus according to claim 1, further comprising an insert arranging mechanism for inserting an insert into said hole and arranging said insert on said push plate after said filler protrudes into said gap. The insert is provided with an injection hole at the top for injecting a filler after the insert is placed on the push plate,
The insert placement mechanism includes:
A gripping claw capable of gripping the insert by inserting into the injection hole from above the injection hole,
3. The panel processing apparatus according to claim 2, wherein said gripping claws are inserted into said injection hole from above said gripping claws, said insert is gripped by said gripping claws, and said insert is inserted into said hole. The insert placement mechanism includes:
disposing the gripping claws above the insert to grip the insert;
The panel processing device further comprises:
When the gripping claws are arranged above the insert by the insert arranging mechanism and the gripping claws do not face the injection hole, the insert arrangement mechanism causes the gripping claws to face the injection hole. 4. The panel processing apparatus according to claim 3, further comprising a first position correction mechanism for correcting at least one of the position of the insert and the position of the insert. The insert is provided with two injection holes,
The insert placement mechanism includes:
Equipped with two gripping claws corresponding to the two injection holes,
The two gripping claws can be in a non-contact state in which each gripping claw is not in contact with the injection hole, and a contact state in which each gripping claw is pressed against the inner surface of the injection hole,
The two gripping claws are inserted into the two injection holes in the non-contact state, and after inserting the two gripping claws into the two injection holes, the two gripping claws are in the contact state to remove the insert. 4. The panel processing apparatus according to claim 3, which is gripped. The insert placement mechanism includes:
After inserting the two gripping claws into the two injection holes, each gripping claw is pulled up obliquely upward in a direction away from the other gripping claw centering on the root portion of each gripping claw, and the two gripping claws are lifted as described above. 6. The panel processing apparatus according to claim 5, wherein the contact state is established. The insert placement mechanism includes:
After inserting the two gripping claws into the two injection holes, each gripping claw is translated in either a direction approaching the other gripping claw or a direction away from the other gripping claw so that the two gripping claws are moved in parallel. 6. The panel processing apparatus according to claim 5, wherein the contact state is set. The insert placement mechanism includes:
6. The panel processing apparatus according to claim 5, wherein said two gripping claws are brought into said non-contact state and said contact state by adjusting air pressure. The filling agent application mechanism is
equipped with a static mixer,
2. The panel processing apparatus according to claim 1, wherein the static mixer is used to mix a plurality of liquid agents to generate the filling agent, and the generated filling agent is applied to the upper surface of the bottom plate. The insert placement mechanism includes:
positioned over the hole while gripping the insert for inserting the insert into the hole;
The panel processing device further comprises:
If the insert arranging mechanism does not face the hole when the insert arranging mechanism grips the insert and is arranged above the hole, the insert arranging mechanism may face the hole. 3. The panel processing apparatus according to claim 2, further comprising a second position correction mechanism for correcting the position of the insert arrangement mechanism. The panel processing device further comprises:
an adhesive application mechanism that applies an adhesive to an upper surface of the push plate before the insert placement mechanism places the insert on the push plate;
3. The panel processing apparatus according to claim 2, further comprising a heating mechanism for heating the adhesive after the insert is arranged on the push plate by the insert arrangement mechanism. The insert is connected above the insert to a jig that suspends and supports the insert when the insert is inserted into the hole by the insert placement mechanism,
The insert placement mechanism includes:
3. The panel processing apparatus according to claim 2, wherein the jig is gripped to grip the insert and insert the insert into the hole. a bottom plate placement step in which the bottom plate placement mechanism places the bottom plate on a support structure provided in a hole provided in a panel using a honeycomb core;
a filling material application step in which a filling material applying mechanism applies a filling material to the top surface of the bottom plate for closing a gap generated between the side surface of the bottom plate arranged on the support structure and the wall surface of the honeycomb core; and,
A push plate arranging step in which a push plate arranging mechanism arranges a push plate on the bottom plate to which the filler is applied, and pushes the push plate to cause the filler to protrude into the gap. Method.

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