JP4648348B2 - Nozzle deposit removal device - Google Patents

Description

  The present invention relates to a deposit removing device that removes deposits attached to a nozzle, and more specifically, the liquid when a part of a liquid resin material sprayed from a nozzle to a mold adheres to the nozzle as deposits. The present invention relates to a deposit removing device suitable for removing a resin material.

  Conventionally, a liquid resin material such as polyurethane resin is sprayed from a nozzle onto the surface of a mold on which a release material has been applied, thereby applying the liquid resin material to the surface of the mold and heating the applied liquid resin material. It has been practiced to obtain vehicle interior members such as instrument panels by demolding after curing (see Patent Documents 1 and 2).

  In the above-described application operation, the liquid resin material may be cured in the nozzle and clog the nozzle tip. Therefore, Patent Document 1 discloses that the liquid resin material is configured by disassembling the nozzle tip. It has been proposed to be able to remove.

  Further, during the coating operation, a part of the mist of the liquid resin material generated in the space between the nozzle and the mold surface adheres to the surface of the nozzle and becomes dirty on the nozzle surface, When a part of the mist adheres to the liquid resin material applied to the surface of the mold, the vehicle interior member may have a non-uniform film thickness. Therefore, in Patent Document 2, the injection direction of the liquid resin material from the nozzle to the surface of the mold is obliquely rearward with respect to the moving direction of the nozzle, so that the liquid resin material on the nozzle surface is It has been proposed to suppress adhesion and ensure uniformity of the film thickness of the vehicle interior member.

International Publication No. 2004/076072 Pamphlet Japanese Patent No. 3830359

  By the way, when deposits such as a liquid resin material adhere to the nozzle surface after the above-described coating operation, the number of coating operations is set to a predetermined number so that a vehicle interior member having a uniform film thickness can be obtained. Once reached, the nozzle needs to be replaced. However, if it takes a long time to replace the nozzle, it is assumed that the operating rate of the coating apparatus is lowered.

  Therefore, after the application work, in order to suppress a decrease in the operation rate, the adhered surface is removed by scraping or scraping the nozzle surface after the application work with a rotating brush. A removal operation for removing the deposit by the member is performed.

  However, by simply bringing the rotated brush into contact with the nozzle surface, it is possible to remove only the adhering matter adhering to the contact point with the brush, and therefore it is not possible to remove all the adhering matter adhering to the nozzle surface. . Further, when the deposit is removed while bringing the specific portion of the brush into contact with the nozzle surface, the specific portion is worn and the interval between the nozzle surface and the brush changes, whereby the deposit The removal efficiency is reduced. As a result, when the liquid resin material is sprayed from the nozzle after the removal operation onto the surface of the mold, there is a possibility that deposits that could not be removed by the removal operation adhere to the surface of the mold.

  Further, when the removal operation is performed in combination with an abrasive, the tip of the nozzle is worn by the abrasive, and as a result, the injection pattern of the liquid resin material from the nozzle to the mold surface changes. The application pattern of the liquid resin material on the mold surface may change.

  On the other hand, also in the removal of the deposits by the scraping member, if a part of the scraped deposits adheres again to the nozzle surface, the liquid resin material is ejected from the nozzle onto the mold surface. There is a risk that the kimono will adhere to the surface of the mold.

  The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a deposit removing device that can reliably remove deposits on the nozzle without wearing the nozzle.

  The nozzle deposit removing apparatus according to the present invention includes a first brush that contacts the tip end side of the nozzle and rotates to remove deposits on the tip end side, and the tip brush side cooperates with the first brush. A second brush that removes deposits on the distal end side while holding and rotating, and the deposits on the proximal end side by moving along the nozzle while holding the proximal end side of the nozzle And a clamping means for removing the.

  According to this configuration, the deposit on the one surface side at the tip side of the nozzle is removed from the nozzle under the rotating action of the first brush, and the deposit on the other surface is removed under the rotating action of the second brush. Removed from the nozzle. Further, the deposit on the base end side is removed from the nozzle under the moving action of the clamping means.

  Thereby, it becomes possible to remove the deposits on the nozzle surface with certainty, and the removal efficiency of the deposits can be remarkably improved. In addition, since it is possible to remove the deposit on the tip side without using an abrasive, it is possible to avoid wear on the tip side due to the above-described removal operation.

  Therefore, when the nozzle is a nozzle that injects a liquid resin material onto the surface of a mold for molding the vehicle interior member, and the deposit is a part of the liquid resin material that is injected from the nozzle, Since the deposit is reliably removed by the removing operation, when the liquid resin material is sprayed from the nozzle toward the mold surface, the deposit falls on the mold surface and the coating pattern changes. Can be avoided. Further, by suppressing the wear on the tip side, it is possible to avoid a change in the injection pattern of the liquid resin material from the nozzle to the mold surface. Thereby, the application pattern can be maintained in a desired pattern, and the quality of the vehicle interior member can be improved. Furthermore, since the deposits are reliably removed from the nozzle, the frequency of nozzle replacement in the coating apparatus is reduced, and the operating rate of the coating apparatus can be improved.

  Here, the deposit removing device further includes first brush displacing means for displacing each brush along the rotation axis direction of each brush, and each brush intersects with the nozzle. Is preferred. Thereby, in the case of the said removal operation | work, it can avoid that only the specific location of each said brush contacts the said nozzle and wears.

  In this case, each brush is arranged along the rotation axis direction and has a rotation member whose total length along the rotation axis direction is longer than the outer diameter of the nozzle, and a plurality of hairs planted at a predetermined density on the rotation member. It is preferable that each of the hairs is made of a resin material having solvent resistance to a cleaning liquid for cleaning the nozzle.

  This makes it possible to clean the nozzle with the cleaning liquid while removing the deposit from the nozzle with the hairs under the rotating action of the brushes, and perform the removal operation in a short time. Can do. In addition, since the total length of the rotating member is longer than the outer diameter of the nozzle, if the deposits adhered to the tip side are removed while moving the brushes in the direction of the rotation axis, a specific portion of the brushes It is possible to reliably avoid wear in the case.

  In addition, when the deposit removing device removes the deposit from the nozzle, the deposit is contacted with the hairs of the rotating brushes and attached to the hairs. It is preferable to further have a scraper that removes. Thereby, the contact resistance of the brush with respect to the nozzle during the removal operation can be made uniform, and the removal efficiency can be further improved.

In this case, the deposit removing device further includes a scraper moving means for moving the scraper forward and backward with respect to each hair, and a scraper contact detection means for detecting whether the scraper is in contact with each hair. The scraper moving means preferably moves the scraper forward or backward based on the detection result of the scraper contact detection means. Thereby, the scraper can be reliably brought into contact with the hairs during the removing operation.

  Moreover, it is preferable that the said deposit | attachment removal apparatus further has a 2nd brush displacement means to displace each said brush along the said nozzle. Thereby, the said deposit | attachment can be removed more reliably.

  Moreover, it is preferable that the said deposit | attachment removal apparatus further has an air blow means which injects air to the said deposit | attachment arrange | positioned in the vicinity of the said clamp means and / or each said brush, and removed from the said nozzle. Thereby, it can prevent that the said deposit | attachment removed from the said nozzle adheres to the said nozzle again.

  Moreover, it is preferable that the said deposit | attachment removal apparatus further has a brush pressing means which presses each said brush against the said nozzle. Thereby, since each said brush contacts the said nozzle reliably, the said deposit | attachment can be removed more efficiently.

In this case, the adhering matter removing apparatus further includes brush contact detecting means for detecting whether or not each brush is in contact with the nozzle, and the brush pressing means is based on a detection result of the brush contact detecting means. It is preferable to press each brush against the nozzle. Thereby, the said brush can be reliably made to contact with the said nozzle during the said removal operation | work.

  Moreover, it is preferable that the said deposit | attachment removal apparatus further has a nozzle moving means to move the nozzle forward and backward with respect to each brush and / or rotate the nozzle around the central axis of the nozzle. Thereby, the removal operation | work of the said deposit | attachment on the said nozzle surface can be performed efficiently. Further, if the gripping means for the nozzle in the application work is also used as the nozzle moving means, the time between the removal work and the application work is shortened, and the system including the deposit removal device and the coating device Overall work efficiency can be greatly improved.

  Moreover, it is preferable that the said deposit | attachment removal apparatus further has a nozzle guide means which guides the said nozzle, when the said nozzle advances / retreats with respect to each said brush under the drive effect | action of the said nozzle moving means. Accordingly, the nozzles can be guided between the brushes, and the nozzle tip side can be securely held between the brushes.

  Furthermore, the clamp means has a first clamp member that can be advanced and retracted relative to the nozzle, and a second clamp member that is opposed to the first clamp member and can be advanced and retracted relative to the nozzle. It is preferable that a notch is formed on each of the nozzle sides. Accordingly, if the clamp means is moved in the direction in which the notch is formed in a state where the nozzle is held, the deposits removed from the nozzle surface accumulate in the notch. By removing the deposit after separating the member from the nozzle, the deposit on the nozzle surface can be efficiently removed.

  According to the present invention, the deposit on the one surface side at the tip side of the nozzle is removed from the nozzle under the rotating action of the first brush, and the deposit on the other surface is removed from the nozzle under the rotating action of the second brush. Removed from. Further, the deposit on the proximal end side of the nozzle is removed from the nozzle under the moving action of the clamping means.

  Thereby, it becomes possible to remove the deposits on the nozzle surface with certainty, and the removal efficiency of the deposits can be remarkably improved. Moreover, since it is possible to remove the deposit on the nozzle tip side without using an abrasive, it is possible to avoid wear on the nozzle tip side due to the deposit removal operation.

  A preferred embodiment of a nozzle deposit removing apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.

  As shown in FIGS. 1 to 9, the deposit removing apparatus 10 according to the present embodiment is disposed on the first deposit removing mechanism 13 disposed on the mounting table 15 in the table 12 and the ceiling plate of the table 12. The second deposit removing mechanism 16, the nozzle moving means 27 for holding the base end 170 side of the substantially cylindrical metal nozzle 20, and the ceiling plate above the table 12 under the driving action of the nozzle moving means 27 Nozzle guide means 18 that guides the nozzle 20 that is advanced and retracted by the first deposit removal mechanism 13 through a hole 22 provided in the nozzle. The nozzle moving means 27 may be an arm 172 of an articulated robot, or may be a moving mechanism provided with three-dimensionally orthogonal X-axis, Y-axis, and Z-axis movement axes.

  As shown in FIGS. 1 to 5, 8, and 9, the first deposit removing mechanism 13 is configured to remove the brushes (first and second brushes) 24 a and 24 b by the first and second brush rotating means 14 a and 14 b. The adhering substance 84 adhering to the tip 54 side of the nozzle 20 is removed while rotating.

  Specifically, in the first deposit removing mechanism 13, as shown in FIGS. 1 and 2, a cylinder (second brush displacing means) 44 is attached to the top plate of the mounting table 15, and the rod 46 extends from the cylinder 44. It penetrates the top plate of the mounting table 15 and extends in the arrow Z1 direction. The distal end side of the rod 46 passes through a plate 42 arranged in the arrow X direction and the arrow Y direction (horizontal direction), and the plate 42 protrudes from the rod 46 in the horizontal direction. It is sandwiched between the portion 49 and the nut 48. In addition, the lower ends of the two rods 58 extending in the arrow Z1 direction are fixed to the top plate of the mounting table 15 by nuts 69. Each rod 58 passes through the plate 42, and a nut 68 is attached to the tip side of each rod 58. In this case, when the rod 46 advances and retreats in the arrow Z direction under the driving action of the cylinder 44, the plate 42 can move between the top surface of the top plate of the mounting table 15 and the nut 68 using each rod 58 as a guide. .

  As shown in FIGS. 1 and 6, a cylinder (first brush displacing means) 38 is attached to the support plate 86 erected in the direction of the arrow Z <b> 1 from the plate 42, and the rod 40 extends from the cylinder 38 to the support plate 86. And extends in the direction of the arrow Y2. The other end of the rod 40 penetrates the support plate 94 disposed in the arrow X direction and the arrow Z direction, and the support plate 94 is formed to bulge in the arrow X direction and the arrow Z direction. The projection 99 and the nut 88 hold it. The support plate 94 is a plate body that hangs down in the arrow Z2 direction from the plate 92 that extends in the horizontal direction above the cylinder 38 and the rods 40 and 96.

  In particular, as shown in FIG. 6, one end of two rods 96 extending in the direction of the arrow Y <b> 2 is fixed to the support plate 86 by nuts 97. Each rod 96 penetrates the support plate 94, and a projecting portion 98 bulges in the arrow X direction and the arrow Z direction at the other end of each rod 96. In this case, when the rod 40 advances and retreats in the direction of the arrow Y under the driving action of the cylinder 38, the support plate 94 and the plate 92 can be moved by a distance between the support plate 86 and the protruding portion 98 using each rod 96 as a guide. It is.

  Rod support members 102a, 102b, 104a, 104b are arranged at the four corners of the upper surface of the plate 92 as shown in FIGS. The rod support members 102a and 102b are disposed on the arrow Y2 direction side of the plate 92, and support both ends of the rod 100 extending above the plate 92 in the arrow X direction. The rod support members 104a and 104b are disposed on the arrow Y1 direction side of the plate 92, and support both ends of the rod 101 extending in the arrow X direction above the plate 92.

  2 and 3, the rods 100 and 101 are provided with slide members 110a and 112a on the arrow X1 direction side, and slide members 110b and 112b on the arrow X2 direction side. These slide members 110a, 110b, 112a, and 112b each have a plurality of balls 111 as rolling elements, and each ball 111 is arranged along the surface of the rods 100 and 101.

  Moreover, as shown in FIGS. 1-3, 5 and 8, the plate 36a extending in the horizontal direction is attached to the upper surfaces of the slide members 110a and 112a, and the upper surfaces of the slide members 110b and 112b are A plate 36b extending in the horizontal direction is attached.

  Further, as shown in FIGS. 1 and 5, the plate bodies 120a and 120b hang down from the center of the plates 36a and 36b in the direction of the arrow Z2, and each plate body 120a and 120b has a spring holding penetrating in the direction of the arrow Y. The members 123a and 123b are fixed by nuts 122a and 122b. The spring holding members 123a and 123b hold both ends of a spring member (brush pressing means) 124 extending in the arrow X direction. In this case, the spring member 124 is a compression spring. Therefore, the plate bodies 120a and 120b and the plates 36a and 36b are slide members 110a and 110b disposed on the rods 100 and 101 (see FIGS. 2 and 3). , 112a and 112b can be moved so as to approach the nozzle 20 side.

  As shown in FIG. 1, motors 32a and 32b are attached to support plates 34a and 34b that are erected in the direction of arrow Z1 from the arrow Y1 direction side of the plates 36a and 36b. Chuck 28a, 28b is attached to the tip side of rotating shafts 30a, 30b extending from motors 32a, 32b through support plates 34a, 34b in the direction of arrow Y2, and brushes 24a, 28b are attached to each chuck 28a, 28b. The rotating shafts 26a and 26b of 24b are attached. The motors 32a and 32b, the rotating shafts 30a and 30b, and the chucks 28a and 28b constitute first and second brush rotating means 14a and 14b.

  As shown in FIGS. 1 to 5, 8, and 9, each brush 24 a, 24 b includes rotating members 50 a, 50 b attached to the distal end side of rotating shafts 26 a, 26 b extending in the arrow Y direction, A plurality of hair bodies 52a, 52b planted at a predetermined density on the surfaces of the rotating members 50a, 50b along the arrow Y direction are provided. Each of the hair bodies 52a and 52b is made of a resin material such as a polyamide fiber having a solvent resistance to the cleaning liquid for cleaning the nozzle 20. For example, a diameter of 0.5 mm is formed on the outer peripheral surface of the rotating members 50a and 50b. Up to 1.0 mm of hairs 52a and 52b are planted at a density of 1 mm. Further, the brushes 24a and 24b are arranged so as to intersect with the tip 54 side of the nozzle 20 lowered along the arrow Z2 direction and to be able to hold the tip 54 side. Further, the rotation members 50 a and 50 b of the brushes 24 a and 24 b are set so that the total length along the arrow Y direction is longer than the outer diameter of the nozzle 20.

  Scrapers 130a and 130b are arranged opposite to the brushes 24a and 24b on the side of the plates 36a and 36b in the direction of arrow Y2. The scraper 130a includes a base part 132a disposed on the plate 36a, a contact part 134a extending obliquely upward from the arrow X1 direction side of the base part 132a toward the brush 24a, and a tip part 135a of the contact part 134a. And a protrusion 138a formed to protrude in the direction of the arrow X2. On the other hand, the scraper 130b includes a base portion 132b disposed on the plate 36b, a contact portion 134b extending obliquely upward from the arrow X2 direction side of the base portion 132b toward the brush 24b, and a tip of the contact portion 134b. And a protrusion 138b formed to protrude from the portion 135b in the direction of the arrow X1.

  In this case, the front ends 135a and 135b can contact the hairs 52a and 52b (see FIGS. 3 and 8). Further, as shown in FIG. 4, notches 136a and 136b are formed in the central portions of the rotating members 50a and 50b along the arrow Y direction, and the protrusions 138a and 138b are fitted into the notches 136a and 136b. is doing. Therefore, when the brushes 24a and 24b are rotated under the driving action of the motors 32a and 32b in a state where the tip 54 side of the nozzle 20 is held by the brushes 24a and 24b, the deposits 84 on the tip 54 side are attached to the brush 24a. 24b is removed from the surface of the nozzle 20 by the hairs 52a and 52b, and the deposit 84 attached to the hairs 52a and 52b is brought into contact with the brushes 24a and 24b under the contact action of the tips 135a and 135b of the scrapers 130a and 130b. Removed from.

  As shown in FIGS. 1 and 2, air blow nozzles (air blow means) 56a and 56b connected to an air generation source (not shown) are formed on the brushes 24a and 24b diagonally above the brushes 24a and 24b in the table 12. It is oriented.

  As shown in FIGS. 1, 2, 8, and 9, the nozzle guide means 18 is located between the ceiling plate of the table 12 and the brush 24a, and is provided in the ceiling plate along the arrow Z direction. 22 is arranged in the vicinity. The nozzle guide means 18 penetrates two arm members 62a and 62b extending in the direction of the arrow X2 from the support member 61 suspended from the ceiling plate, and penetrates the tip of the arm members 62a and 62b along the direction of the arrow Y. And a guide roller 60 that can rotate around the central shaft 64. A central portion along the arrow Y direction of the guide roller 60 is formed as a small-diameter portion 66 that contacts the surface of the nozzle 20 and guides the nozzle 20 in the arrow Z direction.

  As shown in FIGS. 1 and 2, the nozzle moving means 27 is an articulated robot (not shown) including an arm 172 to which a robot hand 174 that holds the proximal end 170 side of the nozzle 20 is attached. The holding means for the nozzle 20 in the apparatus also serves as the holding means for the nozzle 20 in the deposit removing apparatus 10. In this case, under the driving action of the arm 172, the nozzle 20 can be moved up and down in the arrow Z direction and / or rotated with the arrow Z direction as the central axis direction.

  As shown in FIGS. 1, 2, and 7 </ b> A to 9, the second adhering material removing mechanism 16 causes the nozzle 20 to be moved by the clamp members (first and second clamp members) 70 a and 70 b constituting the clamp means 71. The deposit 84 from the table 12 side to the base end 170 side on the surface of the nozzle 20 is removed while nipping and moving in the arrow Z direction.

  Specifically, as shown in FIGS. 1 and 2, in the second deposit removal mechanism 16, a cylinder 76 and a plate 152 are attached to an L-shaped support member 150 extending from the ceiling plate of the table 12. A rod 78 extends from the cylinder 76 in the direction of arrow Z1. The rod 78 can penetrate the support member 150, the plate 152, and the ceiling plate of the table 12, and a pressing portion 74 capable of pressing the bottom surface of the drive source main body 72 bulges in the horizontal direction at the tip. ing. Further, the lower ends of the two rods 154 extending in the arrow Z1 direction are fixed by nuts 155 on both sides of the plate 152 along the arrow Y direction. Each rod 154 passes through the ceiling plate of the table 12 and the drive source main body 72, and a plate 158 is fixed to the upper end portion of each rod 154 by a bolt 156 and a nut 160. Therefore, when the rod 78 advances and retreats in the arrow Z direction under the driving action of the cylinder 76, the drive source main body 72 can move between the table 12 and the nut 160 with each rod 154 as a guide. 1 and 2 illustrate a state when the drive source main body 72 is raised to the nut 160.

  The drive source main body 72 serves as both an air generation source and a drive source for the clamp members 70a and 70b of the clamp means 71 attached to the arrow Y2 direction side. In this case, the drive source main body 72 is provided with air blowing nozzles (air blowing means) 80a and 80b from the arrow Y2 direction side toward the clamp members 70a and 70b, and each of the nozzles 80a and 80b includes the air generating source. It is connected to the.

  The clamp members 70 a and 70 b are made of a metal material such as copper or brass having a hardness lower than that of the nozzle 20, and can advance and retreat in the direction of the arrow X with respect to the nozzle 20 under the driving action of the driving source body 72. In this case, as shown in FIG. 7A, a part of the clamp member 70a on the arrow X2 direction side is curved facing the nozzle 20, and a notch 82a is formed on the curved part 83a on the arrow Z1 direction side. (See FIG. 8 and FIG. 9). On the other hand, a part of the clamp member 70b on the arrow X1 direction side is also curved facing the nozzle 20, and a notch 82b is also formed on the curved portion 83b on the arrow Z1 direction side. Accordingly, when the clamp member 70a is advanced in the direction of the arrow X2 and the clamp member 70b is advanced in the direction of the arrow X1 under the driving action of the drive source body 72, the nozzle 20 is held between the clamp members 70a and 70b. (See FIGS. 7B, 8 and 9).

  In the above description, the nozzle 20 shown in FIG. 1 to FIG. 5 and FIG. 7A to FIG. 9 is made of polyurethane or the like from the tip 54 toward the surface of the mold on which the release material has been applied in advance in a coating apparatus (not shown). It is a nozzle that injects a liquid resin material. In this case, when the liquid resin material applied to the surface of the mold is thermally cured and then removed from the mold, a vehicle interior member such as an instrument panel is obtained. Further, in the above coating operation, a part of the mist of the liquid resin material generated in the space between the mold surface and the nozzle 20 adheres to the surface of the nozzle 20 as the deposit 84.

  The deposit removal apparatus 10 according to the present embodiment is configured as described above. Next, a first specific example (hereinafter referred to as the first example) of the removal work of the deposit 84 from the nozzle 20 by the deposit removal apparatus 10 is performed. Will be described with reference to FIGS. 1 to 12D. 10 is a time chart of the first removal work, and FIGS. 11A to 12D are schematic side views showing the operation of the deposit removal apparatus 10 at a predetermined time or a predetermined time zone of the time chart. .

  First, under the driving action of the nozzle moving means 27 (see FIGS. 1 and 2), the tip 54 of the nozzle 20 after the application work is disposed at the position shown in FIG. 11A (position H3 in FIG. 10). In this case, the deposit 84 adheres to the surface of the nozzle 20, and the brushes 24a and 24b do not rotate. The clamp members 70a and 70b are spaced apart from the nozzle 20 and are disposed at a predetermined position in the vicinity of the table 12 (position H2 in FIG. 10).

  In this state, the deposit removing device 10 is activated at time t1, and the nozzle 20 is moved in the direction of the arrow Z2 under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) constituting the nozzle moving means 27. Move down along. At that time, the nozzle 20 descends while being guided by the small diameter portion 66 of the guide roller 60.

  At the time t2, when the tip 54 of the nozzle 20 is lowered to the position H4 and the tip 54 side is sandwiched between the brushes 24a and 24b, the deposit removing device 10 in the time zone from time t2 to t3. The motors 32a and 32b (see FIG. 1) are driven to start rotation of the brushes 24a and 24b around the rotation shafts 26a and 26b (see FIG. 11B). In this case, the brush 24a rotates counterclockwise in the side view of FIG. 11B, and the brush 24b rotates clockwise. In this time zone, the cylinder 38 (see FIG. 1) is driven to start the reciprocating movement of the rod 40 in the arrow Y direction, whereby the reciprocating movement of the brushes 24a and 24b in the arrow Y direction is also started. . That is, the reciprocating movement is continuously repeated.

  As described above, since the tip 54 side of the nozzle 20 is held between the brushes 24 a and 24 b, the hair body 52 a of the brush 24 a contacts the outer peripheral surface on the X1 direction side on the tip 54 side of the nozzle 20. Then, the hair-like body 52b of the brush 24b contacts the outer peripheral surface on the arrow X2 direction side (see FIG. 11B).

  Therefore, in the time period from time t3 to t4 in FIG. 10, the deposit 84 on the tip 54 side is removed from each outer peripheral surface under the rotating action of the brushes 24a and 24b (see FIG. 11B). At this time, the cleaning liquid is applied directly to the tip 54 side of the nozzle 20 or attached to the brushes 24a and 24b, whereby the brushes 24a and 24b can remove the deposits 84 from the surface of the nozzle 20 and The surface of the nozzle 20 is also cleaned. Also, during this time period, when air is ejected from the nozzles 56a and 56b toward the outer peripheral surfaces of the nozzles 20 held by the brushes 24a and 24b, the deposits 84 removed from the nozzles 20 are The cleaning liquid is also separated from the nozzle 20 while being further away from the nozzle 20. Further, since the tip portions 135a and 135b of the scrapers 130a and 130b are in contact with the hair bodies 52a and 52b, the deposit 84 removed from the nozzle 20 and attached to the hair bodies 52a and 52b It is scraped off by 135a and 135b and removed from the brushes 24a and 24b.

  Next, in the time period from time t4 to t5, the nozzle 20 is moved in the arrow Z1 direction by the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) and the guiding action of the small diameter portion 66 of the guide roller 60. (See FIG. 11C).

  When the tip 54 rises to the position H3 at time t5, the nozzle 20 is moved in the arrow Z direction under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) in the time period from time t5 to t6. Rotate 90 ° as the central axis (see FIG. 11C).

  In the time period from time t4 to t7, the brushes 24a and 24b continue to rotate, but the tip portions 135a and 135b of the scrapers 130a and 130b are in contact with the hairs 52a and 52b. The deposit 84 adhering to the bodies 52a and 52b is scraped off by the tip portions 135a and 135b and removed from the brushes 24a and 24b even during this time period. That is, the brushes 24a and 24b are cleaned by the tip portions 135a and 135b.

  Thereafter, in the time period from time t7 to time t8, the nozzle 20 is driven by the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) and the guiding action of the small diameter portion 66 (see FIG. 11D) of the guide roller 60. The tip 54 is lowered again to the position H4 along the arrow Z2 direction.

  As described above, since the brushes 24a and 24b are still rotating and the nozzle 20 is rotated 90 °, the brushes 24a and 24b are completely removed in the time period t3 to t5 in the time period t8 to t9. The deposit 84 on the tip 54 side that has not been removed is removed from the nozzle 20 by the brushes 24a and 24b. Even during this time period, the tip 54 side is cleaned by the brushes 24a and 24b, and air is jetted from the nozzles 56a and 56b toward the outer peripheral surface of the nozzle 20, so that the deposit 84 and the cleaning liquid are discharged from the nozzle. 20 apart. Further, the deposit 84 attached to the hairs 52a and 52b is scraped off by the tip portions 135a and 135b of the scrapers 130a and 130b and removed from the brushes 24a and 24b. That is, the brushes 24a and 24b are cleaned by the tip portions 135a and 135b.

  Next, in the time period from time t9 to t10, the deposit removing device 10 stops the motors 32a and 32b (see FIG. 1) to stop the rotation of the brushes 24a and 24b, and stops the cylinder 38 to The reciprocating movement of the brushes 24a and 24b in the direction of the arrow Y is stopped, and the cleaning and the injection of air from the nozzles 56a and 56b are stopped. Thereby, the removal work of the deposit 84 on the tip 54 side of the nozzle 20 is completed.

  Next, in the time period from time t10 to time t11, the deposit removal apparatus 10 advances the clamp member 70a in the direction of the arrow X2 under the drive action of the drive source main body 72 (see FIGS. 1, 2, and 9). At the same time, the clamp member 70b is advanced in the direction of the arrow X1, and the nozzle 20 is held between the clamp members 70a and 70b (see FIG. 12A).

  Next, in the time period from time t11 to t12, the deposit removing apparatus 10 moves the rod 78 in the direction of the arrow Z1 under the driving action of the cylinder 76 (see FIGS. 1 and 2) to move the drive source main body 72. Raise in the direction of arrow Z1. The force for pinching the nozzle 20 by the clamp members 70a and 70b is large enough to allow the drive source body 72 to reciprocate in the arrow Z direction while pinching the nozzle 20. Accordingly, the clamp members 70a and 70b connected to the drive source main body 72 remove the deposit 84 attached to the surface of the nozzle 20 while rising in the arrow Z1 direction while the nozzle 20 is held. As a result, the removed deposit 84 accumulates in a space formed by the notches 82a and 82b and the surface of the nozzle 20 (see FIG. 12B).

  Next, at time t12, the drive source main body 72 (see FIGS. 1, 2 and 9) reaches a height at which it abuts against the nut 160, and the clamp members 70a and 70b are positioned at the position H1 on the base end 170 side of the nozzle 20. (See FIG. 10 and FIG. 12B), the deposit removing device 10 moves the clamp member 70a from the nozzle 20 in the direction of the arrow X1 under the drive action of the drive source main body 72 during the time period t12 to t13. The clamp member 70b is retracted from the nozzle 20 in the arrow X2 direction (see FIG. 12C). Thereby, the clamping state by the side of the base end 170 of the said nozzle 20 by the clamp members 70a and 70b is cancelled | released. Then, when air is sprayed from the nozzles 80a and 80b toward the deposit 84 accumulated in the notches 82a and 82b, the deposit 84 falls downward from the notches 82a and 82b.

  Next, in the time period from time t13 to t14, the rod 78 is retracted to the position shown in FIG. 1 under the driving action of the cylinder 76 (see FIGS. 1 and 2), and the drive source body 72 is moved to the upper surface of the table 12. To lower. As a result, the clamp members 70a and 70b connected to the drive source main body 72 are lowered to the position H2 shown in FIGS. 10 and 12D along the arrow Z2 direction. As a result, the clamp means 71 (clamp member 70a 70b), the removal operation of the deposit 84 is completed.

  Next, in the time period from time t14 to t15, the nozzle 172 is driven by the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) and the guiding action of the small diameter portion 66 (see FIG. 12D) of the guide roller 60. The tip 54 of 20 is raised to the position H3 along the arrow Z1 direction, and the deposit removing apparatus 10 is stopped at time t15.

  Next, a second specific example (hereinafter, referred to as a second removal operation) of the operation of removing the deposit 84 from the nozzle 20 by the deposit removing device 10 will be described with reference to FIGS. 1 to 9 and FIGS. 13 to 15D. While explaining. FIG. 13 is a time chart of the second removal work, and FIGS. 14A to 15D are schematic side views showing the operation of the deposit removing device 10 at a predetermined time or a predetermined time zone of the time chart. .

  The second removal operation involves deposits on the tip 54 side of the nozzle 20 by the brushes 24a and 24b while rotating the nozzle 20 under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2). 84 and removal work of the deposit 84 on the base end 170 side of the nozzle 20 by the clamp members 70a and 70b, respectively, and further, during the removal work of the deposit 84 by the brushes 24a and 24b, the brush It differs from the first removal operation (see FIGS. 10 to 12D) in that 24a and 24b are moved up and down in the arrow Z direction.

  First, the tip 54 of the nozzle 20 to which the deposit 84 after the application work has been deposited is disposed at a position H3 (see FIG. 13) shown in FIG. 14A. Note that the state of the deposit removal apparatus 10 in FIG. 14A is the same as that in FIG.

  Next, the deposit removing apparatus 10 is activated at time t20, and the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) and the guiding action of the guide roller 60 are performed in the time period from time t20 to t21. The nozzle 20 is lowered in the direction of arrow Z2 (see FIG. 14B).

  At the time t21, when the tip 54 of the nozzle 20 is lowered to the position H4 (see FIG. 13) and the tip 54 side is sandwiched between the brushes 24a and 24b, the deposit removing device 10 at times t21 to t22. During this time period, the motors 32a and 32b (see FIG. 1) are driven to start rotation of the brushes 24a and 24b around the rotation shafts 26a and 26b (see FIG. 14B).

  Next, in the time period from time t22 to t23, the cylinder 38 (see FIG. 1) is driven to start reciprocation of the rod 40 in the arrow Y direction, and the drive source body 72 (FIGS. 1, 2, and 9). Under the driving action (see Fig. 14C), the clamp member 70a is advanced in the direction of the arrow X2 and the clamp member 70b is advanced in the direction of the arrow X1, whereby the nozzle 20 is held between the clamp members 70a and 70b (see Fig. 14C).

  Therefore, in the time period from time t23 to t24, the deposit 84 on the tip 54 side of the nozzle 20 is removed from the nozzle 20 under the rotating action of the brushes 24a and 24b. Even in this case, the brushes 24a and 24b perform cleaning of the tip 54 side of the nozzle 20 using the cleaning liquid. Further, the deposit 84 and the cleaning liquid removed from the nozzle 20 are separated from the nozzle 20 by the injection of air from the nozzles 56 a and 56 b. Also, the deposit 84 that has been removed from the nozzle 20 and adhered to the hairs 52a and 52b of the brushes 24a and 24b is scraped off by the tip portions 135a and 135b of the scrapers 130a and 130b and removed from the brushes 24a and 24b. The

  In the second removal operation, the clamping force of the nozzle 20 by the clamp members 70a and 70b causes the nozzle 20 to move in the arrow Z direction under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2). When rotating as the central axis, the holding force is such that the nozzle 20 can rotate.

  Next, in the time period from time t24 to t25, the nozzle 20 is rotated 90 ° about the arrow Z direction as a central axis under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) (see FIG. 14C). ). Thereby, in the time zone from time t25 to t26, the removal work of the deposit 84 is performed in the state where the nozzle 20 is rotated by 90 ° in the time zone from time t23 to t24.

  Therefore, in the time period from time t24 to t35, the rotation angle of the nozzle 20 is set with the arrow Z direction as the central axis at predetermined time intervals under the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2). While changing between 0 ° and 90 °, the removal of the deposit 84 on the tip 54 side is performed.

  Next, in the time period from time t26 to time t27, the deposit removal apparatus 10 advances the rod 46 in the direction of the arrow Z1 under the driving action of the cylinder 44 (see FIGS. 1 and 2). As a result, the components of the first deposit removing mechanism 13 above the plate 42 are lifted together with the plate 42 in the direction of the arrow Z1, so that the brushes 24a and 24b are positioned at the position H6 shown in FIG. 14C. Ascend to position H5 shown in FIG. 14D (see FIG. 13). Therefore, in the time period from time t27 to t28, the operation of removing the deposit 84 on the surface of the nozzle 20 at the position H5 is performed.

  During the time period from time t28 to t29, the rod 46 is retracted in the direction of the arrow Z2 under the driving action of the cylinder 44 (see FIGS. 1 and 2), and each of the first deposit removal mechanism 13 above the plate 42 is moved. The components are lowered together with the plate 42 in the direction of the arrow Z2. Accordingly, the brushes 24a and 24b are lowered from a position H5 (see FIG. 13) shown in FIG. 14D to a position H6 shown in FIG. 14C. Therefore, in the time zone from time t29 to t30, the removal work of the deposit 84 on the surface of the nozzle 20 at the position H6 is performed.

  Thus, in the time period from time t26 to t31, the position of the brushes 24a and 24b is set between the position H5 and the position H6 at predetermined time intervals under the driving action of the cylinder 44 (see FIGS. 1 and 2). The removal work of the deposit 84 on the front end 54 side is performed while changing the position.

  Next, in the time period from time t32 to t33, the deposit removing apparatus 10 advances the rod 78 in the direction of the arrow Z1 under the driving action of the cylinder 76 (see FIGS. 1 and 2) to move the drive source main body 72. Raise in the direction of arrow Z1. As a result, the clamp members 70a and 70b connected to the drive source main body 72 remove the deposit 84 attached to the surface of the nozzle 20 while rising in the direction of the arrow Z1 while holding the nozzle 20. The position H1 is reached (see FIGS. 13 and 15A). As a result, the removed deposit 84 accumulates in a space formed by the notches 82a and 82b and the surface of the nozzle 20.

  Next, the rod 78 is shown in FIG. 1 under the driving action of the cylinder 76 (see FIGS. 1 and 2) in a state where the nozzle 20 is held by the clamp members 70a and 70b in the time period from time t34 to t35. The drive source main body 72 is lowered to the table 12 by retracting to the position. Accordingly, the clamp members 70a and 70b connected to the drive source main body 72 are lowered to the position H2 shown in FIGS. 13 and 15B along the arrow Z2 direction.

  Next, in the time period from time t35 to t36, the deposit removing device 10 retreats the clamp member 70a from the nozzle 20 in the direction of the arrow X1 and drives the clamp member 70b to the nozzle under the drive action of the drive source body 72. 20 is moved backward in the direction of the arrow X2 (see FIG. 15C). As a result, the clamping state on the proximal end 170 side of the nozzle 20 by the clamp members 70a and 70b is released, and when air is ejected from the nozzles 80a and 80b toward the deposit 84 accumulated in the notches 82a and 82b. The deposit 84 falls downward from the notches 82a and 82b. In this time zone, the deposit removing device 10 stops the motors 32a and 32b (see FIG. 1) to stop the rotation of the brushes 24a and 24b, and stops the cylinder 38 to stop the brushes 24a and 24b. The reciprocating movement in the arrow Y direction is stopped, and the jetting of air from the nozzles 56a and 56b and the cleaning of the surface of the nozzle 20 with the cleaning liquid are also stopped.

  Next, in the time zone from time t36 to t37, the nozzle 172 is driven by the driving action of the arm 172 and the robot hand 174 (see FIGS. 1 and 2) and the guiding action of the small diameter portion 66 (see FIG. 11D) of the guide roller 60. The tip 54 of 20 is raised to the position H3 along the arrow Z1 direction, the injection of air from the nozzles 80a and 80b is stopped, and the deposit removing device 10 is stopped at time t37 (see FIG. 15D). Thereby, the removal work of the deposit 84 with respect to the nozzle 20 is completed.

  Thus, in this embodiment, the deposit 84 on the one surface side on the tip 54 side of the nozzle 20 is removed from the nozzle 20 under the rotating action of the brush 24a, and the deposit 84 on the other surface is removed under the rotating action of the brush 24b. Then, the deposit 84 on the surface of the nozzle 20 is removed from the nozzle 20 under the moving action of the clamping means 71.

  As a result, the deposit 84 on the surface of the nozzle 20 can be reliably removed, and the removal efficiency of the deposit 84 can be significantly improved. Further, since the deposit 84 on the tip 54 side can be removed without using an abrasive, it is possible to avoid wear on the tip 54 side due to the above-described removal work.

  Therefore, when the nozzle 20 is a nozzle that injects the liquid resin material onto the surface of the mold for forming the vehicle interior member, and the deposit 84 is a part of the liquid resin material injected from the nozzle 20, Since the deposit 84 is surely removed by the removing operation, the deposit 84 falls onto the mold surface when the liquid resin material is sprayed from the nozzle 20 toward the mold surface. Can be avoided. In addition, since the wear on the tip 54 side of the nozzle 20 is suppressed, it is possible to avoid a change in the injection pattern of the liquid resin material from the nozzle 20 to the mold surface. Thereby, the application pattern can be maintained in a desired pattern, and the quality of the vehicle interior member can be improved. Furthermore, by reliably removing the deposit 84 from the nozzle 20, the replacement frequency of the nozzle 20 in the coating apparatus can be reduced, and the operating rate of the coating apparatus can be improved.

  Further, during the removing operation, the brushes 24a, 24b and the nozzle 20 are crossed and the brushes 24a, 24b are displaced in the direction of the rotation shafts 26a, 26b (arrow Y direction) under the driving action of the cylinder 38. Therefore, it is possible to avoid that only specific portions of the brushes 24a and 24b are in contact with the nozzle 20 and wear.

  In this case, since the total length of the rotating members 50a and 50b of the brushes 24a and 24b is set to be longer than the outer diameter of the nozzle 20, it is possible to reliably avoid wear at specific locations of the brushes 24a and 24b.

  Further, the hairs 52a and 52b planted in the rotary members 50a and 50b are made of a resin material having a solvent resistance to the cleaning liquid for cleaning the nozzle 20, so that the adhered matter 84 is attached to each hair 52a and 52b. It is possible to clean the nozzle 20 with the cleaning liquid while removing it from the nozzle 20, and the removal operation can be performed in a short time.

  Furthermore, since the scrapers 130a and 130b are brought into contact with the hairs 52a and 52b of the rotating brushes 24a and 24b in the removing operation, the deposit 84 attached to the hairs 52a and 52b As a result, the contact resistance of the brushes 24a and 24b with respect to the nozzle 20 can be made uniform, and the removal efficiency with respect to the deposit 84 attached to the nozzle 20 can be further improved.

  Furthermore, the deposits 84 can be more reliably removed by moving the brushes 24a, 24b up and down along the nozzle 20 under the driving action of the cylinder 44.

  Further, the air blow nozzles 56a, 56b, 80a, and 80b for injecting air to the deposit 84 removed from the nozzle 20 are disposed in the vicinity of the clamp means 71 and the brushes 24a and 24b, so that the deposit 84 can be disposed in the nozzle 20. It is possible to avoid re-adhering.

  Further, by pressing the brushes 24a and 24b against the nozzle 20 under the compression action of the spring member 124, the brushes 24a and 24b reliably come into contact with the nozzle 20, so that the deposits 84 on the surface of the nozzle 20 are efficiently removed. be able to.

  In addition, the nozzle 20 is moved forward and backward by the nozzle moving means 27 with respect to the brushes 24a and 24b, and further, the nozzle 20 is rotated around the central axis (in the arrow Z direction) of the nozzle 20, whereby the surface of the nozzle 20 is attached. The kimono 84 can be reliably removed. Further, if the gripping means for the nozzle 20 in the application operation is also used as the nozzle moving means 27, the time between the removal operation and the application operation is shortened, and the entire system including the deposit removing device 10 and the application device is reduced. The working efficiency can be improved.

  Furthermore, if the nozzle 20 that moves up and down in the direction of the arrow Z under the driving action of the nozzle moving means 27 is guided by the guide roller 60 of the nozzle guide means 18, the tip 54 side of the nozzle 20 is reliably narrowed by the brushes 24a and 24b. It can be held.

  Further, by providing notches 82a and 82b on the nozzle 20 side of the clamp members 70a and 70b constituting the clamp means 71, the nozzle 20 is held by the clamp members 70a and 70b, and the clamp means 71 is raised in the direction of the arrow Z1. If it makes it, the deposit | attachment 84 removed from the nozzle 20 will accumulate in the notches 82a and 82b. As a result, if the air is injected from the nozzles 80a and 80b in a state where the clamp members 70a and 70b are separated from the nozzle 20, the deposit 84 can be efficiently removed.

  In addition, since the hardness of the clamp members 70a and 70b is lower than that of the nozzle 20, when the number of the removal operations reaches a predetermined number, the clamp members 70a and 70b are replaced so The removal efficiency of the kimono 84 can be maintained.

  In the deposit removing device 10 described above, the air blowing nozzles 56a and 56b are disposed in the vicinity of the brushes 24a and 24b, and the air blowing nozzles 80a and 80b are disposed in the vicinity of the clamping means 71. Of course, even when 56b is omitted or when the nozzles 80a and 80b are omitted, the above-described effects can be obtained.

  In the above description, in order to press the brushes 24a and 24b against the nozzle 20 side, the compression action of the spring member 124 shown in FIG. 5 is used, but instead of this configuration, the cylinder 180a shown in FIG. It is also possible to adopt 180b.

  In this case, the cylinders 180a and 180b are disposed on the plate 92 via the support members 184a and 184b, and the rods 182a and 182b of the cylinders 180a and 180b are fixed to the plate bodies 120a and 120b by nuts 188a and 188b. . Accordingly, when the rods 182a and 182b are advanced and retracted in the direction of the arrow Y under the driving action of the cylinders 180a and 180b, the brushes 24a and 24b can advance and retract with respect to the nozzle 20.

In this embodiment, as shown in FIG. 17, in addition to the configuration of the cylinders 180a and 180b in FIG. 16, the presence or absence of contact of the brushes 24a and 24b with the nozzle 20 is determined by the laser light sources 190a and 190b and the photodetectors 192a and 192b. It is also possible to detect using ( brush contact detection means).

In this case, the brush 24 a above the laser light source 190a is disposed on the optical detector 192a is disposed below the brush 24a. Meanwhile, the brush 24 b above the laser light source 190b is disposed on the photodetector 192b is disposed below the brush 24b. The laser light sources 190a and 190b are attached to, for example, the ceiling plate of the table 12 (see FIGS. 1 and 2), and the photodetectors 192a and 192b are disposed on the plate 92.

  The laser beams 194a and 194b emitted from the laser light sources 190a and 190b pass through positions where the nozzle 20 and the brushes 24a and 24b are in contact with each other and reach the photodetectors 192a and 192b. The photodetectors 192a and 192b detect the laser beams 194a and 194b and output the detection results to the cylinders 180a and 180b.

  Therefore, if the nozzle 20 and the brushes 24a and 24b are not in contact and a detection signal is input from the photodetectors 192a and 192b, the cylinders 180a and 180b advance the rods 182a and 182b. On the other hand, when the brushes 24a and 24b come into contact with the nozzle 20, the passage of the laser beams 194a and 194b is blocked. As a result, if no detection signal is input from the photodetectors 192a and 192b, the cylinders 180a and 180b The progress of the rods 182a and 182b is stopped. Thereby, brush 24a, 24b can be reliably made to contact the nozzle 20 during the said removal operation | work.

  The presence or absence of contact of the brushes 24a and 24b with the nozzle 20 is detected by a contact type displacement sensor attached to the support plate 34a and 34b on the nozzle 20 side as shown in FIG. 18 instead of the configuration of FIG. Detection is also possible using 200a and 200b.

  In this case, the distance between the tip of the displacement sensor 200a and the support plate 34b is set to the distance between the brush 24a and the nozzle 20, and the distance between the tip of the displacement sensor 200b and the support plate 34a is set to the distance between the brush 24b and the nozzle 20. And the interval is set. Therefore, the rods 182a and 182b are advanced toward the nozzle 20 under the driving action of the cylinders 180a and 180b, the tip of the displacement sensor 200a comes into contact with the support plate 34b, and the tip of the displacement sensor 200b contacts the support plate 34a. Upon contact, the displacement sensors 200a and 200b output detection results (detection signals) to the cylinders 180a and 180b indicating that they are in contact with the support plates 34b and 34a. Thereby, the cylinders 180a and 180b stop the progress of the rods 182a and 182b. Accordingly, even in this case, the brushes 24a and 24b can be reliably brought into contact with the nozzle 20 during the removing operation.

  Furthermore, in this embodiment, as shown in FIG. 19, the scraper 130b can be advanced and retracted with respect to the brush 24b.

In this case, the cylinder (scraper moving means) 204 is fixed on the plate 36 b via the L-shaped support member 202, and the base portion 132 b of the scraper 130 b is fixed to the rod 206 of the cylinder 204 by the nut 208. Further, a laser light source 214 and a light detector 210 ( scraper contact detection means) are respectively disposed above and below the contact position between the brush 24b and the tip portion 135b of the scraper 130b. In addition, the laser light source 214 is attached to the lower part of the ceiling board of the table 12 (refer FIG.1 and FIG.2), for example, and the photodetector 210 is arrange | positioned at the plate 36b.

  Thereby, when the brush 24b and the front-end | tip part 135b are not contacting, the laser beam 212 radiated | emitted from the laser light source 214 passes the said contact position, is detected by the photodetector 210, The detection result (Detection signal) is output to the cylinder 204.

  On the other hand, when the rod 206 advances in the direction of the arrow X1 under the driving action of the cylinder 204 and the tip portions 135a and 135b come into contact with the brush 24b, the passage of the laser beam 212 is blocked and the light from the photodetector 210 is blocked. Since there is no detection signal input, the cylinder 204 stops the movement of the rod 206. Thus, the scraper 130b can be reliably brought into contact with the brush 24b during the removing operation.

  In addition, this invention is not limited to said embodiment, Of course, various structures can be taken, without deviating from the summary of this invention.

It is a schematic front view of the deposit removal apparatus concerning this embodiment. FIG. 2 is a schematic side view of the apparatus of FIG. 1. It is sectional drawing along the III-III line of FIG. It is sectional drawing along the IV-IV line of FIG. It is sectional drawing along the VV line of FIG. It is sectional drawing along the VI-VI line of FIG. 7A and 7B are cross-sectional views taken along line VII-VII in FIG. It is sectional drawing along the VIII-VIII line of FIG. It is a partial expansion perspective view of a brush and a nozzle. It is a time chart of the 1st removal work. 11A to 11D are schematic side views showing the first removal work. 12A to 12D are schematic side views showing the first removal operation. It is a time chart of the 2nd removal work. 14A to 14D are schematic side views showing the second removal operation. 15A to 15D are schematic side views showing the second removal operation. It is sectional drawing which shows the contact with the brush and nozzle by a cylinder. It is sectional drawing which shows the detection of the presence or absence of a contact with a brush and a nozzle. It is sectional drawing which shows the detection of the presence or absence of a contact with a brush and a nozzle. It is sectional drawing which shows the contact of the brush and scraper by a cylinder, and the detection of the presence or absence of the contact.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Deposit removal apparatus 13 ... 1st deposit removal mechanism 14a, 14b ... Brush rotation means 16 ... 2nd deposit removal mechanism 18 ... Nozzle guide means 20, 56a, 56b, 80a, 80b ... Nozzle 24a, 24b ... Brush 26a, 26b ... rotating shaft 27 ... nozzle moving means 32a, 32b ... motors 36a, 36b ... plates 38, 44, 76, 180a, 180b, 204 ... cylinders 40, 46, 78, 100, 101, 182a, 182b, 206 ... Rods 50a, 50b ... Rotating members 52a, 52b ... Ciliary body 54 ... Tip 60 ... Guide roller 66 ... Small diameter portion 70a, 70b ... Clamp member 71 ... Clamping means 72 ... Drive source bodies 82a, 82b, 136a, 136b ... Notches 83a , 83b ... curved portion 84 ... deposits 102a, 102b, 104a, 104b Rod support members 110a, 110b, 112a, 112b ... sliding members 123a, 123b ... spring holding members 124 ... spring members 130a, 130b ... scrapers 135a, 135b ... tips 138a, 138b ... protrusions 170 ... base ends 172 ... arms 174 ... Robot hands 190a, 190b, 214 ... laser light sources 192a, 192b, 210 ... photodetectors 194a, 194b, 212 ... laser light 200a, 200b ... displacement sensors

Claims (11)

A first brush that contacts the tip side of the nozzle and rotates to remove deposits on the tip side while rotating;
A second brush that cooperates with the first brush to remove the deposit on the tip side while pinching and rotating the tip side;
A first clamp member that can advance and retreat with respect to the nozzle, and a second clamping member that can advance and retreat with respect to the opposed and the nozzle to the first clamping member, the first clamp member the proximal end side of the nozzle and clamping means for removing the base end of the deposit by Rukoto moving the first clamping member and the second clamp member along the nozzle while being sandwiched and by the second clamp member,
Brush contact detection means for detecting presence or absence of contact of each brush with the nozzle;
Brush pressing means for pressing each brush against the nozzle based on the detection result of the brush contact detecting means;
An apparatus for removing deposits from a nozzle, comprising: The deposit removing apparatus according to claim 1, wherein
First brush displacing means for displacing each brush along the rotation axis direction of each brush;
Each said brush has crossed the said nozzle. The deposit | attachment removal apparatus of the nozzle characterized by the above-mentioned. The deposit removing apparatus according to claim 2, wherein
Each brush is disposed along the rotation axis direction and has a rotation member whose total length along the rotation axis direction is longer than the outer diameter of the nozzle, and a plurality of hairs planted on the rotation member at a predetermined density. Each with a body,
Each said hair body is comprised from the resin material which has solvent resistance with respect to the washing | cleaning liquid for wash | cleaning the said nozzle. The deposit | attachment removal apparatus of the nozzle characterized by the above-mentioned. The deposit removing apparatus according to claim 3, wherein
A scraper that contacts each of the hairs of each of the rotating brushes and removes the material attached to each of the hairs when the matter is removed from the nozzle. An apparatus for removing deposits from a nozzle. The deposit removing apparatus according to claim 4, wherein
Scraper moving means for moving the scraper forward and backward with respect to each hair, and scraper contact detection means for detecting whether the scraper is in contact with each hair,
The scraper moving means moves the scraper forward and backward based on the detection result of the scraper contact detection means. In the deposit removal apparatus according to any one of claims 1 to 5,
The apparatus further comprises a second brush displacing means for displacing each brush along the nozzle. In the deposit removal apparatus according to any one of claims 1 to 6,
The nozzle deposit removing apparatus, further comprising an air blow unit that is disposed in the vicinity of the clamp unit and / or in the vicinity of each of the brushes and that injects air onto the deposit removed from the nozzle. In the deposit removal apparatus according to any one of claims 1 to 7 ,
The nozzle deposit removing device further includes nozzle moving means for moving the nozzle forward and backward with respect to each brush and / or rotating the nozzle around the central axis of the nozzle. The deposit removing apparatus according to claim 8 , wherein
The nozzle deposit removing device further includes nozzle guide means for guiding the nozzle when the nozzle is advanced and retracted with respect to each brush under the driving action of the nozzle moving means. In the deposit removal apparatus according to any one of claims 1 to 9 ,
Before Symbol The said nozzle side of each clamp member, deposit removing device of the nozzle, characterized in that notches are formed. In the deposit removal device according to any one of claims 1 to 10 ,
The nozzle is a nozzle that injects a liquid resin material onto a molding die surface for molding a vehicle interior member,
The said deposit | attachment is a part of said liquid resin material injected from the said nozzle. The deposit | attachment removal apparatus of the nozzle characterized by the above-mentioned.

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