JP3315094B2 - Sealing and coating equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for applying and sealing a sealing material using an industrial robot, or for applying and applying a paint.

[0002]

2. Description of the Related Art In a production factory of an automobile maker, especially in an overseas factory, there is an inherent need to unify the robot models in each factory from the viewpoint of operation education, preparation of spare parts, and maintenance and inspection. However, it has been common knowledge that the larger the robot, the higher its price.However, recently, even though it is a large robot, its price is not so expensive and its performance has improved. It is becoming an external environment that can be easily introduced into applications.

[0003] Regarding the sealing gun, a conventional gun
The nozzle (tip) required a contact movement motion or a close movement motion on a door hood, a trunk lid and a panel of an automobile. In recent years, a non-contact type continuous application gun capable of setting an approach distance Z roughly has been developed. (Z = 3
0 to 80 mm)
Because it is acceptable, speeding up has become possible as if it were a painting operation. Therefore, if large spot welding robots with the largest number of operating units can be deployed for sealing and arc welding in robot operations in the same factory, life cycle costs such as maintenance and inspection LCC problems will be significantly improved, and the advantages will be greatly improved. The prospect can be drawn.
The present invention makes this possible.

FIG. 10 is a sectional view for explaining a conventional sealing operation. A sealing material 2 is applied to an outer plate 1 of an automobile door along a joint 3 with an inner plate 9 (see FIG. 13).

FIG. 11 is another sectional view for explaining a conventional sealing operation. The sealing material 2 is applied linearly in the vicinity of the shelf 4 which is the joining portion of the outer plate 1 in a linear manner.

FIG. 12 is a simplified plan view showing a state in which the sealing material 2 is applied near the corner 5 of the outer panel 1 in the prior art. The sealing material 2 is applied along the corners 5.

FIG. 13 is a sectional view showing a part of an engine hood 6 of an automobile. The sealing material 2 is applied to the inner surface of the outer plate 1, the hem portion 7 is bent and joined as indicated by an arrow 8, and the inner plate 9 is attached and fixed. In a region other than the joint between the outer plate 1 and the inner plate 9, the filler 10 is applied in a dotted manner and interposed. The filler 10 is made of a synthetic resin and is also called a mastic.

FIG. 14 is a simplified plan view for explaining a state in which a sealing material 2 is applied to a joint portion of an inner surface of an outer plate 1 of an engine hood 6 of an automobile in the prior art. For example, a sealing gun provided with a sealing material discharge nozzle for applying a sealing material is attached to a working end of a six-axis industrial robot. The sealing gun is moved at a speed Vx1 in a linear portion in the x direction, and is moved near a corner 5 by x The speed Vx2 in the direction is decreased, the speed Vy1 in the y direction is increased, and then the vehicle is moved in the y direction at the speed Vy2. In FIG. 14, the moving speed of the sealing gun attached to the working end of the industrial robot and the electric system command value for driving each of the plurality of axes of the industrial robot are obtained without delay of the operation of each axis. Match. Therefore, the diameter of the curved portion 11 at the corner 5 to which the sealing material 2 is applied can be made relatively small. At this time, the moving speed is relatively low.

FIG. 15 is a diagram for explaining the operation of applying the sealing material 2 in the prior art. This figure corresponds to FIG.
In the same manner as in the sealing work, the sealing material 2 is applied to the inner surface of the outer plate 1 of the engine hood 6 of the automobile, and the speed Vx3 during the linear movement in the x direction is larger than that in FIG. The speed Vy3 is also higher than the speed Vy2 in FIG. In order to move the curved portion 12 of the corner portion 5 at a relatively high speed Vx3, Vy3 at a relatively constant speed in this manner, the acceleration cannot be further increased, so that the diameter of the curved portion 12 must be increased. If you do that,
It becomes difficult to apply the sealing material 2 around the corner 5.

[0010] In the prior art shown in FIG.
In, the sealing gun has a velocity Vx4 in the x direction and a velocity Vy4 in the y direction at the curve 12. The electrical command values applied to each axis of the industrial robot to move the working end on which the sealing gun is mounted are indicated by reference numeral 13 for x-direction movement and for y-direction movement. It is provided as indicated by reference numeral 14. When the sealing gun is moved at a high speed in this manner, the actual execution values of the speeds Vx4 and Vy4 of each axis cause an operation delay as compared with the electric system command values 13 and 14. As described above, in the prior art, the sealing material 2 cannot be applied while moving the curved portion 12 at a constant high speed. In particular, in the case of an industrial robot in which the inertia moment of each arm of each axis is large,
The high-speed operation of the curved portion 12 is not good.

Another prior art for solving this problem is disclosed in Japanese Patent Application Laid-Open No. 5-13899. In this prior art, at the curved portion 12 in FIG. 15 where the sealing operation is performed, the moving speed of the sealing gun is reduced as compared with the linear portion, and the discharge flow rate of the sealing material is reduced in real time corresponding to the reduction in speed. Thus, the sealing material 2 is supplied in a uniform amount along the moving path. Therefore, the discharge flow rate of the sealing material 2 must be controlled in accordance with the moving speed of the sealing gun, which complicates the configuration.

FIG. 16 is a view for explaining a teaching operation when a sealing material is applied to a joint portion between the outer plate 1 and the inner plate 9 of the engine hood 6 of the vehicle in the prior art. A sealing gun is attached to the working end of the 6-axis industrial robot, and the position of the sealing material discharge nozzle of the sealing gun is taught as indicated by a black dot 15 and stored in the control memory of the industrial robot. Stored in advance. When moving the sealing gun at a relatively high speed,
As described in connection with FIG. 15 described above, the velocity Vx4, Vy of the sealing gun by executing the base axis of the industrial robot.
4 is delayed as compared with the electric system command values 13 and 14, the teaching positions 16 to 20 near the corner 5 of the outer plate 1.
Must be accurately set outside the outer panel 1, and these positions 16 to 20 are called prospect points. Therefore, such expected points 16 ~
In order to accurately set 20 and move the nozzle of the sealing gun in the corner 5 at a curved portion having a small radius near the corner 5, a lot of labor is required for teaching.

In the prior art, since the sealing gun is attached to the working end of the industrial robot, the overall outer shape near the working end must be as small as possible, so to speak, so as to have a slim shape. It becomes difficult to perform the sealing operation in the above. The prior art therefore requires a dedicated sealing robot with a slim configuration in the vicinity of such a sealing gun, so that maintenance and its parts can be different from industrial robots such as spot welding, for example. And therefore the so-called life cycle costs LCC
Is expensive.

[0014]

SUMMARY OF THE INVENTION An object of the present invention is to apply a sealing material to a curved portion having a small radius at a high speed, to easily control the sealing material, and to use the sealing material in applications such as spot welding. It is an object of the present invention to provide a seal or a coating device for performing a sealing operation using an industrial robot capable of performing the above-mentioned, and performing coating.

[0015]

The present invention provides: (a) an industrial robot having a wrist axis JT6 provided on the working end 23 of a plurality of base shafts JT1 to JT5; And a seal material discharge nozzle 33 for discharging the seal material. The axis 32 of the nozzle is substantially parallel to the wrist axis JT6 of the working end of the industrial robot in one virtual plane 44,
And the gun 31 which is displaced from the wrist axis JT6 of the working end.
(C) a supply source for supplying the seal material to the gun at a predetermined constant flow rate; and (d) a robot driving means, wherein the seal material discharge nozzle has a first linear portion 66, a first curved portion 67, The working end 23 is moved relative to the minimum diameter of the small-diameter portion of the first curved portion 67 by driving the base shafts JT1 to JT5 so as to move on the second linear portion 68 in this order at a substantially constant moving speed. The nozzle 33 moves to the first curved portion 67
Then, the speed in the x direction along the first linear portion 66 overshooting from the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22 is defined as Vx7,
The speed in the y direction along the second linear portion 68 on the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22 is Vy7, and the nozzle around the wrist axis JT6 on the first curved portion 67 Assuming that the speed in the x direction Vsx by the snap operation of 33 and the speed in the y direction are Vsy, the speed Vx6 in the x direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected as Vx6 = Vx7−Vsx, and The velocity Vy6 in the y-direction due to the angular displacement of 33 around the wrist axis JT6 is selected and moved as Vy6 = Vy7 + Vsy, and the sealing material discharge nozzle is complemented by the angular displacement operation by the wrist axis JT6 in the first curved portion 67. And a robot driving means for moving the robot. Further, the present invention provides (a) an industrial robot in which a wrist axis JT6 is provided on the working end 23 of a plurality of base shafts JT1 to JT5, and (b) a gun which is attached to the working end of the industrial robot. A nozzle 33 for discharging paint is provided, and the axis 32 of the nozzle is substantially parallel to the wrist axis JT6 of the working end of the industrial robot in one virtual plane 44 and deviated from the wrist axis JT6 of the working end. (C) a supply source for supplying paint at a predetermined fixed flow rate to the gun; and (d) a robot driving means, wherein the paint discharge nozzle has a first linear portion 66 and a first curved portion 67. And the second straight portion 68
The working end 23 is driven by the base shafts JT1 to JT5 so that the working end 23 moves upward at a substantially constant moving speed in this order. When the nozzle 33 is moved upward, the first curved portion 67
Then, the speed in the x direction along the first linear portion 66 overshooting from the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22 is defined as Vx7,
Vy7 is the speed in the y direction along the second linear portion 68 on the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22, and the nozzle around the wrist axis JT6 on the first curved portion 67. When the speed in the x direction Vsx by the snap operation of the nozzle 33 and the speed in the y direction are Vsy, the speed Vx6 in the x direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected as Vx6 = Vx7−Vsx, and 33, the velocity Vy6 in the y-direction due to the angular displacement around the wrist axis JT6 is selected and moved as Vy6 = Vy7 + Vsy.
Is a coating apparatus characterized by including a robot driving means that moves by complementing the angular displacement operation by the wrist axis JT6.

According to the present invention, a sealing gun is attached to the working end of an industrial robot having a plurality of (for example, six) axes, such as a large robot for spot welding, and the sealing material / paint discharge of the sealing gun. From the supply nozzle, a sealing material or paint from a supply source is supplied and discharged at a predetermined fixed flow rate. The axis of the nozzle is
It is parallel in one plane with the wrist axis of the working end, and the axis of the nozzle is offset from the wrist axis. Accordingly, by angularly driving the wrist shaft, the nozzle can be angularly displaced at a relatively high speed to perform a so-called snap operation. Thus, when the working end travels at a high speed on a relatively large radius curved trajectory, for example, at the corner of an automobile door skin, the nozzle is snapped at a high speed and a sharp angle at the first curved portion. Can be moved. In this way, the snap operation compensates for the deviation of the nozzle from the first curved portion due to a large moment of inertia when the base shaft such as the arm of the industrial robot moves, and the wrist shaft forms a relatively large radius curve. While allowing the trajectory to be traced, the nozzle enables the first curved portion having a predetermined small radius to be accurately moved, so that the corner can be applied with a sealing material with high accuracy. Become. That is, the first curved portion 67
The trajectory of the working end is relatively large in diameter than the minimum diameter of the small diameter portion. In particular, according to the invention, the working end 23 is
By driving 1 to JT5, the first curved portion 67 is moved on a curve whose diameter is relatively larger than the minimum diameter of the small diameter portion, and the nozzle 33 moves at the speed Vx6, Vy6 in the first curved portion. Accordingly, the movement of the working end 23 due to a large moment of inertia is prevented from deviating from the large-diameter curve. Further, while the working end 23 is moving along the large-diameter curve, the sealing material discharge nozzle is moved to the first curve. For the first time, it is possible to move on the portion 67 at a substantially constant moving speed as on the first and second linear portions 66 and 68. That is, in the present invention, the speed Vsx of the nozzle 33 in the x direction along the first linear portion 66 due to the snap operation around the wrist axis JT6 and the second
It is important to use the velocity Vsy in the y-direction of the nozzle 33 along the straight section 68, which allows the x-
As the directional speed Vx6 (= Vx7−Vsx), the nozzle 33
Is applied immediately before entering the first curved portion 67, the speed is increased as the speed Vy6 (= Vy7 + Vsy) in the y direction,
As a result, the radius of the first curved portion 67 is reduced, and the first curved portion 67 passes through the first curved portion 67 without deceleration. As a result, the nozzle 33 is not decelerated, so that a constant flow rate of the sealing material can be discharged from the nozzle 33, so that the flow rate of the sealing material can be easily controlled and the working time can be reduced. .

Therefore, even a large-sized industrial robot having a large moment of inertia and in which a small turn is hardly effective, it is possible to trace a sealing locus at a corner at a sharp angle.
With respect to the base axis of the arm having a large moment of inertia, for example, from the base to the first to third or fifth axes, the working end is located outside the workpiece such as an outer plate to which the sealing material is to be applied. Moving by,
In order to prevent overshoot operation, for example, the speed is reduced at the corners, and at this time, the snapping operation of the nozzle for discharging the sealing material is performed, so that the nozzles are accurately and pre-formed along the peripheral edge of the corners. It is possible to move at a predetermined constant speed. In this way, the nozzle of the sealing gun can be moved, for example, at a corner portion or the like, accurately following the trajectory of the curved portion, so that the working end of the industrial robot is moved at a high speed at a predetermined constant speed. And the moving speed of the nozzle can be kept constant. Thus, the sealing material or the paint can be supplied to the nozzle at a constant flow rate as described above. Therefore, control is facilitated, and the configuration for control is simplified.

Further, even when a sealing material or a paint is applied to a curved portion at a high speed by a sealing gun, the wrist shaft at the working end can supplement the speed of the nozzle. Thereby, the range of movement of the arm and the like from the base of the industrial robot to the working end can be reduced. Therefore, it becomes easy to control the operation of the industrial robot at the corners. Further, the movement distance of the base axis of the industrial robot can be shortened by the offset length Lf in which the axis of the nozzle deviates from the wrist axis, and the operation control of the industrial robot becomes easy.

Further according to the present invention, prospective points 16 to 20 for moving the teaching point to the outside of the outer plate 1 where the sealing operation is to be performed at the corner in the prior art described with reference to FIG. 16 are set. The prospective teaching work becomes unnecessary, and the teaching work can be performed easily and in a short time.

Further in accordance with the present invention, the overall cycle time for sealing or painting can be reduced and completed. In this way, there is no need to prepare dedicated sealing software, and the sealing or painting operation can be performed using a conventional industrial robot as it is. The parts can be shared. Thus, the life cycle cost LCC of the industrial robot including the final disposal of the industrial robot can be reduced.

The present invention also provides a bracket having one end attached to the working end, a bearing for supporting the gun at the other end of the bracket so as to be angularly displaceable about the axis of the nozzle, and an industrial robot. And a flexible tube connected at one end to the gun and for supplying a sealant.

According to the present invention, one end of the bracket is attached to the working end of the industrial robot, and the other end of the bracket is provided with a sealing gun via a bearing so as to be angularly displaceable about the axis of the nozzle. Since the flexible tube is connected to this gun, wear, damage and torsion of the flexible tube can be reduced, and the life can be extended. In addition to the flexible tube, a flexible cable that supplies power to an electric heater that heats the sealant inside the gun may be connected to the gun, and such a cable may be damaged or disconnected. Can be prevented.

Further, according to the present invention, a filler gun is attached to a working end of an industrial robot, and the filler gun includes a filler discharge nozzle, and the axis of the filler discharge nozzle is:
It is characterized by being shifted from the wrist axis in one virtual plane perpendicular to the wrist axis.

According to the present invention, a filler gun for applying a synthetic resin material such as mastic as a filler is attached to the working end, and the axis of the filler discharge nozzle of the filler gun is the wrist. It lies in an imaginary plane perpendicular to the axis, and is offset from the wrist axis, so that the same operation is performed when applying the filler using the filler gun as in the sealing gun described above. In addition, the work of applying the filler can be improved.

Further, the present invention is characterized in that the axis of the nozzle for discharging the sealing material and the axis of the nozzle for discharging the filler are radially arranged with respect to the wrist axis.

According to the present invention, the axis of the seal material discharge nozzle and the axis of the filler discharge nozzle are arranged on both sides of the wrist axis, and the axis of the filler discharge nozzle is, as described above, the wrist axis. Since it exists in one virtual plane perpendicular to the axis, the axis of the nozzle for discharging the filler is orthogonal to the axis of the nozzle of the sealing gun when applying the filler, so that the sealing gun does not interfere with the application of the filler. No, and conversely, the filler gun does not interfere during the sealing operation with the sealing gun.

The present invention also provides a first sprocket wheel 91 coaxially fixed to the wrist axis JT6, a second sprocket wheel 92 coaxially fixed to the axis of the seal material discharge nozzle, and first and second sprockets. Wheel 9
1 and 92 and an endless chain 95 wound around the endless chain.

According to the present invention, as shown in connection with FIG. 9 described later, the seal material discharge nozzle rotates around the axis 32 in the opposite direction in response to the revolution around the wrist axis JT6. The elastic twist of the flexible tube 37 can be actively and automatically corrected.

[0029]

[0030]

[0031]

FIG. 1 is a front view of the vicinity of a working end 23 of an industrial robot 22 according to an embodiment of the present invention. FIG. 2 is a bottom view of the vicinity of the working end 23 as viewed from below in FIG. It is. The working end 23 is a wrist axis JT6 of the industrial robot 22.
Having. An attachment member 25 is detachably attached to the working end 23 by a flange joint 24. One end 27 of a bracket 26 is fixed to the mounting member 25. A sealing gun 31 is attached to the other end 28 of the bracket 26 by a bearing 29 so as to be rotatable around an axis 32. The gun 31 has a sealing material discharge nozzle 33, and the nozzle 33 has an axis 32. Nozzle 3
From 3, for example, a sealing material 34 having an outer diameter of 1 mmφ is discharged and applied to a joint 36 of an outer plate 35 which is a workpiece. One end 38 of a flexible tube 37 is connected to the gun 31, and a sealing material is pressure-fed at a predetermined constant flow rate from a supply source. This flexible tube 37 is fixed to the industrial robot 22 by a mounting piece 39 near the working end 23.

A mastic gun 41 for applying a synthetic resin mastic as a filler is fixed to the mounting member 25. The mastic gun 41 has a filler discharging nozzle 42, and the nozzle 42 has an axis 43. The mastic gun 41 also has the sealing gun 31 described above.
Similar to, filler can be supplied during operation from a source via a flexible tube.

The axis 32 of the sealing material discharge nozzle 33 is
The offset length Lf is parallel to the wrist axis JT6 in one virtual plane 44 and is offset from the wrist axis JT6, and is shown in FIGS. 1 and 2 in the direction in which the bracket 26 extends. The axis 43 of the nozzle 42 of the mastic gun 41 is the wrist axis JT
One virtual plane 45 perpendicular to 6 (a plane parallel to the plane of FIG. 2)
And is offset from the wrist axis JT6 by an offset length L43. Axis 3 of nozzle 33 for discharging sealing material
2 and the axis 43 of the filler discharge nozzle 42 are arranged radially relative to each other with respect to the wrist axis JT6, that is, below and above the wrist axis JT6 in FIG. Thus, the axes 32, 43 of the nozzles 33, 42
Are mutually perpendicular.

The sealing gun 31 has its own bearing 31 to cancel the resilient reaction force of the flexible tube 37 caused by revolving around the wrist axis JT6. It is configured to be able to rotate around 32. In order to limit the amount of angular displacement by restricting the multiple rotation of the gun 31, the restoring spring 5 is used.
7 is used. Further, a mechanical stopper may be provided to limit the angular displacement range of the gun 31.

In another embodiment of the present invention, as shown in FIG. 9, the sprocket wheels 91 and 92, which are coaxial with the wrist axis JT6 and the axis 32 of the gun 31, respectively, are connected to the working end 23 (the wrist axis JT6 fixed side). Member 9 fixed to 93
4) and the gun 31 respectively, and the endless chain 95 is wound around these sprocket wheels 91 and 92, whereby the gun 31 moves in the opposite direction around the axis 32 in response to the revolution around the wrist axis JT6. The flexible tube 37 may be configured to self-rotate, thereby actively and automatically correcting the elastic torsion of the flexible tube 37. Instead of the chain, another cable such as a toothed belt may be used, and two pulleys around which the cable is wound may be used.
Other configurations of the embodiment shown in FIG. 9 are the same as those of the embodiment shown in FIGS.

FIG. 3 is a side view of the industrial robot 22, and FIG. 4 is a front view of the industrial robot 22. The industrial robot 22 can be implemented to seal or paint according to the present invention, and can also be implemented with a spot welding gun attached to the working end 23 to perform a spot welding operation. is there. The industrial robot 22 has a base 46 fixed to the floor. A first moving body 47 is provided on the base 46 in the Z-axis of the XYZ rectangular coordinate system.
One end of a first arm 48 is provided on an upper part of a first moving body 47 which is provided so as to be angularly displaceable about a vertical first axis JT1 which is an axis so as to be angularly displaceable about a horizontal second axis JT2. At the other end of the first arm 48, a second moving body 49 is provided so as to be angularly displaceable about a third horizontal axis JT3. Second
One end of the second arm 50 is attached to the
It is provided so as to be angularly displaceable around the axis JT4. At the other end of the second arm 50, a third moving body 51 is provided so as to be angularly displaceable about a horizontal fifth axis JT5. The working end 23 is provided on the third moving body 51 so as to be angularly displaceable around the aforementioned wrist axis JT6, which is the sixth axis. 2nd and 3rd axis JT
2, JT3 are parallel in one plane, the third and fifth axes JT3, JT5 are also parallel in one plane, and the first and fourth axes JT1, JT4 and the wrist axis JT6 are parallel to the second, The third and fifth axes are in a plane perpendicular to JT2, JT3, and JT5. The link 52 forms a parallelogram link with the first arm 48, and is connected to the first moving body 47 and the second moving body 49 by the connecting shafts 53 and 54, so that the strength is improved.

FIG. 5 is a plan view schematically showing the operation of applying the sealing material 34 to the outer panel 35 of the door of the automobile.
The inner plate 9 (see FIG. 13) is overlapped on the outer plate 35 in the same manner as described with reference to FIGS. It is superposed and joined to the peripheral part. The industrial robot 22 is provided at a predetermined position indicated by a virtual line in FIG. The working end 23a indicated by the suffix a in FIG. 5 is initially at the start position 83 of the sealing operation. The start position 83 is selected as a position where the nozzle 33a can move into the corner 58 at a short distance.

By the action of the industrial robot 22, the sealing operation is performed while the sealing gun 31 is maintained at the downstream side in the moving direction, that is, toward the head. During the movement from the corner 58 to the corner 59, the working end 23, the nozzle 33 and the like are indicated by a suffix b. The state where the sealing operation is performed at the corner 59 is indicated by a subscript c.
It is shown with an affixed to it. In the corners 58 and 59, the nozzle 33 must be moved along a locus of an acute angle. By the function of the wrist end 23 of the industrial robot 22,
Immediately after the nozzle 33 reaches the corner 58, the wrist axis JT
6 is sharply started, and at the corner 58, the nozzle 33 is angularly displaced around the wrist axis JT6 to perform a snap operation. Further, the bracket 26 is rotated by an angle θ0 (= approximately 90 degrees) during the movement between the corners 58 and 59 for the sealing operation at the corner 59, and the sealing gun 31 is at the head in the movement direction 60. Then, change the posture.
At the corner 59, the working end 23c is in a state in which the nozzle 33c moves along the moving direction 60 via the bracket 26c.

Also at the corner 59, the nozzle 33 is angularly displaced around the wrist axis JT6 to perform a snap operation, so that the corner 5
Similarly to 8, the sealing material 34 is also applied accurately at the corners 59 along the joints of the outer plates 35. The nozzle 33d is moved from the corner 59 to the obtuse corner 61 as indicated by the subscript d. From corner 59 to corner 6
During the movement to No. 1, the nozzle 33 is rotated about 45 degrees around the wrist axis JT6, and the state where the nozzle 33 reaches the corner 61 is indicated by a subscript e as shown in FIG. It is. When proceeding from the corner 61 to the next obtuse corner 62, the nozzle 33, as indicated by subscripts f and g,
It is moved so as not to be greatly displaced from the wrist axis JT6. This allows the flexible tube 37 to move the working end 23
It can be prevented from wrapping around and getting tangled. In this way, the nozzle 33 is brought to the corner 62 while maintaining the angular position of the nozzle 33 around the wrist axis JT6 at the corner 61 to perform a sealing operation.

When moving from the corner 62 to the nozzle 33a at the start position, the nozzle 33 is moved around the wrist axis JT6 to the corners 58, 59, 61 in the direction opposite to the clockwise angular displacement when the nozzle 33 is moved to the corners 58, 59, 61. It returns angularly displaced in the counterclockwise direction. The start position 83 of the nozzle 33a is
8 until the nozzle 33g at the corner 62 reaches the nozzle 33a at the start position.
It is possible to secure a long moving distance at a relatively high speed and to shorten the time required for the moving.

FIG. 6 is a simplified plan view showing a state where a sealing operation is performed around the acute corner 59 of the outer plate 35 shown in FIG. The nozzle 33 moves the linear portion 66 from the corner 58 to a position 65 near the corner 59. The position of the nozzle 33 and the like in the middle of the movement of the linear portion 66 is indicated by a suffix j. Speed V in the x direction of the linear portion 66
x5 is a predetermined constant value. After reaching the position 65, the nozzle 33 follows the curved portion 67 having a radius as small as possible near the corner 59, and after reaching the position 68, at the next linear portion 69 at the velocity Vy5 in the y direction, the corner 33 Part 6
Move towards 1. When the nozzle 33 moves along the curved portion 67, the nozzle 33 and the like are in a state indicated by a suffix k, and have respective components of a velocity Vx6 in the x direction and a velocity Vy6 in the y direction.

The speed Vx7 indicates the speed at which the remaining base axes JT1 to JT5 other than the wrist axis JT6 of the industrial robot 22 overshoot from the curved portion 67 due to the high speed movement, and the state in which the wrist axis JT6 is indicated by the nozzle 33j. When it is still and fixed, the nozzle 33 is
From the top of FIG. In the present invention, the wrist axis J
Due to the angular displacement of the nozzle 33 around T6, the nozzle 33 can accurately follow the curved portion 67. By performing the snap operation in which the nozzle 33 is angularly displaced around the wrist axis JT6 in this manner, a speed overshoot reduction Vsx (= Vx7−Vx6) is obtained. The velocity Vy7 in the y direction in FIG. 6 indicates the velocity component in the y direction when the nozzle 33 does not perform the snap operation in which the nozzle 33 is angularly displaced around the wrist axis JT6, and is an execution value of the base axes JT1 to JT5.

Since the nozzle 33 can follow the curved portion 67, the nozzle 33 moves around the wrist axis JT6 by the execution value Vsy (= Vy) of the speed by the snap operation.
6-Vy7) is obtained. With this snap action,
During the acceleration time Wa in the y direction, a constant speed Vy5 in the linear portion 69 is achieved at the corner 59 rather than at the position 68. For example, Vx5 = Vy5 = 1000 mm / s. The speed Vs by the snap operation of the nozzle 33k in the curved portion 67 is a composite vector value of the speed Vsx in the x direction and the speed Vsy in the y direction. After the passage of the nozzle 33 at the position 68, the nozzle 33 and the like move as indicated by the suffix p, and the nozzle 33 and the like indicated by the suffix d described with reference to FIG. Move to a posture.

The axis 3 of the nozzle 33 of the sealing gun 31
The offset length Lf between 2 and the wrist axis JT6 is set as follows in accordance with the movement between the corners 58 to 59.
The linear movement distance of the linear portion 66 where the nozzle 33 moves linearly is represented by L, the speed of the linear portion 66 is represented by V, the acceleration time and the deceleration time in the linear portion 66 are represented by W1, and the acceleration speed is represented by v (t). Constant velocity V in the linear section 66
Equation 1 is satisfied when the time of is represented by W2. t represents time. Although there is an acceleration time and a deceleration time, the deceleration time is not included because the deceleration time is applied to the snap operation of the next corner 59.

[0045]

(Equation 1)

Therefore, the moving time W of the linear portion 66 is as follows.

[0047]

(Equation 2)

The snap operation in which the nozzle 33 is angularly displaced around the wrist axis JT6 is performed by the base axis JT of the industrial robot 22.
Since the operations from 1 to JT5 need to be started and completed at the same time, Expression 5 is established.

[0049]

(Equation 3)

Here, θ1 is the wrist axis JT of the working end 23.
The maximum possible angular velocity around 6. When the nozzle 33a moves along the straight line portion 66, the angle θ0 is equal to the wrist axis JT6.
This is the amount of angular displacement that is angularly displaced around. However, since the acceleration / deceleration time of θ1 is very small, it is ignored. From equation 5, the straight line part 6
6 gives the maximum possible value Lf1 of the offset length Lf from Eq.

Lf ≦ L0−L≡Lf1 (6) Here, L0 is, as shown in FIG.
The distance traveled between the nozzles 59 to reach the nozzles 33a to 33c.

In the curved portion 67, the speed Vs of the nozzle 33 around the wrist axis JT6 is equal to or higher than the value V which is the speed Vx5 (= Vy5) of the base axes JT1 to JT5 of the industrial robot 22. Complementary ability is achieved.

[0053]

(Equation 4)

Therefore, the minimum possible value Lf2 of the offset length Lf is as shown in Expression 8.

[0055]

(Equation 5)

In one embodiment of the present invention, for example, V =
1000 mm / s, its maximum linear velocity V1 = 2400 m
m / s, θ1 = 240 ° / s, θ0 = 90 °, W1
= 16 ms and L0 = 700 mm, the linear movement distance L satisfying Expression 5 is L ≧ 367 mm, and Expression 6
From Lf ≦ Lf1 = 333 mm, and Vs =
1395 ≧ 1000 mm / s. Therefore, it is understood that the present invention can be implemented by selecting the offset length Lf to be equal to or less than Lf1 = 333 mm.

FIG. 7 is a block diagram showing an electrical configuration of the embodiment of the present invention shown in FIGS. In a processing circuit 72 realized by a microcomputer or the like, a teaching position in the robot coordinate system of a predetermined reference position 74 (see FIG. 1) of the wrist axis JT6 of the working end 23 stored in the memory 73 in advance is stored. . Further, the processing circuit 72 has an offset length Lf from the wrist axis JT6 and a skin plate by the nozzle 33 from the reference position 74 in order to obtain a predetermined trajectory of the axis 32 of the nozzle 33 described with reference to FIG. Seal material 3 on 35
Computation of the correction control corresponding to the relative three-dimensional position up to the application point where 4 is applied is performed. Thereby, the processing circuit 7
2 controls the driving of driving means 75 to 80 for driving the axes JT1 to JT6, respectively. Input means 81 is connected to the processing circuit 72, and a control instruction for a teaching operation, a sealing operation, and a mastic application operation is performed.

FIG. 8 is a flowchart for explaining the operation of processing circuit 72 shown in FIG. Step a
From step 1 to step a2, when performing the sealing operation of the outer plate 35 shown in FIG. 5, the nozzle 33 of the linear portion 66 is moved from the corner 58 to the corner 59, and in the next step a3 Since not only the snap operation of the wrist axis JT6 but also the base axis operation as a base, the angular displacement of the working end 23 around the wrist axis JT6 is complemented by the snap operation, and the curved portion 67 moves. In this way, the moving speed of the nozzle 33 can be made substantially constant in the substantially straight portion 66 and the curved portion 67, and the sealing material 3 can be maintained at a constant flow rate.
When 4 is supplied, the sealing operation can be performed with a constant application amount, and the control is easy.

In the next step a4, the linear part 69 is moved from the corner 59 to the corner 61, and in the next step a5.
Then, the operation is performed by the operation of the base axes JT1 to JT3. Further, the initial start position 83 (see FIG. 5) is passed through the corners 61 and 62.
In the path to return to step (a), the nozzle 33 can be moved as described above by the actions of the base shafts JT1 to JT5 and the wrist shaft 6 of the working end 23 in step a6.

After the end of the sealing operation, the supply of the sealing material 34 to the sealing gun 31 is interrupted, the filler is supplied to the mastic gun 41, and the filler is applied on the outer plate 35 in a dotted manner. it can. Axis 3 of nozzles 33 and 42
2, 43 are located on both sides (lower and upper in FIG. 2) of the wrist axis JT6,
Are vertical, so that the nozzles 42 and 33 do not hinder when performing the sealing operation and the filling material applying operation, respectively, so that no trouble occurs.

In another embodiment of the present invention, mastic gun 41 may be omitted. A paint for painting is used in place of the sealing material 34, and painting can be performed. At this time, the paint is discharged from the nozzle 33.

[0062]

According to the first and sixth aspects of the present invention, even when a large-sized industrial robot having a plurality of axes, for example, a large inertia moment and a small turn is hardly effective, the working end of the robot is set to a predetermined speed. In a state where the seal material or the paint is discharged from the nozzle of the gun at a predetermined constant flow rate, the seal material or the paint can be applied along a curved portion having a relatively small radius. As a result, the sealing trajectory of the corner portion, which is a corner portion, can be applied with a sealing material or paint at a sharp angle at a high speed by a snap operation around the wrist axis of the working end. In particular, according to the present invention, the working end 23 is moved on a curve whose diameter is relatively larger than the minimum diameter of the small diameter portion of the first curved portion 67 by driving the base shafts JT1 to JT5. The first curved portion moves at a low speed. During the movement of the first curved portion, it is easy to drive the wrist axis JT6 to move at a substantially constant moving speed, and thus the first locus which is the desired trajectory of the nozzle. Straight section 6
6. It is possible to move at high speed exactly along the first curved portion 67 and the second straight portion 68 without overshooting.

Further, according to the present invention, when the working end of the industrial robot moves from the base having a large moment of inertia to, for example, the third axis, the working end moves over the curved portion at a high speed, the working end performs an overshoot operation on the curved portion. It is prevented from moving and flowing outside the workpiece such as the above-mentioned outer plate to which the sealing material or paint is to be applied, and the nozzle can be moved along a curved portion having a small radius. . In this way, the nozzle can be moved at a high speed and at a constant speed at the corner, and the overall life cycle cost can be reduced.

Further, according to the present invention, even when the sealing material or the paint is applied to the straight portion at a high speed, the speed at the tip of the nozzle can be compensated by the angular displacement of the wrist shaft.
The range of movement of the arm or the like of the industrial robot can be reduced. Therefore, the speed of the movable part having a large moment of inertia of the industrial robot can be reduced as much as possible.

Further, according to the present invention, the moving distance of the base axis of the industrial robot can be shortened by the offset length Lf between the axis of the nozzle and the wrist axis, thereby moving the working end of the industrial robot. Can be performed smoothly.

Further, according to the present invention, the teaching work of the teaching points of the teaching points 16 to 20 described in connection with the prior art of FIG. 16 is not required, so that the teaching work is easy and the teaching work is shortened. Be able to do it in time.

According to the second aspect of the present invention, the wear, damage and torsion of the flexible tube can be reduced, and the life can be extended.

According to the third aspect of the present invention, at the working end,
In addition to the above-described sealing gun, a filler gun such as a mastic gun is mounted with the axis of the filler discharge nozzle being offset from the wrist axis, so that the same operation as the above-described sealing gun and its nozzle is performed. It is possible to apply the filler precisely at a desired position at a high speed.

According to the fourth aspect of the present invention, the axis of the nozzle of the sealing gun and the axis of the nozzle for discharging the filler are disposed on both sides of the wrist axis, thereby disturbing the sealing gun when applying the filler. In addition, the filling material gun does not hinder the sealing operation, the workability is good, and the sealing operation and the filling material applying operation can be performed smoothly even in a narrow work space.

According to the fifth aspect of the present invention, as described above with reference to FIG. 9, the sealing material discharging nozzle rotates in the opposite direction around the axis 32 corresponding to the process around the wrist axis JT6. As a result, the elastic twist of the flexible tube 37 can be actively and automatically corrected.

[0071]

[Brief description of the drawings]

FIG. 1 is a front view of the vicinity of a working end 23 of an industrial robot 22 according to an embodiment of the present invention.

FIG. 2 is a bottom view of the vicinity of a working end 23 as viewed from below in FIG.

FIG. 3 is a side view of the industrial robot 22.

FIG. 4 is a front view of the industrial robot 22.

FIG. 5 is a simplified plan view showing an operation of applying a sealing material 34 to an outer plate 35 of an automobile door.

FIG. 6 is a simplified plan view showing a state where a sealing operation is performed in the vicinity of an acute corner 59 of the outer plate 35 shown in FIG.

FIG. 7 is a block diagram showing an electrical configuration of the embodiment of the present invention shown in FIGS. 1 to 6;

FIG. 8 is a flowchart for explaining the operation of the processing circuit 72 shown in FIG. 7;

FIG. 9 is an industrial robot 22 according to another embodiment of the present invention.
3 is a front view of the vicinity of the working end 23 of FIG.

FIG. 10 is a cross-sectional view for explaining a conventional sealing operation.

FIG. 11 is another cross-sectional view for explaining a conventional sealing operation.

FIG. 12 is a simplified plan view showing a state in which a sealing material 2 is applied near corners 5 of an outer panel 1 in the prior art.

FIG. 13 is a sectional view showing a part of an engine hood 6 of an automobile.

FIG. 14 shows a vehicle engine hood 6 according to the prior art.
FIG. 4 is a simplified plan view for explaining a state where there is no delay in a robot mechanical system when applying a sealing material 2 to a joint portion of an inner surface of an outer plate 1.

FIG. 15 is a diagram for explaining a coating operation of the prior art in which the speed of the sealing material 2 is delayed with respect to the robot mechanical system.

FIG. 16 shows a vehicle engine hood 6 according to the prior art.
FIG. 6 is a diagram for explaining a teaching operation when applying a sealing material to a joint of the outer plate 1 and the inner plate 9.

[Explanation of symbols]

 22 Industrial Robot 23 Working End 25 Mounting Member 26 Bracket 29 Bearing 31 Sealing Gun 32 Axis 33 Seal Material Discharge Nozzle 34 Seal Material 35 Outer Plate 37 Flexible Tube 41 Mastic Gun 42 Filler Discharge Nozzle 43 Axis 44,45 One virtual plane 46 Base 58, 59, 61, 62 Corner 72 Processing circuit 73 Memory 74 Reference position 75 to 80 Drive unit 81 Input unit Lf Offset length JT1 First axis JT2 Second axis JT3 Third axis JT4 Fourth axis JT5 5th axis JT6 6th axis

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B05C 5/00 101 B25J 19/00

Claims (6)

(57) [Claims] 1. An industrial robot in which a wrist axis JT6 is provided at a working end 23 of a plurality of base shafts JT1 to JT5; and (b) a gun attached to a working end of the industrial robot, wherein a seal material is provided. A nozzle 33 for discharging the seal material, and the axis 32 of the nozzle is substantially parallel to the wrist axis JT6 of the working end of the industrial robot in one virtual plane 44,
And the gun 31 which is displaced from the wrist axis JT6 of the working end.
(C) a supply source for supplying the seal material to the gun at a predetermined constant flow rate; and (d) a robot driving means, wherein the seal material discharge nozzle has a first linear portion 66 and a first curved portion 6.
The working end 23 is driven by the base shafts JT1 to JT5 so that the working end 23 is moved above the minimum diameter of the small-diameter portion of the first curved portion 67 so as to move on the seventh linear portion 68 and the second linear portion 68 in this order at a substantially constant speed. The nozzle 33 is moved on a relatively large-diameter curve, and the first curve portion 67 overshoots from the first curve portion 67 due to the high-speed movement of the base axes JT1 to JT5 of the industrial robot 22 at the first curve portion 67. The speed in the x direction along the linear portion 66 is Vx7, the speed in the y direction along the second linear portion 68 on the first curved portion 67 by the high speed movement of the base axes JT1 to JT5 of the industrial robot 22 is Vy7, The speed Vsx in the x direction due to the snap operation of the nozzle 33 around the wrist axis JT6 on the first curved portion 67 is defined as y
When the velocity in the direction is Vsy, the velocity Vx6 in the x direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected as Vx6 = Vx7−Vsx, and the velocity in the y direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected. The speed Vy6 is selected as Vy6 = Vy7 + Vsy, and the seal material discharge nozzle includes a robot driving unit that moves by complementing the angular displacement operation by the wrist axis JT6 in the first curved portion 67. Sealing device. 2. A bracket, one end of which is attached to the working end; a bearing, at the other end of the bracket, which supports the gun so as to be angularly displaceable about the axis of the nozzle; One end is connected to
2. The sealing device according to claim 1, further comprising a flexible tube for supplying a sealing material. 3. A filler gun 41 is attached to the working end of the industrial robot. The filler gun includes a filler discharge nozzle, and the axis of the filler discharge nozzle 42 is aligned with the wrist axis JT6. 3. The seal device according to claim 1, wherein the seal device is displaced from the wrist axis in one vertical virtual plane. 4. The sealing device according to claim 3, wherein the axis of the seal material discharge nozzle and the axis of the filler discharge nozzle are radially arranged with respect to the wrist axis. 5. A first sprocket wheel 91 fixed coaxially to the wrist axis JT6, a second sprocket wheel 92 fixed coaxially to the axis of the seal material discharge nozzle, and first and second sprocket wheels 91, The sealing device according to claim 2, further comprising an endless chain (95) wound around the base (92). 6. An industrial robot in which a wrist axis JT6 is provided on a working end 23 of a plurality of base shafts JT1 to JT5; and (b) a gun mounted on the working end of the industrial robot, wherein paint is applied. A nozzle 33 for discharging paint is provided, and the axis 32 of the nozzle is substantially parallel to the wrist axis JT6 of the working end of the industrial robot in one virtual plane 44 and deviated from the wrist axis JT6 of the working end. (C) a supply source for supplying paint to the gun at a predetermined fixed flow rate; and (d) a robot driving means, wherein the paint discharge nozzle has a first linear portion 66 and a first curved portion 67. The working end 23 is moved relative to the minimum diameter of the small-diameter portion of the first curved portion 67 by driving the base shafts JT1 to JT5 so that the working end 23 moves on the second linear portion 68 in this order at a substantially constant moving speed. On a large diameter curve The nozzle 33 moves at the first curved portion 67 in the x direction along the first linear portion 66 that overshoots from the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22. Vx7, the speed in the y direction along the second linear portion 68 on the first curved portion 67 due to the high speed movement of the base axes JT1 to JT5 of the industrial robot 22 is Vy7, and the wrist axis on the first curved portion 67 The speed Vsx in the x direction due to the snap operation of the nozzle 33 around JT6 is defined as y
When the velocity in the direction is Vsy, the velocity Vx6 in the x direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected as Vx6 = Vx7−Vsx, and the velocity in the y direction due to the angular displacement of the nozzle 33 around the wrist axis JT6 is selected. The speed Vy6 is selected and moved as follows: Vy6 = Vy7 + Vsy, and the paint discharge nozzle moves to the first curved portion 67.
And a robot driving means that moves by complementing the angular displacement operation by the wrist axis JT6.