JP2023088167A - Seal material sticking device - Google Patents

Abstract

To provide a seal sticking device capable of inexpensively and appropriately sticking a seal material to a workpiece.SOLUTION: A seal material sticking device includes a seal material supply section for supplying a seal material. The seal material supply section has: a first roller for positioning a belt-shaped seal material; a second roller arranged in a vertical downward direction with respect to the first roller and at a position where the roller surfaces face each other; a third roller spaced from the first roller in a seal material feeding direction and arranged at substantially the same height as the first roller in a vertical direction; a fourth roller arranged obliquely downward in the seal material feeding direction based on the third roller; a fifth roller arranged obliquely upward in the seal material feeding direction based on the fourth roller; a sixth roller spaced apart from the fifth roller in the seal material feeding direction; and a seventh roller arranged in the vertical downward direction with respect to the sixth roller and at a position roller surfaces face each other.SELECTED DRAWING: Figure 4

Description

The present invention relates to a sealing material sticking device.

Conventionally, in a waterproof cover for an automobile door called a service hole cover, which is one of automobile parts, for example, in order to ensure the sealing between the cover and other parts, it is formed with resin etc. along the periphery of the cover. A flexible and elongated sealing material is attached. Various inventions have been made relating to a seal sticking apparatus that automatically sticks such a seal material (see Patent Documents 1 and 2, for example).

Japanese Laid-Open Patent Publication No. 2004-100002 discloses a seal delivery device configured to deliver a sticker to a fixed sticking position in a work space, and a seal delivery device configured to hold a work and move the work relative to the sticking device. A technology related to a seal sticking device including a multi-joint type robot arm is disclosed.

Further, Patent Document 2 discloses a seal tape guide mechanism for guiding a seal tape from a seal tape supply device along a guide rail to a seal tape applying mechanism for applying the seal tape to a work, and a mechanism for guiding the seal tape to the work. , a technique relating to an automatic sealing tape sticking apparatus for sticking a stretchable and flexible sealing tape made of urethane foam or the like.

JP 2018-24205 A JP-A-8-300489

However, the above-described conventional seal sticking apparatus requires a dedicated power source for the seal feeding operation or the seal feeding operation by the seal feeding device or the seal tape feeding device. As a result, the cost of attaching the seal to the work is high.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a seal applying device capable of inexpensively and appropriately applying a seal material to a work.

In order to achieve the above object, a sealant sticking apparatus according to the present invention is a sealant sticking apparatus comprising a sealant supply unit that supplies a sealant, wherein the sealant supply unit includes a band-shaped sealant. a first roller for positioning the first roller, a second roller arranged vertically downward with respect to the first roller and at a position where the roller faces face each other; and a third roller arranged at approximately the same height in the vertical direction as the first roller, and arranged diagonally below the third roller in the sealing material delivery direction and at a position where the third roller and the roller face face each other. a fifth roller disposed diagonally above the fourth roller in the sealing material feeding direction and at a position where the roller face faces the fourth roller; and the fifth roller as a reference. and a seventh roller arranged vertically downward with respect to the sixth roller at a position where the roller faces face each other. , the sealing material passes between the first roller and the second roller, then passes below the third roller, above the fourth roller, below the fifth roller in this order, and passes between the sixth roller and the seventh roller It is characterized in that it is formed so as to pass through and deliver.

According to another aspect of the present invention, the sealing material applying device has a workpiece gripping section, and the workpiece gripping section is positioned at a feeder reference position between the sixth roller and the seventh roller of the sealing material supply section. The work gripping portion is capable of moving the work in a state in which the sticking positions of the work as the object to be stuck with the sealing material held by the two are opposed to each other.

According to another aspect of the present invention, the workpiece gripping section of the seal sticking device is connected to a control robot.

According to the present invention, it is possible to provide a seal applying device capable of inexpensively and appropriately applying a seal material to a work.

1 is a diagram showing an example of the overall configuration of a sealant sticking device according to an embodiment; FIG. FIG. 2 is a diagram showing an example of a work that is an object to which the sealing material according to the present embodiment is attached; It is a figure which shows the structural example of the sealing material supply part which concerns on this embodiment. It is a side view for explaining a roller concerning this embodiment. It is a figure which shows the structural example of the workpiece|work holding part which concerns on this embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.

[Configuration example of sealing material sticking device]
FIG. 1 is a diagram showing an example of the overall configuration of a sealing material sticking device according to this embodiment.

A sealing material sticking apparatus 1 shown in FIG. In this sealing material sticking apparatus 1, first, the control robot 4 causes the work gripping section 3 to grip the work 5 (target article). Next, the control robot 4 affixes the sealing material 6 supplied from the sealing material supplying section 2 to the periphery of the workpiece 5 gripped by the workpiece gripping section 3 .

The sealing material supply unit 2 is a sealing material supplying means for supplying the sealing material 6 to be attached to the peripheral edge of the work 5 . The details of the sealing material supply unit 2 will be described later with reference to FIGS. 3 and 4. FIG.

The work gripping part 3 is work gripping means for gripping the work 5 . The workpiece gripper 3 is connected to the control robot 4 via a flat connecting plate 41 . The details of the workpiece gripper 3 will be described later with reference to FIG.

The control robot 4 is a 6-axis articulated robot whose arm tip is connected to the workpiece gripper 3 via a connection plate 41 and controls the operation of the workpiece gripper 3 . The operation of the control robot 4 is controlled by a control device (not shown). Specifically, the workpiece 5 is gripped by the workpiece gripper 3, and then the gripped workpiece 5 is moved to the feeder reference position Rp (see FIG. 4) of the sealing material supply unit 2, and the bonding position of the peripheral edge of the workpiece 5 is moved to the feeder. While being opposed to the reference position Rp, it is moved in accordance with the shape and inclination of the sticking position on the peripheral edge of the work 5, and the operation is controlled so that the sealing material 6 is stuck.

The work 5 is an article to which the sealing material 6 is attached. For example, it is a service hole cover (see FIG. 2), which is one of automobile parts, and a sealing material 6 is attached along the periphery thereof. The works 5 are stacked one by one at a predetermined storage position, and the surface of the sealing material 6 opposite to the sticking surface is suction-held by the work gripper 3 one by one.

FIG. 2 is a diagram showing an example of a work, which is an object to which the sealing material according to the present embodiment is applied.

The work 5 shown in FIG. 2 is an example of a service hole cover, and shows a view of the work 5 as viewed from the surface to which the sealing material 6 is adhered. A pasting area 51 surrounded by a dotted line frame in the figure is a pasting position of the sealing material 6 on the peripheral edge of the work 5 . In FIG. 2, the attachment area 51 appears to be on the same plane, but actually has a three-dimensional structure including an inclination along the uneven shape of the work 5. As shown in FIG. Also, a plurality of (three in FIG. 2) guide holes 52 are provided.

Returning to FIG. 1, the sealing material 6 is a sealing material made of a soft material such as EPDM (Ethylene Propylene Diene Methylene) rubber foam. For example, it is EPT-SEALER (registered trademark), but it is not limited to EPT-SEALER, and other sealing materials may be used.

Further, although the details will be described later with reference to FIG. 4 , a backing paper 61 is attached to the upper surface of the sealing material 6 , and the backing paper 61 is peeled off when passing through the rollers 24 .

As described above, in the sealing material sticking apparatus 1 according to the present embodiment, the control robot 4 first causes the workpiece gripper 3 to grip the workpiece 5 . Next, the control robot 4 affixes the sealing material 6 supplied from the sealing material supplying section 2 to the affixing area 51 on the peripheral edge of the work 5 gripped by the work gripping section 3 .

[Configuration example of sealing material supply part]
FIG. 3 is a diagram showing a configuration example of a sealing material supply unit according to the present embodiment. In the following description, the same components as those described above are given the same reference numerals, and duplicate descriptions are omitted as appropriate.

The sealing material supply unit 2 shown in FIG. It has a roller 24f and a seventh roller 24g (hereinafter collectively referred to as "roller 24").

The sealing material supply unit 2 supplies the rolled sealing material 6 set on the reel 21 in accordance with the operation of the control robot 4 (see FIG. 1).

The reel 21 is sealing material holding means having a spool portion 21 a around which the rolled sealing material 6 is wound, and is attached to the reel mounting portion 22 . It should be noted that the sealing material 6 is preliminarily wound around the spool portion 21a, and the reel unit can be replaced.

The reel mounting portion 22 is a reel mounting means for mounting the reel 21. The reel mounting portion 22 includes a spool shaft 22a that rotatably supports the spool portion 21a, and a doughnut-shaped plate-like member disposed on the side of the reel 21. A washer portion 22b, a fixing portion 22c detachably attached to the spool shaft 22a outside the washer portion 22b, and an elastic body 22d such as a spring provided around the spool shaft 22a between the washer portion 22b and the fixing portion 22c. and

The reel mounting portion 22 functions as a reel pressing mechanism that presses the reel 21 from the side (only one side is shown in FIG. 3) by a washer portion 22b, a fixing portion 22c and an elastic body 22d.

The fixing part 22c is, for example, a one-touch stopper, and by arranging and fixing the one-touch stopper in a state of being close to the reel 21 side, the washer part 22b and the reel 21 are urged by the elastic body 22d, and the reel 21 is backed up. Rush, that is, swinging back due to inertia can be prevented. In addition, replacement of the reel 21 is facilitated by using a one-touch stopper.

The frame body 23 is, for example, a metal frame that supports the reel 21 and the reel mounting portion 22 . The structure of the frame body 23 can be appropriately changed in design depending on the installation position in the production line.

The roller 24 is sending means for sending the sealing material 6 wound around the reel 21 . The rollers 24 are composed of a first roller 24a to a seventh roller 24g, which will be described later with reference to FIG. It is attached to the frame body 23 so as to face.

The first roller 24a to the seventh roller 24g are so-called grooved rollers in which grooves are formed in contact portions of the sealing material 6, and the depth of the grooves is slightly shorter than the thickness of the sealing material 6. Thereby, when sticking to the workpiece 5, it is possible to stick with a constant pressure.

As described above, the sealing material supply unit 2 according to the present embodiment includes the reel 21, the reel mounting unit 22, the frame body 23, and the roller 24, and the rolled sealing material 6 set on the reel 21 is It is supplied in accordance with the operation of the control robot 4 .

[About the 1st roller to the 7th roller]
FIG. 4 is a side view for explaining the roller according to this embodiment. FIG. 4 shows the rollers 24a to 24g viewed from the axial direction of the rollers.

The sealing material 6 first passes between the first roller 24a and the second roller 24b, then passes below the third roller c, above the fourth roller 24d, below the fifth roller 24e, and finally The sheet is delivered from the right side to the left side in the figure so as to pass between the sixth roller 24f and the seventh roller 24g. A mount 61 is attached to the upper surface of the sealing material 6, and is peeled off when passing under the third roller 24c.

The first roller 24a and the second roller 24b are rollers arranged vertically up and down. The first roller 24a is a guide roller for pulling in the band-shaped sealing material 6 and for aligning the center line, that is, for positioning. The second roller 24b is a pressing roller disposed at a position where the surface of the roller faces the first roller 24a, and presses the sealing material 6 against the first roller 24b from below.

The second roller 24b is preferably coated with a non-adhesive coating to prevent the sealing material 6 from sticking. The non-adhesive coating is a process in which a rough surface is formed on the surface of the roller and a special paint is applied to the surface to prevent sticking of the adhesive. However, the non-adhesive coating may be omitted. Moreover, by using a one-way bearing for the second roller 24b, it is preferable that the one-way roller rotates only in the counterclockwise direction in FIG. However, it does not have to be a one-way roller.

The third roller 24c is a guide roller that is spaced apart from the first roller 24a by a predetermined distance in the feeding direction of the sealing material 6, and is arranged at substantially the same height as the first roller 24a in the vertical direction. This third roller 24c is a so-called peeling roller for peeling the mount 61 from the sealing material 6. As shown in FIG.

The fourth roller 24d is a guide roller disposed diagonally below the third roller 24c in the delivery direction of the sealing material 6 and at a position where the roller surface faces the third roller 24c. The fourth roller 24d draws in the sealing material 6 from which the backing paper 61 has been peeled off by the third roller 24c, and aligns the center line. The fourth roller 24d also serves to assist the backward movement prevention function of the fifth roller 24e, which will be described later.

The fifth roller 24e is a pressing roller that is disposed diagonally above the feeding direction of the sealing material 6 with respect to the fourth roller 24d and at a position where the surface of the roller faces the fourth roller 24d. The fifth roller 24e presses the sealing material 6 from above against the fourth roller 24d, thereby preventing the sealing material 6 from being lifted when the mount 61 is peeled off by the third roller 24c.

A one-way bearing is used for the fifth roller 24e, and is a one-way roller that rotates only clockwise in FIG. This prevents the sealing material 6 from retreating in the direction opposite to the delivery direction when the mount 61 is peeled off by the third roller 24c. Also, the fifth roller 24e is coated with a non-adhesive coating to prevent the sealing material 6 from sticking.

The sixth roller 24f and the seventh roller 24g are rollers arranged vertically above and below at positions spaced apart by a predetermined distance in the feeding direction of the sealing material 6 with respect to the fifth roller 24e. The seventh roller 24g is disposed at a position facing the sixth roller 24f in the vertically downward direction and the roller surface.

The sixth roller 24f is a pressing roller that assists the guide function of the seventh roller 24g, which will be described later, by pressing the sealing material 6 against the seventh roller 24g from above. A one-way bearing is used for the sixth roller 24f, and is a one-way roller that rotates only clockwise in FIG. This prevents the sealing material 6 from retreating in the direction opposite to the delivery direction, similarly to the fifth roller 24e. Also, the sixth roller 24f is coated with a non-adhesive coating to prevent the sealing material 6 from sticking.

The seventh roller 24g is a guide roller for application with constant pressure with proper groove depth. The seventh roller 24g functions as steering when the sealing material 6 is attached to the workpiece 5. As shown in FIG. When the sealing material 6 delivered from the seventh roller 24g is attached to the workpiece 5, the control robot 4 directs the workpiece 5 toward the seventh roller 24g, specifically, toward the feeder reference position Rp facing the seventh roller 24g. The sealing material 6 is pulled out by pressing the same. This eliminates the need for complicated supply power for the sealing material 6 . In order to reduce the force required to pull out the sealing material 6, an air motor to which a certain air pressure is applied may be connected as auxiliary power to the fourth roller 24d to assist the pull-out force. . This is because the coefficient of friction between the sealing material 6 and the roller 24 is small, so it may be necessary to pull the sealing material 6 in order to properly supply the sealing material 6 .

[Configuration example of workpiece gripping part]
FIG. 5 is a diagram showing a configuration example of the work gripping portion according to the present embodiment.

The workpiece gripping portion 3 shown in FIG. 5 includes a base frame 31, a suction portion 32, a workpiece guide 33, a stopper bolt 34, a mounting jig 35, and the like. The workpiece gripper 3 is connected to the tip of the arm of the control robot 4 via a connection plate 41 (see FIG. 1), and is a device for gripping and fixing the workpiece 5 . This is a device for accurately moving the workpiece 5 to the feeder reference position Rp of the sealing material supply unit 2 described above and attaching the sealing material 6 thereon.

The base frame 31 is a lightweight dedicated frame made of aluminum, for example, which is made so as to be able to grip the entire work 5 according to the shape of the work 5 . This base frame 31 is connected to the tip of the arm of the control robot 4 via a connection plate 41 .

The suction part 32 is a so-called suction pad that is attached to the base frame 31 via a mounting jig 35 and holds the work 5 by vacuum suction. In the example shown in FIG. 5, they are arranged at five locations, but according to the shape of the workpiece 5, they are arranged at positions corresponding to planar locations of the work 5 and well-balanced locations.

Although not shown in FIG. 5, a suction hose (not shown) connected to a vacuum pump (not shown) extends from the rear surface of the adsorption unit 32, and negative pressure and release control is performed. done. A plurality of works 5 are usually stacked and stored, and the control robot 4 moves the works 5 to the feeder reference position Rp while the suction unit 32 sucks and holds the works 5 .

The work guide 33 is a pin-shaped component that is attached to the base frame 31 via a mounting jig 35 and has a protrusion 33a that prevents the work 5 from rattling when the work gripping device 3 is operated. In the example shown in FIG. 5, they are arranged at three locations, but they are arranged appropriately according to the guide holes 52 (see FIG. 2) provided on the work 5 side.

When the work 5 is sucked by the suction portion 32 , the work gripping portion 3 and the work 5 are positioned by fitting the work guides 33 into the guide holes 52 provided on the side of the work 5 . The projecting portion 33a of each work guide 33 is stepped, and also contributes to pressing to prevent deformation of the work 5 when the sealing material 6 is applied. In addition, it is configured to be able to withstand the operation of moving while pressing against the work 5 .

The stopper bolt 34 is a pin-shaped component that is attached to the base frame 31 via an attachment jig 35 and prevents deformation of the work 5 when the work 5 is pressed against the sealing material supply portion 2 . In the example shown in FIG. 5, they are arranged at eight locations, but they shall be appropriately arranged according to the shape of the work 5. FIG.

With the above-described configuration, the workpiece gripping unit 3 grips and fixes the workpiece 5, and is controlled by the control robot 4 to accurately move the workpiece 5 to the feeder reference position Rp of the sealing material supply unit 2, thereby sealing the workpiece. Paste material 6.

The size and structure of the workpiece gripper 3 are designed according to the shape of the workpiece 5 . That is, by changing the design of the workpiece gripping unit 3 according to the shape of the workpiece 5 and changing the movement control contents of the workpiece gripping unit 3 (operation program of the control robot 4), the sealing material 6 can be changed according to the shape of the workpiece 5. can be applied automatically.

According to the present embodiment described above, the sealing material can be applied inexpensively and appropriately without requiring a dedicated power source for supplying the sealing material 6 from the sealing material supply unit 2. can be done.

Although one embodiment of the present invention has been described above, the above embodiment shows one application example of the present invention, and the purpose of limiting the technical scope of the present invention to the specific configuration of the above embodiment. isn't it.

For example, in the above description, a service hole cover, which is one of automobile parts, has been taken as an example, but the present invention is not limited to this case. For example, it may be applied to affixing a sealing material to parts used in houses and home electric appliances.

1 sealing material application device 2 sealing material supply unit 3 workpiece gripping unit 4 control robot 5 workpiece 6 sealing material 24a first roller 24b second roller 24c third roller 24d fourth roller 24e fifth roller 24f sixth roller 24g seventh roller

Claims (3)

A sealing material applying device including a sealing material supply unit for supplying a sealing material,
The sealing material supply unit
a first roller for positioning the belt-shaped sealing material;
a second roller arranged vertically downward with respect to the first roller and at a position where the roller faces face each other;
a third roller spaced from the first roller in the sealing material feeding direction and arranged at substantially the same height as the first roller in the vertical direction;
a fourth roller disposed obliquely below the third roller in the sealing material delivery direction and at a position where the third roller faces the roller surface;
a fifth roller disposed obliquely above the fourth roller in the sealing material delivery direction and at a position where the fourth roller faces the roller surface;
a sixth roller spaced apart from the fifth roller in the sealing material delivery direction;
a seventh roller arranged vertically downward with respect to the sixth roller and at a position where the roller faces face each other;
The sealing material passes between the first roller and the second roller, then passes below the third roller, above the fourth roller, below the fifth roller in this order, and passes between the sixth roller and the seventh roller. A sealing material sticking device characterized by being formed so as to pass through and send out. The sealing material sticking device has a work gripping part, and an object to be affixed with the sealing material is held by the work gripping part at a feeder reference position between the sixth roller and the seventh roller of the sealing material supply part. 2. The sealing material sticking apparatus according to claim 1, wherein said workpiece gripping portion can move said work while said sticking positions of said work are opposed to each other. 3. The seal sticking device according to claim 1, wherein the workpiece gripping portion of said seal sticking device is connected to a control robot.

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