JP3179725U - Adhesive applicator - Google Patents

Abstract

The present invention proposes that an adhesive to be applied to a window glass is formed into a bead having a constant cross-sectional shape on the peripheral surface of the window glass and damages a primer layer which is a base treatment of the window glass. There is provided an adhesive application device having a small installation area.
An adhesive application device includes a vertical movement device for an adhesive application nozzle and a rotation device for the adhesive application nozzle. This vertical movement device includes a laser sensor 203 and a servo motor 101 disposed above the discharge port 211 of the adhesive application nozzle 210, and the laser sensor measures the distance between the discharge port and the window glass. The servo motor moves the adhesive application nozzle up and down according to information obtained from the distance between the discharge port of the adhesive application nozzle measured by the laser sensor and the window glass. The rotating device rotates the nozzle in a direction in which the notch 211a of the discharge port is positioned on the back side in the moving direction of the window glass.
[Selection] Figure 1

Description

The present application relates to an adhesive application device that applies an adhesive to the peripheral surface of an automotive wind glass. Specifically, the present invention relates to an adhesive application device that controls a distance between an adhesive discharge port of an adhesive application nozzle and a window glass with a laser sensor.

The adhesive that attaches the windshield to the automobile needs to create a bead having a constant shape with a continuous cross section. Glass differs in material from steel, etc., and wind glass has variations in initial in-plane stress due to its properties, and the shape of the wind glass varies from one individual to another.

If the distance between the surface of the wind glass and the coating nozzle is not always kept constant, the adhesive will not be able to create a bead with a constant cross-sectional shape and a precise continuous bead will be formed. If this is not possible, the window glass cannot be properly bonded to a predetermined part of the automobile, and water leakage or dropping off may occur. Furthermore, the coating nozzle may come into contact with the windshield and damage the windshield.

In order to keep the distance between the surface of the window glass and the coating nozzle constant, a contact sensor is provided between the surface of the window glass and the coating nozzle, and the information obtained from the contact sensor is processed and processed. Controlling the position is the most reliable method. However, when a contact sensor is used, there is a risk of damaging the primer layer, which is the ground glass surface treatment.

Moreover, in order to always keep the distance between the surface of the wind glass and the coating nozzle constant while holding the coating nozzle by the robot hand and applying the adhesive to the peripheral surface of the wind glass, a time lag is likely to occur. In order to eliminate this time lag, an arithmetic device having a large processing capacity is required. Furthermore, considering the turning range of the robot arm, a large space is required.

Published Patent Publication No. 58-156367 Published Patent Publication No. 60-193016 Japanese Patent Laid-Open No. 3-135468 JP 10-15456 A

In the present invention, the adhesive applied to the windshield is formed into a bead having a constant shape with a cross-sectional mountain shape on the peripheral surface of the windshield, and without damaging the primer layer which is the ground treatment of the windshield, An adhesive application device having a small installation area is provided.

The device of the present application simplifies the movement of the adhesive application nozzle by moving the three-dimensional Z axis up and down without causing the robot's hand to hold the adhesive application nozzle. To do. On the other hand, the robot hand holding and holding the wind glass is rotated so that the peripheral surface of the rotating wind glass always passes a fixed point, and the peripheral surface of the wind glass passing this fixed point is opposed to the adhesive application nozzle at a right angle (always A 6-axis robot is used (the circumferential surface passing through the fixed point is perpendicular to the Z axis).

The adhesive application device of the present application includes a vertical movement moving device for the adhesive application nozzle and a rotation device for the adhesive application nozzle. In this vertical movement device, a laser sensor is disposed above the discharge port of the adhesive application nozzle. This laser sensor calculates the distance between the window glass and the laser sensor by calculating the angle at which the laser of the projector element is reflected from the window glass or the time until the laser of the projector element is reflected from the window glass. taking measurement. This information is A / D converted and sent to the central information processing device. The central information processing device calculates the distance between the discharge port of the adhesive application nozzle and the surface of the window glass, operates the servo motor, Obtain the desired distance between the windshield surfaces.

In response to a command from the central information processing device, the servo motor rotates the threaded rod provided in the speed reducer connected by the pulley belt, and is screwed to the threaded rod, and the adhesive is attached to the threaded member supported by the guide. A moving table provided with an application nozzle is attached, and the adhesive application nozzle is moved up and down.

The rotation device for the adhesive application nozzle is composed of a servo motor and a rotation unit for the adhesive application nozzle. The servo motor stores the shape of the window glass in the central information processing device in advance and based on the command of the central information processing device. The adhesive application nozzle is rotated in a direction in which a notch of an adhesive discharge port for forming an adhesive bead having a mountain-shaped cross section is positioned on the back side in the moving direction of the window glass.

Since the adhesive application device of the present application measures the distance between the adhesive discharge port and the window glass with a laser sensor, it does not damage the primer layer that is the ground treatment of the window glass.

The adhesive application device of the present application has a quick response to information from the laser sensor because the adhesive application nozzle only moves up and down along the Z axis in the three-dimensional space. For this reason, a continuous and stable bead having a cross-sectional mountain shape can be formed along the periphery of the window glass.

Since the adhesive application nozzle rotates and the notch of the adhesive discharge port is positioned on the back side in the moving direction of the window glass, the adhesive application device of the present application is provided with a continuous and stable bead having a mountain-shaped cross section. It can be formed along the periphery.

Since the adhesive application device of the present application does not allow the robot hand to hold the adhesive application nozzle, the installation area can be reduced.

It is a perspective view of this application adhesive applicator. It is a front view of this-application adhesive agent coating apparatus. It is a side view of this application adhesive application apparatus. It is explanatory drawing which shows the relationship between this-application adhesive agent coating apparatus, a turntable, and window glass. It is a top view of the state which put the window glass on the turntable. It is a principal part enlarged view of the laser sensor which concerns on this-application adhesive agent coating apparatus, and an adhesive discharge outlet. It is application | coating explanatory drawing of an adhesive agent.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. Symbols (or numbers) in these drawings are omitted in the case of common members. Further, in the figure, the case where the member is clear is also omitted. These drawings are schematically drawn for explaining the present invention, and the present invention is not limited to these drawings.

FIG. 1 is a perspective view of the adhesive application device 10 of the present application. The adhesive applicator 10 includes an adhesive applicator nozzle vertical movement device 100 and an adhesive applicator nozzle rotation device 200.
The vertical movement apparatus 100 for the adhesive application nozzle includes a laser sensor 203 disposed above the discharge port 211 of the adhesive application nozzle 210, and a servo motor 101.
The laser sensor 203 measures the distance between the laser sensor 203 and the surface of the window glass, sends the measured distance information to the central information processing device, the central information processing device calculates based on the distance information, and The distance between the discharge port 211 of the adhesive application nozzle 210 and the surface of the window glass W is calculated, and the adhesive application nozzle 210 is moved up and down via the servo motor 101, so that the discharge port 211 of the adhesive application nozzle 210 A desired distance between the windshields W is obtained.
The adhesive application device 10 is sent from the pipe 210 in the heat insulating material protection pipe 220 to the discharge port 211 of the adhesive application nozzle 210. This laser sensor 203 measures the distance to the wind glass by calculating the angle at which the laser of the light projecting element is reflected from the window glass or the time until the laser of the light projecting element is reflected from the window glass. To do. This information is A / D converted and sent to the central information processing apparatus, and the central information processing apparatus operates the servo motor 101 to obtain a desired distance between the adhesive application nozzle 210 and the wind glass surface. In the figure, the laser sensor 203 is of a type that calculates the distance by measuring the angle at which the laser R is reflected from the window glass W.

FIG. 2 is a front view of the adhesive application device 10 of the present application, and FIG. 3 is a side view of the adhesive application device 10 of the present application.
The central processing unit operates the servo motor 101 by obtaining information from the laser sensor 203. The servo motor 101 is connected to a speed reducer 102 by a belt. The speed reducer 102 rotates a rod 106 having a male screw, and guides a screwing member 105 having a female screw to be screwed into the male screw with a guide 104. To move up and down. This vertical movement can be moved up and down using a rack instead of the rod 106 provided with the male screw described above by using a bevel gear on the shaft of the speed reducer and changing the axial direction to attach a pinion gear.

The female thread screwing member 105 is fixed to a movable table 103 to which an adhesive application nozzle 210 and a servo motor 201 for rotating the adhesive application nozzle 210 are attached. Accordingly, the discharge port 211 of the adhesive application nozzle 210 always moves up and down on the Z axis passing through a fixed point in the three-dimensional space. Since the movement of the adhesive application nozzle 210 is a simple linear movement, it can react accurately and quickly based on information from the laser sensor 203.

Therefore, the distance between the discharge port 211 of the adhesive application nozzle 210 and the window glass W is accurately maintained, and a continuous mountain-shaped bead is formed from the notch 211a of the discharge port 211. Further, the adhesive application device 10 of the present application can reduce the installation area because it is not necessary to consider the swivel range of the arm as compared with the adhesive application device that causes the robot arm to hold the adhesive application nozzle 210. Yes, it can be manufactured at a lower cost.

FIG. 4 is an explanatory view when an adhesive is applied to the window glass W. FIG. The sixth axis of the robot hand 300 holding the turntable 302 that sucks and fixes the windshield W with the suction pad 301 rotates, and the peripheral surface of the rotating windshield W always passes through the fixed point F and passes through this fixed point. The peripheral surface of the window glass W is controlled to face the adhesive application nozzle 210 at a right angle.

FIG. 5 is a plan view showing a state in which the window glass is placed on the turntable 302 of the robot hand 300. The window glass W is placed on the suction pad 301 of the turntable 302 so as to rotate around the center point O. Although not shown, the center point O is always at a predetermined position by using a positioning device for the window glass W.
The window glass W on which the rimer layer P is formed on the peripheral surface in advance is rotated and controlled along the virtual line Q stored by teaching so as to pass through a fixed point F in the space on the rimer layer P.

The adhesive application nozzle 210 moves on a vertical line with respect to the paper surface passing through the fixed point F based on the information of the laser sensor 203 while maintaining a desired distance between the window glass W and the discharge port 211 of the adhesive application nozzle 210. The peripheral surface of the window glass W is under the discharge port 211 of the adhesive application nozzle 210 and goes around the imaginary line Q shown in FIG.

FIG. 6 is an enlarged view of the discharge port 211 of the adhesive application nozzle 210 according to FIG. The discharge port 211 is provided with a notch 211a in an isosceles triangle shape when the discharge port 211 is viewed from the front in order to form a bead B having a mountain-shaped cross section of the adhesive. Further, in order to smoothly discharge the adhesive, the discharge port 211 is provided with a notch 211b in an isosceles triangle shape in the rear view. The size of the notch 211b is not limited, but is approximately 1 / 20th that of 211a. The distance T between the window glass W and the discharge port 211 of the adhesive application nozzle 210 is about 2 to 3 mm in order to avoid contact between the two.

The adhesive application device 10 of the present application includes a rotation device 200 for rotating the adhesive application nozzle 210. In the rotating device 200, the servo motor 201 rotates the rotating unit 202 included in the rotating device 200 to rotate the notch 211 a of the adhesive application nozzle 210 in a direction to be positioned on the back side in the moving direction of the window glass W. The shape of the window glass W is stored in the central information processing device, and the servo motor 201 rotates the rotating unit 202 in the above-described direction based on a command from the central information processing device.

FIG. 7 is an explanatory view of application of an adhesive. The bead B of the adhesive is formed at substantially the center of the primer layer P at a certain distance from the peripheral edge of the window glass W. The adhesive application nozzle 210 follows the shape of the window glass W while keeping the distance T between the surface of the window glass W and the discharge port 211 of the adhesive application nozzle 210 constant by the laser R emitted from the laser sensor 203. Then, the adhesive application nozzle 210 is rotated in a direction to be positioned on the back side in the moving direction of the window glass W. The rotating device 200 rotates only the rotating unit 202 of the rotating device 200 by the servo motor 102 and has a simple rotating mechanism. The bead B having a shape is continuously formed.

DESCRIPTION OF SYMBOLS 10 Adhesive coating apparatus 100 Vertical movement apparatus 101 Servo motor 102 Reduction gear 103 Moving stand 104 Guide 105 Screw member 106 Male thread rod 200 Rotating apparatus 201 Servo motor 202 Rotating part 203 Laser sensor 210 Adhesive application nozzle 211 Discharge port 211a Notch 211b Notch 220 Insulation material protection tube 221 Adhesive piping 300 Robot 301 Adsorption pad 302 Turntable B Bead F Fixed point O Center point P Primer layer R Laser T Distance W Wind glass

Claims (1)

A 6-axis robot that rotates the wind glass that is sucked and gripped, and the peripheral surface of the rotating wind glass always passes through a fixed point, and the peripheral surface of the wind glass that passes through the fixed point is opposed to the adhesive application nozzle at a right angle. And an adhesive application device provided with the adhesive application nozzle for applying an adhesive to the periphery of the rotating windshield,
The adhesive application device includes a vertical movement moving device of the adhesive application nozzle and a rotation device of the adhesive application nozzle. The vertical movement movement device of the adhesive application nozzle is a discharge port of the adhesive application nozzle. A laser sensor and a servo motor disposed on the upper portion of the sensor, the laser sensor measures the distance between the laser sensor and the surface of the wind glass, and sends the measured distance information to the central information processing device. The central information processing device calculates based on the distance information, calculates a distance between the discharge port of the adhesive application nozzle and the surface of the window glass, and based on the calculated distance, the adhesion is performed by the servo motor. Move the agent application nozzle up and down,
The rotation device for the adhesive application nozzle includes a servo motor and a rotation unit for the adhesive application nozzle. The servo motor stores the shape of the window glass in the central information processing device in advance, and The rotation of the adhesive application nozzle in a direction in which a notch of the discharge port of the adhesive application nozzle for forming an adhesive bead having a cross-sectional chevron shape is positioned on the back side of the moving direction of the window glass. An adhesive application device characterized by rotating a part.

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