JP4863200B2 - Resin component melting apparatus, resin component melting robot system, and resin component melting method - Google Patents

Resin component melting apparatus, resin component melting robot system, and resin component melting method Download PDF

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Publication number
JP4863200B2
JP4863200B2 JP2005377340A JP2005377340A JP4863200B2 JP 4863200 B2 JP4863200 B2 JP 4863200B2 JP 2005377340 A JP2005377340 A JP 2005377340A JP 2005377340 A JP2005377340 A JP 2005377340A JP 4863200 B2 JP4863200 B2 JP 4863200B2
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Prior art keywords
pressing
displacement
heating member
resin component
unit
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JP2007176016A (en
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晃 国崎
正幸 中屋
弘 水野
伸次 橋本
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Nachi Fujikoshi Corp
Yachiyo Industry Co Ltd
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Nachi Fujikoshi Corp
Yachiyo Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/84—Specific machine types or machines suitable for specific applications
    • B29C66/863—Robotised, e.g. mounted on a robot arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B29C65/18—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
    • B29C65/20—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror"
    • B29C65/2007—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror" characterised by the type of welding mirror
    • B29C65/203—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror" characterised by the type of welding mirror being several single mirrors, e.g. not mounted on the same tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B29C65/18—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
    • B29C65/20—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror"
    • B29C65/2053—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror" characterised by special ways of bringing the welding mirrors into position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/53—Joining single elements to tubular articles, hollow articles or bars
    • B29C66/532—Joining single elements to the wall of tubular articles, hollow articles or bars
    • B29C66/5324—Joining single elements to the wall of tubular articles, hollow articles or bars said single elements being substantially annular, i.e. of finite length
    • B29C66/53245—Joining single elements to the wall of tubular articles, hollow articles or bars said single elements being substantially annular, i.e. of finite length said articles being hollow
    • B29C66/53246—Joining single elements to the wall of tubular articles, hollow articles or bars said single elements being substantially annular, i.e. of finite length said articles being hollow said single elements being spouts, e.g. joining spouts to containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
    • B29C66/73—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the intensive physical properties of the material of the parts to be joined, by the optical properties of the material of the parts to be joined, by the extensive physical properties of the parts to be joined, by the state of the material of the parts to be joined or by the material of the parts to be joined being a thermoplastic or a thermoset
    • B29C66/739—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the intensive physical properties of the material of the parts to be joined, by the optical properties of the material of the parts to be joined, by the extensive physical properties of the parts to be joined, by the state of the material of the parts to be joined or by the material of the parts to be joined being a thermoplastic or a thermoset characterised by the material of the parts to be joined being a thermoplastic or a thermoset
    • B29C66/7392—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the intensive physical properties of the material of the parts to be joined, by the optical properties of the material of the parts to be joined, by the extensive physical properties of the parts to be joined, by the state of the material of the parts to be joined or by the material of the parts to be joined being a thermoplastic or a thermoset characterised by the material of the parts to be joined being a thermoplastic or a thermoset characterised by the material of at least one of the parts being a thermoplastic
    • B29C66/73921—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the intensive physical properties of the material of the parts to be joined, by the optical properties of the material of the parts to be joined, by the extensive physical properties of the parts to be joined, by the state of the material of the parts to be joined or by the material of the parts to be joined being a thermoplastic or a thermoset characterised by the material of the parts to be joined being a thermoplastic or a thermoset characterised by the material of at least one of the parts being a thermoplastic characterised by the materials of both parts being thermoplastics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/82—Pressure application arrangements, e.g. transmission or actuating mechanisms for joining tools or clamps
    • B29C66/822—Transmission mechanisms
    • B29C66/8221—Scissor or lever mechanisms, i.e. involving a pivot point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/82—Pressure application arrangements, e.g. transmission or actuating mechanisms for joining tools or clamps
    • B29C66/824—Actuating mechanisms
    • B29C66/8242—Pneumatic or hydraulic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/83—General aspects of machine operations or constructions and parts thereof characterised by the movement of the joining or pressing tools
    • B29C66/832—Reciprocating joining or pressing tools
    • B29C66/8322—Joining or pressing tools reciprocating along one axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
    • B29C66/912—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux
    • B29C66/9121—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux by measuring the temperature
    • B29C66/91231—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux by measuring the temperature of the joining tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
    • B29C66/914—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux
    • B29C66/9141—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature
    • B29C66/91421—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature of the joining tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/922—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/9231—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the displacement of the joining tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/924—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/9241—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force or the mechanical power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/929—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools characterized by specific pressure, force, mechanical power or displacement values or ranges
    • B29C66/9292—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools characterized by specific pressure, force, mechanical power or displacement values or ranges in explicit relation to another variable, e.g. pressure diagrams
    • B29C66/92921—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools characterized by specific pressure, force, mechanical power or displacement values or ranges in explicit relation to another variable, e.g. pressure diagrams in specific relation to time, e.g. pressure-time diagrams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/94—Measuring or controlling the joining process by measuring or controlling the time
    • B29C66/944—Measuring or controlling the joining process by measuring or controlling the time by controlling or regulating the time
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/96—Measuring or controlling the joining process characterised by the method for implementing the controlling of the joining process
    • B29C66/961—Measuring or controlling the joining process characterised by the method for implementing the controlling of the joining process involving a feedback loop mechanism, e.g. comparison with a desired value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/96—Measuring or controlling the joining process characterised by the method for implementing the controlling of the joining process
    • B29C66/967—Measuring or controlling the joining process characterised by the method for implementing the controlling of the joining process involving special data inputs or special data outputs, e.g. for monitoring purposes
    • B29C66/9672—Measuring or controlling the joining process characterised by the method for implementing the controlling of the joining process involving special data inputs or special data outputs, e.g. for monitoring purposes involving special data inputs, e.g. involving barcodes, RFID tags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
    • B29C66/914—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux
    • B29C66/9141—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature
    • B29C66/91421—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature of the joining tools
    • B29C66/91423—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature of the joining tools using joining tools having different temperature zones or using several joining tools with different temperatures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00—Other particular articles
    • B29L2031/712—Containers; Packaging elements or accessories, Packages
    • B29L2031/7172—Fuel tanks, jerry cans

Description

本発明は、樹脂部品の溶融装置、樹脂部品の溶融ロボットシステム及び樹脂部品の溶融方法に関する。   The present invention relates to a resin component melting apparatus, a resin component melting robot system, and a resin component melting method.

樹脂材料で一体成型された燃料タンク等の本体部品には、フィラーチューブの接続口等の小部品が溶着される。溶着は、まず、本体部品と小部品の接合面同士間に当該樹脂材料を溶融させる温度に加熱された熱板を挟んで、互いの接合面の平行度が整うように溶融させ（第１工程）、互いの接合面を溶着可能なように溶融させて（第２工程）、熱板を取り外した上で互いの接合面を合わせる（第３工程）ことにより行われる（例えば、特許文献１参照。）。
特開２０００−２８０３５１号公報 Small parts such as filler tube connection ports are welded to main parts such as a fuel tank integrally molded with a resin material. In the welding, first, a hot plate heated to a temperature at which the resin material is melted is sandwiched between the joint surfaces of the main body part and the small part, and melted so that the parallelism of the joint surfaces is uniform (first step). ), Melting each other so that the joining surfaces can be welded (second step), and removing the hot plate and aligning the joining surfaces (third step) (see, for example, Patent Document 1) .)
JP 2000-280351 A

しかし、上記特許文献１においては、各工程における作業時間、本体部品及び小部品に対する熱板の押圧力は各工程毎に設定することができるものの、同一工程内では熱板の押圧力は一定である。そのため、作業環境の周辺温度や、溶融させる前の本体部品及び小部品の温度によって溶融速度にばらつきが発生する。このため、目的となる深さの溶融を実現させるためには、これらのばらつきを加味して熱板を長めに本体部品及び小部品に押し付ける必要がある。この結果、溶着完了までのサイクルタイムが長くなるという問題があった。また、過剰な加熱により本体部品及び小部品を組成する樹脂材料が劣化するという問題があった。また、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題があった。   However, in Patent Document 1, although the working time in each process and the pressing force of the hot plate against the main body part and the small parts can be set for each process, the pressing force of the hot plate is constant within the same process. is there. For this reason, the melting speed varies depending on the ambient temperature of the work environment and the temperatures of the main body parts and small parts before melting. For this reason, in order to realize the melting at the target depth, it is necessary to press the main plate and the small parts for a long time in consideration of these variations. As a result, there is a problem that the cycle time until the completion of welding becomes long. Further, there has been a problem that the resin material composing the main body part and the small part deteriorates due to excessive heating. In addition, there is a problem that the quality of the product due to the uncertainty of the melting depth becomes unstable and a defective product is manufactured.

そこで、本発明は、上記課題を解決するためになされたものであり、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる樹脂部品溶融装置、樹脂部品の溶融ロボットシステム及び樹脂部品の溶融方法を提供することを目的とする。また、過剰な加熱による樹脂の劣化を防止することができる樹脂部品溶融装置、樹脂部品の溶融ロボットシステム及び樹脂部品の溶融方法を提供することを目的とする。また、溶着の品質を向上させることができる樹脂部品溶融装置、樹脂部品の溶融ロボットシステム及び樹脂部品の溶融方法を提供することを目的とする。   Accordingly, the present invention has been made to solve the above problems, and a resin component melting apparatus and a resin component melting robot that can shorten the cycle time of welding by melting the resin for an appropriate time. An object is to provide a system and a method for melting a resin component. It is another object of the present invention to provide a resin component melting apparatus, a resin component melting robot system, and a resin component melting method capable of preventing resin deterioration due to excessive heating. Another object of the present invention is to provide a resin component melting apparatus, a resin component melting robot system, and a resin component melting method capable of improving the quality of welding.

請求項１に記載の発明は、樹脂部品の溶融装置において、樹脂部品を加熱して溶融させる加熱部材と、前記加熱部材を前記樹脂部品に押し付ける押し付け手段と、前記樹脂部品に関して、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間と前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位量とを予め対応付けて記憶する記憶手段と、前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出手段と、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時手段と、前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、単位時間当たりの前記加熱部材の単位変位量を算出する単位変位量算出手段と、前記単位変位量算出手段により算出された単位変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力を調節するように前記押し付け手段の駆動を制御する駆動制御手段と、を備えることを特徴とする。 The invention according to claim 1 is a resin component melting apparatus, wherein a heating member that heats and melts the resin component, a pressing unit that presses the heating member against the resin component, and the pressing unit includes: Storage means for preliminarily associating and storing an elapsed time since the pressing of the heating member and a displacement amount of the heating member pressed against the resin component by the pressing means, and the resin component by the pressing means Displacement detecting means for detecting the displacement of the heating member pressed against the heating member, time measuring means for measuring an elapsed time after the pressing means starts pressing the heating member, and the detection by the displacement detecting means Based on the displacement of the heating member and the elapsed time measured by the time measuring means, the unit displacement amount of the heating member per unit time is calculated. The unit displacement amount calculating means to be output and the unit displacement amount calculated by the unit displacement amount calculating means so as to approach the reference unit displacement amount per unit time derived from the elapsed time and the displacement amount stored in the storage means. Drive control means for controlling the drive of the pressing means so as to adjust the pressing force of the pressing member against the heating member.

請求項２に記載の発明は、樹脂部品の溶融装置において、樹脂部品を加熱して溶融させる加熱部材と、前記加熱部材を前記樹脂部品に押し付ける押し付け手段と、前記樹脂部品に関して、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間と前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位量とを予め対応付けて記憶する記憶手段と、前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出手段と、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時手段と、前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、前記計時手段が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出手段と、前記総変位量算出手段により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御する駆動制御手段と、を備えることを特徴とする。   According to a second aspect of the present invention, in the resin component melting apparatus, a heating member that heats and melts the resin component, a pressing unit that presses the heating member against the resin component, and the pressing unit includes: Storage means for preliminarily associating and storing an elapsed time since the pressing of the heating member and a displacement amount of the heating member pressed against the resin component by the pressing means, and the resin component by the pressing means Displacement detecting means for detecting the displacement of the heating member pressed against the heating member, time measuring means for measuring an elapsed time after the pressing means starts pressing the heating member, and the detection by the displacement detecting means Based on the displacement of the heating member and the elapsed time measured by the time measuring means, the heating after the time measuring means starts measuring time. A total displacement amount calculating means for calculating the total displacement amount of the material, and the total displacement amount calculated by the total displacement amount calculating means is a reference total displacement amount derived from the elapsed time and the displacement amount stored in the storage means. Drive control means for controlling the driving of the pressing means so as to adjust at least one of the pressing force of the pressing member to the heating member and the pressing time of the heating member to the resin component so as to approach each other. It is characterized by providing.

請求項３に記載の発明は、請求項１に記載の樹脂部品の溶融装置において、前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、前記計時手段が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出手段を備え、前記駆動制御手段は、前記総変位量算出手段により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御することを特徴とする。   According to a third aspect of the present invention, in the resin component melting apparatus according to the first aspect, based on the displacement of the heating member detected by the displacement detecting means and the elapsed time measured by the time measuring means, Total displacement amount calculating means for calculating the total displacement amount of the heating member after the time measuring means starts measuring time, the drive control means, the total displacement amount calculated by the total displacement amount calculating means, At least of the pressing force of the pressing member against the heating member and the pressing time of the heating member against the resin component so as to approach the reference total displacement amount derived from the elapsed time and displacement amount stored in the storage means The driving of the pressing means is controlled so as to adjust one of them.

請求項４に記載の発明は、樹脂部品の溶融ロボットシステムにおいて、請求項１〜３のいずれか一項に記載の樹脂部品の溶融装置と、複数のアームを有し、当該アームの先端に前記樹脂部品の溶融装置が設けられるとともに、駆動力が付与されることにより、前記アームの先端が所定の動作範囲内で動作する単数又は複数のロボットと、を備えることを特徴とする。   According to a fourth aspect of the present invention, in the resin component melting robot system, the resin component melting apparatus according to any one of the first to third aspects and a plurality of arms, wherein the arm is provided at a tip of the arm. A melting apparatus for resin parts is provided, and at least one robot or a plurality of robots that move the tip of the arm within a predetermined operation range by applying a driving force.

請求項５に記載の発明は、請求項１に記載の樹脂部品の溶融装置を用いた樹脂部品の溶融方法において、前記押し付け手段により前記加熱部材を前記樹脂部品に押し付ける押し付け工程と、前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時工程と、前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、単位時間当たりの前記加熱部材の単位変位量を算出する単位変位量算出工程と、前記単位変位量算出工程により算出された単位変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力を調節するように前記押し付け手段の駆動を制御する駆動制御工程と、を備えることを特徴とする。 According to a fifth aspect of the present invention, there is provided a resin component melting method using the resin component melting apparatus according to the first aspect, wherein the pressing member presses the heating member against the resin component, and the pressing unit. A displacement detecting step for detecting the displacement of the heating member pressed against the resin component by the step, a time measuring step for measuring an elapsed time after the pressing means starts pressing the heating member, and a displacement detecting step. A unit displacement amount calculating step for calculating a unit displacement amount of the heating member per unit time based on the detected displacement of the heating member and the elapsed time measured by the time measuring step, and the unit displacement amount calculating step The unit displacement amount calculated by the above approaches the reference unit displacement amount per unit time derived from the elapsed time and displacement amount stored in the storage means. Sea urchin, characterized in that it comprises a drive control step of controlling the driving of the pressing means so as to adjust the pressing force to the heating member of the pressing member.

請求項６に記載の発明は、請求項２に記載の樹脂部品の溶融装置を用いた樹脂部品の溶融方法において、前記押し付け手段により前記加熱部材を前記樹脂部品に押し付ける押し付け工程と、前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時工程と、前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、前記計時工程が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出工程と、前記総変位量算出工程により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御する駆動制御工程と、を備えることを特徴とする。   According to a sixth aspect of the present invention, in the resin component melting method using the resin component melting apparatus according to the second aspect, the pressing step of pressing the heating member against the resin component by the pressing means, and the pressing means The displacement detecting step of detecting the displacement of the heating member pressed against the resin component by the step, the time measuring step of measuring the elapsed time since the pressing means started pressing the heating member, and the pressing means Based on the displacement detection step of detecting the displacement of the heating member pressed against the resin component, the displacement of the heating member detected by the displacement detection step, and the elapsed time measured by the timing step, the timing step Is calculated by a total displacement amount calculating step for calculating a total displacement amount of the heating member after the start of timing and a total displacement amount calculating step. The pressing force of the pressing member to the heating member and the heating member to the resin component are adjusted so that the total displacement amount approaches the reference total displacement amount derived from the elapsed time and the displacement amount stored in the storage unit. A drive control step of controlling the drive of the pressing means so as to adjust at least one of the pressing times.

請求項７に記載の発明は、請求項５に記載の樹脂部品の溶融方法において、前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、前記計時工程が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出工程を備え、前記駆動制御工程では、前記総変位量算出工程により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御することを特徴とする。   The invention according to claim 7 is the resin component melting method according to claim 5, based on the displacement of the heating member detected by the displacement detection step and the elapsed time measured by the timing step. A total displacement amount calculating step for calculating a total displacement amount of the heating member after the time counting step starts timing, and in the drive control step, the total displacement amount calculated by the total displacement amount calculating step is: At least of the pressing force of the pressing member against the heating member and the pressing time of the heating member against the resin component so as to approach the reference total displacement amount derived from the elapsed time and displacement amount stored in the storage means The driving of the pressing means is controlled so as to adjust one of them.

請求項１に記載の発明によれば、加熱部材を樹脂部品に押し付けると、変位検出手段は加熱部材の変位を検出し、計時手段は加熱部材の押し付けを開始してからの経過時間を計測する。また、単位変位量算出手段は、単位時間当たりの加熱部材の単位変位量を算出する。
そして、駆動制御手段は、単位変位量算出手段により算出された単位変位量が、記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、押し付け部材の加熱部材への押し付け力を調節するように押し付け手段の駆動を制御する。
これにより、加熱部材の樹脂部品への押し付け時間を調整することにより、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる。また、押し付け手段の加熱部材への押し付け力を調整することにより、樹脂部品を長めに溶融させる必要がなくなり、過剰な加熱による樹脂の劣化を防止することができる。また、溶融深さを安定させることができ、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題が解消され、溶着の品質を向上させることができる。 According to the first aspect of the present invention, when the heating member is pressed against the resin part, the displacement detecting means detects the displacement of the heating member, and the time measuring means measures the elapsed time after starting the pressing of the heating member. . The unit displacement amount calculation means calculates a unit displacement amount of the heating member per unit time.
Then, the drive control means presses the pressing member so that the unit displacement amount calculated by the unit displacement amount calculation means approaches the reference unit displacement amount per unit time derived from the elapsed time and the displacement amount stored in the storage means. The driving of the pressing means is controlled so as to adjust the pressing force to the heating member.
Thereby, by adjusting the pressing time of the heating member to the resin part, the cycle time of welding can be shortened by melting the resin for an appropriate time. Further, by adjusting the pressing force of the pressing means to the heating member, it is not necessary to melt the resin part longer, and the deterioration of the resin due to excessive heating can be prevented. In addition, the melt depth can be stabilized, and the problems of unstable product quality due to uncertain melt depth and the production of defective products are eliminated, and the quality of welding is improved. be able to.

請求項２に記載の発明によれば、加熱部材を樹脂部品に押し付けると、変位検出手段は加熱部材の変位を検出し、計時手段は加熱部材の押し付けを開始してからの経過時間を計測する。また、総変位量算出手段は、計時手段が計時を開始してからの加熱部材の総変位量を算出する。
そして、駆動制御手段は、総変位量算出手段により算出された総変位量が、記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、押し付け部材の加熱部材への押し付け力と加熱部材の樹脂部品への押し付け時間のうち少なくとも一方を調節するように押し付け手段の駆動を制御する。
これにより、加熱部材の樹脂部品への押し付け時間を調整することにより、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる。また、押し付け手段の加熱部材への押し付け力を調整することにより、樹脂部品を長めに溶融させる必要がなくなり、過剰な加熱による樹脂の劣化を防止することができる。また、溶融深さを安定させることができ、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題が解消され、溶着の品質を向上させることができる。 According to the invention described in claim 2, when the heating member is pressed against the resin part, the displacement detecting means detects the displacement of the heating member, and the time measuring means measures the elapsed time since the pressing of the heating member is started. . Further, the total displacement amount calculating means calculates the total displacement amount of the heating member after the time measuring means starts measuring time.
Then, the drive control unit applies the heating member of the pressing member so that the total displacement amount calculated by the total displacement amount calculating unit approaches the reference total displacement amount derived from the elapsed time and the displacement amount stored in the storage unit. The driving of the pressing means is controlled so as to adjust at least one of the pressing force and the pressing time of the heating member to the resin part.
Thereby, by adjusting the pressing time of the heating member to the resin part, the cycle time of welding can be shortened by melting the resin for an appropriate time. Further, by adjusting the pressing force of the pressing means to the heating member, it is not necessary to melt the resin part longer, and the deterioration of the resin due to excessive heating can be prevented. In addition, the melt depth can be stabilized, and the problems of unstable product quality due to uncertain melt depth and the production of defective products are eliminated, and the quality of welding is improved. be able to.

請求項３に記載の発明によれば、駆動制御手段は、単位変位量と総変位量とに基づいて押し付け手段の駆動を制御するので、いずれか一方のパラメータを用いて制御するときよりも制御の精度を向上させることができる。   According to the third aspect of the present invention, the drive control means controls the driving of the pressing means based on the unit displacement amount and the total displacement amount, so that the control is performed more than when control is performed using any one of the parameters. Accuracy can be improved.

請求項４に記載の発明によれば、所定の動作範囲内で動作するロボットに樹脂部品の溶融装置を設けることにより、溶着を行う樹脂部品の生産ラインでの使用に適した樹脂部品の溶融ロボットシステムを提供することができる。   According to a fourth aspect of the present invention, a resin part melting robot suitable for use in a production line of resin parts to be welded by providing a resin part melting device in a robot that operates within a predetermined operating range. A system can be provided.

請求項５に記載の発明によれば、押し付け工程では加熱部材を樹脂部品に押し付け、変位検出工程では加熱部材の変位を検出し、計時工程では加熱部材の押し付けを開始してからの経過時間を計測する。そして、単位変位量算出工程では、単位時間当たりの加熱部材の単位変位量を算出する。
そして、駆動制御工程では、単位変位量算出工程により算出された単位変位量が、記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、押し付け部材の加熱部材への押し付け力を調節するように押し付け手段の駆動を制御する。
これにより、加熱部材の樹脂部品への押し付け時間を調整することにより、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる。また、押し付け手段の加熱部材への押し付け力を調整することにより、樹脂部品を長めに溶融させる必要がなくなり、過剰な加熱による樹脂の劣化を防止することができる。また、溶融深さを安定させることができ、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題が解消され、溶着の品質を向上させることができる。 According to the invention described in claim 5, in the pressing step, the heating member is pressed against the resin component, in the displacement detection step, the displacement of the heating member is detected, and in the timing step, the elapsed time from the start of pressing the heating member is calculated. measure. In the unit displacement amount calculating step, the unit displacement amount of the heating member per unit time is calculated.
In the drive control step, the pressing member is so arranged that the unit displacement amount calculated in the unit displacement amount calculation step approaches the reference unit displacement amount per unit time derived from the elapsed time and the displacement amount stored in the storage means. The driving of the pressing means is controlled so as to adjust the pressing force to the heating member.
Thereby, by adjusting the pressing time of the heating member to the resin part, the cycle time of welding can be shortened by melting the resin for an appropriate time. Further, by adjusting the pressing force of the pressing means to the heating member, it is not necessary to melt the resin part longer, and the deterioration of the resin due to excessive heating can be prevented. In addition, the melt depth can be stabilized, and the problems of unstable product quality due to uncertain melt depth and the production of defective products are eliminated, and the quality of welding is improved. be able to.

請求項６に記載の発明によれば、押し付け工程では加熱部材を樹脂部品に押し付け、変位検出工程では加熱部材の変位を検出し、計時工程では加熱部材の押し付けを開始してからの経過時間を計測する。そして、総変位量算出工程では、計時手段が計時を開始してからの加熱部材の総変位量を算出する。
そして、駆動制御工程では、総変位量算出工程により算出された総変位量が、記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、押し付け部材の加熱部材への押し付け力と加熱部材の樹脂部品への押し付け時間のうち少なくとも一方を調節するように押し付け手段の駆動を制御する。
これにより、加熱部材の樹脂部品への押し付け時間を調整することにより、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる。また、押し付け手段の加熱部材への押し付け力を調整することにより、樹脂部品を長めに溶融させる必要がなくなり、過剰な加熱による樹脂の劣化を防止することができる。また、溶融深さを安定させることができ、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題が解消され、溶着の品質を向上させることができる。 According to the invention described in claim 6, in the pressing step, the heating member is pressed against the resin component, in the displacement detection step, the displacement of the heating member is detected, and in the timing step, the elapsed time from the start of pressing the heating member is calculated. measure. In the total displacement amount calculating step, the total displacement amount of the heating member after the time measuring means starts measuring time is calculated.
In the drive control step, the total displacement amount calculated in the total displacement amount calculation step is applied to the heating member of the pressing member so as to approach the reference total displacement amount derived from the elapsed time and the displacement amount stored in the storage unit. The driving of the pressing means is controlled so as to adjust at least one of the pressing force and the pressing time of the heating member to the resin part.
Thereby, by adjusting the pressing time of the heating member to the resin part, the cycle time of welding can be shortened by melting the resin for an appropriate time. Further, by adjusting the pressing force of the pressing means to the heating member, it is not necessary to melt the resin part longer, and the deterioration of the resin due to excessive heating can be prevented. In addition, the melt depth can be stabilized, and the problems of unstable product quality due to uncertain melt depth and the production of defective products are eliminated, and the quality of welding is improved. be able to.

請求項７に記載の発明によれば、駆動制御工程では、単位変位量と総変位量とに基づいて押し付け手段の駆動を制御するので、いずれか一方のパラメータを用いて制御するときよりも制御の精度を向上させることができる。   According to the seventh aspect of the invention, in the drive control step, the drive of the pressing means is controlled based on the unit displacement amount and the total displacement amount, so that the control is performed more than when control is performed using either one of the parameters. Accuracy can be improved.

以下、図面を参照して、樹脂部品の溶融装置、樹脂部品の溶融ロボットシステム及び樹脂部品の溶融方法の最良の形態について詳細に説明する。
＜樹脂部品の溶融装置、樹脂部品の溶融ロボットシステムの構成＞
最初に、樹脂部品の溶融装置、樹脂部品の溶融ロボットシステムの構成について説明する。
図１は、溶融ロボットシステム１０の概略構成を示す図である。溶融ロボットシステム１０は、例えば、樹脂材料から一体成型された燃料タンクの本体部品にフィラーチューブの接続口等の小部品を溶着する際に用いられる。溶接ロボットシステム１０は、駆動力が付与されることにより所定の動作範囲内で動作する二基のロボット１，２と、各ロボット１，２に設けられた溶融装置３，４と、を備えている。 Hereinafter, the best mode of a resin component melting apparatus, a resin component melting robot system, and a resin component melting method will be described in detail with reference to the drawings.
<Configuration of resin parts melting equipment and resin parts melting robot system>
First, the configuration of a resin component melting apparatus and a resin component melting robot system will be described.
FIG. 1 is a diagram showing a schematic configuration of a melting robot system 10. The melting robot system 10 is used, for example, when welding a small part such as a filler tube connection port to a main part of a fuel tank integrally molded from a resin material. The welding robot system 10 includes two robots 1 and 2 that operate within a predetermined operation range when a driving force is applied, and melting devices 3 and 4 provided in the robots 1 and 2. Yes.

（ロボット）
ロボット１，２は、土台となるベース１２，２２と、関節１３，２３で連結された複数のアーム１４，２４と、各関節１３，２３に設けられた駆動源としてのサーボモータ（図示略）と、各サーボモータの軸角度をそれぞれ検出するエンコーダ（図示略）とを備えている。そして、最も先端に配置されたアーム１４，２４の先端部には、燃料タンクの本体部品Ｗ１、小部品Ｗ２を溶融させる溶融装置３，４が装備されている。具体的には、ロボット１には本体部品Ｗ１を溶融させる溶融装置３が設けられ、ロボット２には小部品Ｗ２を溶融させる溶融装置４の一部が設けられている。
各関節１３，２３は、アーム１４，２４の一端部を揺動可能として他端部を軸支する揺動関節と、アーム１４，２４自身をその長手方向を中心に回転可能に軸支する回転関節とのいずれかから構成される。つまり、ロボット１，２はいわゆる多関節型ロボットに相当する。 (robot)
The robots 1 and 2 include bases 12 and 22 that serve as foundations, a plurality of arms 14 and 24 connected by joints 13 and 23, and a servo motor (not shown) as a drive source provided at each joint 13 and 23. And an encoder (not shown) for detecting the shaft angle of each servo motor. Further, melting devices 3 and 4 for melting the main body part W1 and the small part W2 of the fuel tank are equipped at the distal ends of the arms 14 and 24 arranged at the most distal ends. Specifically, the robot 1 is provided with a melting device 3 for melting the main body part W1, and the robot 2 is provided with a part of the melting device 4 for melting the small part W2.
Each of the joints 13 and 23 is a swing joint that pivots one end of the arms 14 and 24 so that the other end can be pivoted, and a rotation that pivots the arms 14 and 24 so that the arms 14 and 24 can rotate about their longitudinal directions. It consists of one of the joints. That is, the robots 1 and 2 correspond to so-called articulated robots.

（本体部品の溶融装置）
溶融装置３は、最も先端に配置されたアーム１４の先端部に設けられた支持台３１を備えている。支持台３１上には、押し付け手段としてのエアシリンダ３２が設けられている。このエアシリンダ３２は、アーム１４の先端部が溶着位置にある際にピストンロッド３２ａが上下方向に沿って伸縮するように設けられている。エアシリンダ３２におけるピストンロッド３２ａの先端部には、通電により本体部品Ｗ１を組成する樹脂材料を溶融可能な温度まで発熱する加熱部材としての熱板３３が設けられている。すなわち、熱板３３は、本体部品Ｗ１に接触することにより、その樹脂材料を加熱して溶融させることができる。熱板３３には、当該熱板３３を通電により加熱するためのヒータ３３ａと、ヒータ３３ａにより加熱された熱板３３の温度を計測する熱電対３３ｂと、が設けられている。ヒータ３３ａ及び熱電対３３ｂは、ともに温度調整ユニット３３ｃに接続され、この温度調整ユニット３３ｃは、ロボット１の駆動制御を行うとともに溶融装置３の構成の一部となりエアシリンダ３２の制御を行う制御装置５に接続されている。 (Main body parts melting equipment)
The melting apparatus 3 includes a support base 31 provided at the distal end portion of the arm 14 disposed at the most distal end. On the support base 31, an air cylinder 32 is provided as a pressing means. The air cylinder 32 is provided such that the piston rod 32a expands and contracts along the vertical direction when the tip of the arm 14 is in the welding position. A hot plate 33 as a heating member that generates heat up to a temperature at which the resin material composing the main body part W1 can be melted by energization is provided at the tip of the piston rod 32a in the air cylinder 32. That is, the hot plate 33 can heat and melt the resin material by contacting the main body part W1. The hot plate 33 is provided with a heater 33a for heating the hot plate 33 by energization, and a thermocouple 33b for measuring the temperature of the hot plate 33 heated by the heater 33a. The heater 33a and the thermocouple 33b are both connected to a temperature adjustment unit 33c. The temperature adjustment unit 33c controls the air cylinder 32 as a part of the configuration of the melting device 3 while controlling the driving of the robot 1. 5 is connected.

エアシリンダ３２には、エアシリンダ３２により本体部品Ｗ１に押し付けられた熱板３３の変位を検出する変位検出手段としてのポテンショメータ３４が設けられている。すなわち、ポテンショメータ３４は、熱板３３を押圧する前の初期位置からの押し付け量を検出する。ポテンショメータ３４は、カウンタ３４ａに接続され、このカウンタ３４ａによりエアシリンダ３２のピストンロッド３２の伸縮状態が常時監視されている。このカウンタ３４ａは、制御装置５に接続されている。
エアシリンダ３２は、ソレノイドバルブ３２ｂに接続されており、ソレノイドバルブ３２ｂの動作にしたがってエアシリンダ３２のピストンロッド３２ａも伸縮する。ここで、ソレノイドバルブ３２ｂは、センターエキゾーストタイプの３ポジション５方弁である。 The air cylinder 32 is provided with a potentiometer 34 as a displacement detection means for detecting the displacement of the hot plate 33 pressed against the main body part W1 by the air cylinder 32. That is, the potentiometer 34 detects the pressing amount from the initial position before pressing the hot plate 33. The potentiometer 34 is connected to a counter 34a, and the counter 34a constantly monitors the expansion / contraction state of the piston rod 32 of the air cylinder 32. This counter 34 a is connected to the control device 5.
The air cylinder 32 is connected to the solenoid valve 32b, and the piston rod 32a of the air cylinder 32 expands and contracts according to the operation of the solenoid valve 32b. Here, the solenoid valve 32b is a center exhaust type three-position five-way valve.

本体部品Ｗ１は、床に設置された載置台Ｔ１上に載置され、熱板３３が下降した際に互いの接合面が当接する位置に設けられている。   The main body part W1 is placed on a placing table T1 installed on the floor, and is provided at a position where the joint surfaces come into contact with each other when the hot plate 33 is lowered.

（小部品の溶融装置）
溶融装置４は、最も先端に配置されたアーム２４の先端部に設けられた支持台４１を備えている。支持台４１には、押し付け手段としてのエアシリンダ４２が設けられている。このエアシリンダ４２は、アーム２４の先端部が溶着位置にある際にピストンロッド４２ａが上下方向に沿って伸縮するように設けられている。エアシリンダ４２におけるピストンロッド４２ａの先端部には、小部品Ｗ２を把持する把持部材４３が設けられ、この把持部材４３により小部品Ｗ２が下向きに把持されている。
床に設置された載置台Ｔ２上には、通電により小部品Ｗ２を組成する樹脂材料を溶融可能な温度まで発熱する加熱部材としての熱板５３が設けられている。すなわち、熱板５３は、小部品Ｗ２に接触することにより、その樹脂材料を加熱して溶融させることができる。熱板５３には、当該熱板５３を通電により加熱するためのヒータ５３ａと、ヒータ５３ａにより加熱された熱板５３の温度を計測する熱電対５３ｂと、が設けられている。ヒータ５３ａ及び熱電対５３ｂは、ともに温度調整ユニット５３ｃに接続され、この温度調整ユニット５３ｃは、ロボット２の駆動制御を行うとともに溶融装置５の構成の一部となりエアシリンダ４２の制御を行う制御装置６に接続されている。
ここで、熱板５３は、小部品Ｗ２が下降した際に互いの接合面が当接する位置に設けられている。 (Small parts melting equipment)
The melting device 4 includes a support base 41 provided at the distal end portion of the arm 24 disposed at the most distal end. The support base 41 is provided with an air cylinder 42 as pressing means. The air cylinder 42 is provided so that the piston rod 42a expands and contracts along the vertical direction when the tip of the arm 24 is in the welding position. A gripping member 43 that grips the small component W2 is provided at the tip of the piston rod 42a in the air cylinder 42, and the small component W2 is gripped downward by the gripping member 43.
On the mounting table T2 installed on the floor, a heating plate 53 is provided as a heating member that generates heat to a temperature at which the resin material composing the small component W2 can be melted by energization. That is, the hot plate 53 can heat and melt the resin material by contacting the small component W2. The hot plate 53 is provided with a heater 53a for heating the hot plate 53 by energization, and a thermocouple 53b for measuring the temperature of the hot plate 53 heated by the heater 53a. The heater 53a and the thermocouple 53b are both connected to a temperature adjustment unit 53c. The temperature adjustment unit 53c controls the air cylinder 42 as well as the drive control of the robot 2 and becomes part of the configuration of the melting device 5. 6 is connected.
Here, the hot plate 53 is provided at a position where the joint surfaces come into contact with each other when the small component W2 is lowered.

エアシリンダ４２には、エアシリンダ４２により熱板５３に押し付けられた小部品Ｗ２の変位を検出する変位検出手段としてのポテンショメータ４４が設けられている。すなわち、ポテンショメータ４４は、小部品Ｗ２を熱板５３に押圧する前の初期位置からの押し付け量を検出する。ポテンショメータ４４は、カウンタ４４ａに接続され、このカウンタ４４ａによりエアシリンダ４２のピストンロッド４２ａの伸縮状態が常時監視されている。このカウンタ４４ａは、制御装置６に接続されている。
エアシリンダ４２は、ソレノイドバルブ４２ｂに接続されており、ソレノイドバルブ４２ｂの動作にしたがってエアシリンダ４２のピストンロッド４２ａも伸縮する。ここで、ソレノイドバルブ４２ｂは、センターエキゾーストタイプの３ポジション５方弁である。 The air cylinder 42 is provided with a potentiometer 44 as a displacement detection means for detecting the displacement of the small component W2 pressed against the heat plate 53 by the air cylinder 42. That is, the potentiometer 44 detects the pressing amount from the initial position before the small component W2 is pressed against the hot plate 53. The potentiometer 44 is connected to a counter 44a, and the counter 44a constantly monitors the expansion / contraction state of the piston rod 42a of the air cylinder 42. The counter 44 a is connected to the control device 6.
The air cylinder 42 is connected to the solenoid valve 42b, and the piston rod 42a of the air cylinder 42 expands and contracts according to the operation of the solenoid valve 42b. Here, the solenoid valve 42b is a center exhaust type three-position five-way valve.

（本体部品の溶融装置）
図２は、本体部品Ｗ１の溶融装置３の構成を示すブロック図である。
制御装置５は、ロボット１の駆動制御や溶融装置３の溶融制御に関する処理プログラムに従って各処理を実行するＣＰＵ７と、各処理を実行するための処理プログラムや処理データ等が記憶されるメモリ８と、を備えている。
メモリ８には、ロボット１の駆動制御や溶融装置３の溶融制御を行うに当たって必要なプログラムが記憶されたプログラムエリア８１と、ロボット１の駆動制御や溶融装置３の溶融制御を行うに当たって必要なデータが記憶されたデータエリア８２と、種々のワークメモリやカウンタなどが設けられ、各処理が行われる作業エリア８３と、が形成されている。 (Main body parts melting equipment)
FIG. 2 is a block diagram showing the configuration of the melting device 3 for the main body part W1.
The control device 5 includes a CPU 7 that executes each process in accordance with a processing program related to the drive control of the robot 1 and the melting control of the melting device 3, a memory 8 that stores a processing program and processing data for executing each process, and the like. It has.
The memory 8 includes a program area 81 in which programs necessary for performing drive control of the robot 1 and melting control of the melting apparatus 3 are stored, and data necessary for performing drive control of the robot 1 and melting control of the melting apparatus 3. Is stored, and various work memories and counters are provided, and a work area 83 in which each process is performed is formed.

プログラムエリア８１には、ポテンショメータ３４により検出された熱板３３の変位と計時回路３５（後述する）により計測された経過時間とに基づいて、単位時間当たりの熱板３３の単位変位量を算出する機能を実現させる単位変位量算出プログラム８１ａが記憶されている。
プログラムエリア８１には、ポテンショメータ３４により検出された熱板３３の変位と計時回路３５により計測された経過時間とに基づいて、計時回路３５が計時を開始してからの熱板３３の総変位量を算出する機能を実現させる総変位量算出プログラム８１ｂが記憶されている。
プログラムエリア８１には、単位変位量算出プログラム８１ａにより算出された単位変位量が、データエリア８２（後述する）に記憶された経過時間と変位量から導かれる単位時間当たりの基準データ８２ａに近づくように、エアシリンダ３２の熱板３３への押し付け力を調節するようにエアシリンダ３２の駆動を制御する機能を実現させる駆動制御プログラム８１ｃが記憶されている。 In the program area 81, the unit displacement amount of the hot plate 33 per unit time is calculated based on the displacement of the hot plate 33 detected by the potentiometer 34 and the elapsed time measured by the time measuring circuit 35 (described later). A unit displacement amount calculation program 81a for realizing the function is stored.
In the program area 81, based on the displacement of the hot plate 33 detected by the potentiometer 34 and the elapsed time measured by the time measuring circuit 35, the total displacement of the hot plate 33 after the time measuring circuit 35 starts measuring time. A total displacement calculation program 81b that realizes a function for calculating is stored.
In the program area 81, the unit displacement calculated by the unit displacement calculation program 81a approaches the reference data 82a per unit time derived from the elapsed time and the displacement stored in the data area 82 (described later). In addition, a drive control program 81c for realizing a function of controlling the drive of the air cylinder 32 so as to adjust the pressing force of the air cylinder 32 against the hot plate 33 is stored.

データエリア８２は、本体部品Ｗ１に関して、エアシリンダ３２が熱板３３の押し付けを開始してからの経過時間とエアシリンダ３２により本体部品Ｗ１に押し付けられた熱板３３の変位量とを予め対応付けた基準データ８２ａを記憶する記憶手段として機能する。
制御装置５は、熱板３３に通電し、エアシリンダ３２に駆動信号を送信する。制御装置５は、ポテンショメータ３４が検出したエアシリンダ３２のピストンロッド３２ａの変位信号を受信し、エアシリンダ３２が熱板３３の押し付けを開始してからの経過時間を計測する計時手段としての計時回路３５から時刻信号を受信する。 The data area 82 correlates in advance the elapsed time after the air cylinder 32 starts pressing the hot plate 33 and the displacement amount of the hot plate 33 pressed against the main body component W1 by the air cylinder 32 with respect to the main body component W1. It functions as a storage means for storing the reference data 82a.
The control device 5 energizes the hot plate 33 and transmits a drive signal to the air cylinder 32. The control device 5 receives a displacement signal of the piston rod 32a of the air cylinder 32 detected by the potentiometer 34, and measures a time measuring circuit as a time measuring means for measuring an elapsed time after the air cylinder 32 starts pressing the heat plate 33. A time signal is received from 35.

図３は、溶融装置３の機能を示すブロック図である。
溶融装置３は、制御装置５からの動作信号によりエアシリンダ３２が伸縮して熱板３３を本体部品Ｗ１に押し付ける押し付け部７０を有し、この押し付け部７０が押し付け手段として機能する。
溶融装置３は、本体部品Ｗ１を溶融させるために加熱される加熱部７１を有し、この加熱部７１が加熱部材として機能する。
溶融装置３は、押し付け部７０により本体部品Ｗ１に押し付けられた加熱部７１の変位を検出する変位検出部７２を有し、この変位検出部７２が変位検出手段として機能する。
溶融装置３は、押し付け部７０が加熱部７２の押し付けを開始してからの経過時間を計測する計時部７３を有し、この計時部７３が計時手段として機能する。
溶融装置３は、変位検出部７２により検出された加熱部７１の変位と計時部７３により計測された経過時間とに基づいて、単位時間当たりの加熱部７１の単位変位量を算出する単位変位量算出部７４を有し、この単位変位量算出部７４が単位変位量算出手段として機能する。 FIG. 3 is a block diagram showing functions of the melting device 3.
The melting device 3 has a pressing portion 70 that expands and contracts by the operation signal from the control device 5 and presses the hot plate 33 against the main body part W1, and this pressing portion 70 functions as a pressing means.
The melting device 3 includes a heating unit 71 that is heated to melt the main body part W1, and the heating unit 71 functions as a heating member.
The melting device 3 includes a displacement detection unit 72 that detects the displacement of the heating unit 71 pressed against the main body part W1 by the pressing unit 70, and the displacement detection unit 72 functions as a displacement detection unit.
The melting device 3 includes a time measuring unit 73 that measures an elapsed time since the pressing unit 70 starts pressing the heating unit 72, and the time measuring unit 73 functions as a time measuring unit.
The melting device 3 calculates a unit displacement amount of the heating unit 71 per unit time based on the displacement of the heating unit 71 detected by the displacement detection unit 72 and the elapsed time measured by the time measuring unit 73. The unit displacement amount calculation unit 74 has a calculation unit 74 and functions as a unit displacement amount calculation unit.

溶融装置３は、変位検出部７２により検出された加熱部７１の変位と計時部７３により計測された経過時間とに基づいて、計時部７３が計時を開始してからの加熱部７１の総変位量を算出する総変位量算出部７５を有し、この総変位量算出部７５が総変位量算出手段として機能する。
単位変位量算出部７４と総変位量算出部７５により、演算部７６が構成される。
溶融装置３は、単位変位量算出部７４により算出された単位変位量が、データエリア６２に記憶された経過時間と変位量の基準データ８２ａから導かれる単位時間当たりの基準単位変位量に近づくように、押し付け部７０の加熱部７１への押し付け力を調節するように押し付け部７０の駆動を制御する駆動制御部７７を有し、この駆動制御部７７が駆動制御手段として機能する。
溶融装置３は、本体部品Ｗ１に関して、押し付け部７０が加熱部７１の押し付けを開始してからの経過時間と押し付け部７０により本体部品Ｗ１に押し付けられた加熱部７１の変位量とを予め対応付けた基準データ６２ａが記憶された記憶部７８を有し、この記憶部７８が記憶手段として機能する。
駆動制御部７７と記憶部７８により、制御部７９が構成される。 Based on the displacement of the heating unit 71 detected by the displacement detection unit 72 and the elapsed time measured by the timing unit 73, the melting device 3 is configured to detect the total displacement of the heating unit 71 after the timing unit 73 starts measuring time. A total displacement amount calculation unit 75 that calculates the amount is included, and the total displacement amount calculation unit 75 functions as a total displacement amount calculation unit.
The unit displacement amount calculation unit 74 and the total displacement amount calculation unit 75 constitute a calculation unit 76.
The melting device 3 causes the unit displacement amount calculated by the unit displacement amount calculation unit 74 to approach the reference unit displacement amount per unit time derived from the elapsed time and displacement amount reference data 82a stored in the data area 62. In addition, a drive control unit 77 that controls the driving of the pressing unit 70 so as to adjust the pressing force of the pressing unit 70 to the heating unit 71 is provided, and the drive control unit 77 functions as a drive control unit.
The melting apparatus 3 associates in advance the elapsed time after the pressing unit 70 starts pressing the heating unit 71 with the displacement amount of the heating unit 71 pressed against the main body component W1 by the pressing unit 70 with respect to the main body component W1. The storage unit 78 stores the reference data 62a. The storage unit 78 functions as a storage unit.
The drive control unit 77 and the storage unit 78 constitute a control unit 79.

（小部品の溶融装置）
図４は、小部品Ｗ２の溶融装置４の構成を示すブロック図である。
制御装置６は、ロボット２の駆動制御や溶融装置４の溶融制御に関する処理プログラムに従って各処理を実行するＣＰＵ９と、各処理を実行するための処理プログラムや処理データ等が記憶されるメモリ１１と、を備えている。
メモリ１１には、ロボット２の駆動制御や溶融装置４の溶融制御を行うに当たって必要なプログラムが記憶されたプログラムエリア１１１と、ロボット２の駆動制御や溶融装置４の溶融制御を行うに当たって必要なデータが記憶されたデータエリア１１２と、種々のワークメモリやカウンタなどが設けられ、各処理が行われる作業エリア１１３と、が形成されている。 (Small parts melting equipment)
FIG. 4 is a block diagram showing the configuration of the melting device 4 for the small part W2.
The control device 6 includes a CPU 9 that executes each process in accordance with a processing program relating to drive control of the robot 2 and melting control of the melting device 4, a memory 11 that stores a processing program, processing data, and the like for executing each process, It has.
The memory 11 has a program area 111 in which programs necessary for performing drive control of the robot 2 and melting control of the melting device 4 are stored, and data necessary for performing drive control of the robot 2 and melting control of the melting device 4. And a work area 113 in which various work memories and counters are provided and each process is performed are formed.

プログラムエリア１１１には、ポテンショメータ４４により検出された小部品Ｗ２の変位、言い換えると、小部品Ｗ２に対する相対的な熱板５３の変位と計時回路４５（後述する）により計測された経過時間とに基づいて、単位時間当たりの熱板５３の相対的な単位変位量を算出する機能を実現させる単位変位量算出プログラム１１１ａが記憶されている。
プログラムエリア１１１には、ポテンショメータ４４により検出された小部品Ｗ２の変位（熱板５３の小部品Ｗ２に対する相対変位）と計時回路４５により計測された経過時間とに基づいて、計時回路４５が計時を開始してからの小部品Ｗ２の総変位量を算出する機能を実現させる総変位量算出プログラム１１１ｂが記憶されている。
プログラムエリア１１１には、単位変位量算出プログラム１１１ａにより算出された単位変位量が、データエリア１１２に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、エアシリンダ４２の熱板５３への押し付け力を調節するようにエアシリンダ４２の駆動を制御する機能を実現させる駆動制御プログラム１１１ｃが記憶されている。 The program area 111 is based on the displacement of the small component W2 detected by the potentiometer 44, in other words, the displacement of the hot plate 53 relative to the small component W2 and the elapsed time measured by the timing circuit 45 (described later). A unit displacement amount calculation program 111a for realizing a function of calculating a relative unit displacement amount of the heat plate 53 per unit time is stored.
In the program area 111, the timing circuit 45 counts the time based on the displacement of the small component W2 detected by the potentiometer 44 (relative displacement of the hot plate 53 with respect to the small component W2) and the elapsed time measured by the timing circuit 45. A total displacement calculation program 111b for realizing a function of calculating the total displacement of the small part W2 since the start is stored.
In the program area 111, the unit displacement amount calculated by the unit displacement amount calculation program 111 a approaches the reference unit displacement amount per unit time derived from the elapsed time and displacement amount stored in the data area 112. A drive control program 111c that realizes a function of controlling the drive of the air cylinder 42 so as to adjust the pressing force of the cylinder 42 against the hot plate 53 is stored.

データエリア１１２は、エアシリンダ４２が小部品Ｗ２の熱板５３への押し付けを開始してからの経過時間とエアシリンダ４２により熱板５３に押し付けられた小部品Ｗ２の変位量とを予め対応付けた基準データ１１２ａを記憶する記憶手段として機能する。
制御装置６は、熱板５３に通電し、エアシリンダ４２に駆動信号を送信する。制御装置６は、ポテンショメータ４４が検出したエアシリンダ４２のピストンロッド４２ａの変位信号を受信し、エアシリンダ４２が熱板５３の押し付けを開始してからの経過時間を計測する計時手段としての計時回路４５から時刻信号を受信する。 The data area 112 correlates in advance the elapsed time after the air cylinder 42 starts pressing the small component W2 against the hot plate 53 and the displacement amount of the small component W2 pressed against the hot plate 53 by the air cylinder 42. It functions as a storage means for storing the reference data 112a.
The control device 6 energizes the hot plate 53 and transmits a drive signal to the air cylinder 42. The control device 6 receives a displacement signal of the piston rod 42a of the air cylinder 42 detected by the potentiometer 44, and measures a time measuring circuit as a time measuring means for measuring an elapsed time after the air cylinder 42 starts pressing the heat plate 53. A time signal is received from 45.

図５は、溶融装置４の機能を示すブロック図である。
溶融装置４は、制御装置６からの動作信号によりエアシリンダ４２が伸縮して小部品Ｗ２を熱板５３に押し付ける押し付け部９０を有し、この押し付け部９０が押し付け手段として機能する。
溶融装置４は、小部品Ｗ２を溶融させるために加熱される加熱部９１を有し、この加熱部９１が加熱部材として機能する。
溶融装置４は、押し付け部９０により熱板５３に押し付けられた小部品Ｗ２の変位（熱板５３の小部品Ｗ２に対する相対変位）を検出する変位検出部９２を有し、この変位検出部９２が変位検出手段として機能する。
溶融装置４は、押し付け部９０が小部品Ｗ２の加熱部９２への押し付けを開始してからの経過時間を計測する計時部９３を有し、この計時部９３が計時手段として機能する。
溶融装置４は、変位検出部９２により検出された小部品Ｗ２の変位（熱板５３の小部品Ｗ２に対する相対変位）と計時部９３により計測された経過時間とに基づいて、単位時間当たりの加熱部９１の単位変位量を算出する単位変位量算出部９４を有し、この単位変位量算出部９４が単位変位量算出手段として機能する。 FIG. 5 is a block diagram showing functions of the melting device 4.
The melting device 4 has a pressing portion 90 that presses the small component W2 against the hot plate 53 by the expansion and contraction of the air cylinder 42 by an operation signal from the control device 6, and this pressing portion 90 functions as a pressing means.
The melting device 4 includes a heating unit 91 that is heated to melt the small component W2, and the heating unit 91 functions as a heating member.
The melting device 4 includes a displacement detection unit 92 that detects the displacement of the small component W2 pressed against the hot plate 53 by the pressing unit 90 (relative displacement of the hot plate 53 with respect to the small component W2). It functions as a displacement detection means.
The melting device 4 includes a time measuring unit 93 that measures an elapsed time after the pressing unit 90 starts pressing the small component W2 onto the heating unit 92, and the time measuring unit 93 functions as a time measuring unit.
The melting device 4 performs heating per unit time based on the displacement of the small component W2 detected by the displacement detector 92 (relative displacement of the hot plate 53 with respect to the small component W2) and the elapsed time measured by the timer 93. The unit displacement amount calculation unit 94 that calculates the unit displacement amount of the unit 91 is provided, and this unit displacement amount calculation unit 94 functions as a unit displacement amount calculation unit.

溶融装置４は、変位検出部９２により検出された加熱部９１の相対変位と計時部９３により計測された経過時間とに基づいて、計時部９３が計時を開始してからの加熱部９１の小部品Ｗ２対する相対的な総変位量を算出する総変位量算出部９５を有し、この総変位量算出部９５が総変位量算出手段として機能する。
単位変位量算出部９４と総変位量算出部９５により、演算部９６が構成される。
溶融装置４は、単位変位量算出部９４により算出された単位変位量が、データエリア１１２に記憶された経過時間と変位量の基準データ１１２ａから導かれる単位時間当たりの基準単位変位量に近づくように、押し付け部９０による小部品Ｗ２の加熱部９１への押し付け力を調節するように押し付け部９０の駆動を制御する駆動制御部９７を有し、この駆動制御部９７が駆動制御手段として機能する。
溶融装置４は、押し付け部９０が小部品Ｗ２の加熱部９１への押し付けを開始してからの経過時間と押し付け部９０により加熱部９１に押し付けられた小部品Ｗ２の変位量（熱板５３の小部品Ｗ２に対する相対変位）とを予め対応付けた基準データ１１２ａが記憶された記憶部９８を有し、この記憶部９８が記憶手段として機能する。
駆動制御部９７と記憶部９８により、制御部９９が構成される。 Based on the relative displacement of the heating unit 91 detected by the displacement detection unit 92 and the elapsed time measured by the time measuring unit 93, the melting device 4 has a small size of the heating unit 91 after the time measuring unit 93 starts measuring time. A total displacement amount calculation unit 95 that calculates a relative total displacement amount with respect to the component W2 is provided, and the total displacement amount calculation unit 95 functions as a total displacement amount calculation unit.
The unit displacement amount calculation unit 94 and the total displacement amount calculation unit 95 constitute a calculation unit 96.
The melting device 4 causes the unit displacement amount calculated by the unit displacement amount calculation unit 94 to approach the reference unit displacement amount per unit time derived from the elapsed time and displacement amount reference data 112a stored in the data area 112. The driving control unit 97 controls the driving of the pressing unit 90 so as to adjust the pressing force of the pressing unit 90 against the heating unit 91 of the small component W2, and the driving control unit 97 functions as a driving control unit. .
The melting device 4 includes an elapsed time after the pressing unit 90 starts pressing the small component W2 onto the heating unit 91, and a displacement amount of the small component W2 pressed against the heating unit 91 by the pressing unit 90 (of the hot plate 53). The storage unit 98 stores reference data 112a in which the relative displacement with respect to the small component W2 is associated in advance. The storage unit 98 functions as a storage unit.
The drive control unit 97 and the storage unit 98 constitute a control unit 99.

＜本体部品と小部品の溶着処理＞
次に、本体部品と小部品の溶着処理について説明する。
図６に示すように、制御装置５，６のＣＰＵ７，９は、所定のプログラムを実行することにより、熱板３３，５３に通電する（ステップＳ１）。この通電過程においては、熱電対３３ｂ，５３ｂにより熱板３３，５３の温度を計測しながら温度調整ユニット３３ｃ，５３ｃにより、熱板３３，５３の発熱温度を適温に調整する。ここでいう適温とは、本体部品及び小部品を組成する樹脂材料によって異なるが、樹脂材料が溶融し、かつ、樹脂材料がその温度により劣化しない程度の温度をいう。 <Welding process of main parts and small parts>
Next, the welding process of a main body part and a small part is demonstrated.
As shown in FIG. 6, the CPUs 7 and 9 of the control devices 5 and 6 energize the heat plates 33 and 53 by executing a predetermined program (step S1). In this energization process, the temperature adjustment units 33c and 53c adjust the heat generation temperature of the hot plates 33 and 53 to an appropriate temperature while measuring the temperature of the hot plates 33 and 53 by the thermocouples 33b and 53b. The appropriate temperature here refers to a temperature at which the resin material is melted and the resin material is not deteriorated by the temperature, although it varies depending on the resin material composing the main body part and the small part.

次いで、ＣＰＵ７，９は、各エアシリンダ３２，４２を駆動させることにより、熱板３３を本体部品Ｗ１の溶融面上に移動させて熱板３３を本体部品Ｗ１に当接させ、小部品Ｗ２を熱板５３の上面に移動させて小部品Ｗ２を熱板５３に当接させる（ステップＳ２）。これにより、熱板３３，５３と本体部品Ｗ１及び小部品Ｗ２との当接面は、熱板３３，５３の温度によって溶融される。   Next, the CPUs 7 and 9 drive the air cylinders 32 and 42 to move the hot plate 33 onto the melting surface of the main body part W1 so that the hot plate 33 comes into contact with the main body part W1, and the small part W2 is moved. The small component W2 is brought into contact with the hot plate 53 by moving to the upper surface of the hot plate 53 (step S2). Thereby, the contact surfaces of the hot plates 33 and 53 with the main body part W1 and the small parts W2 are melted by the temperature of the hot plates 33 and 53.

そして、ＣＰＵ７，９が本体部品Ｗ１及び小部品Ｗ２を予め定められた所定の溶融深さまで溶融させたか否かを判断する（ステップＳ３）。ここで、ＣＰＵ７，９が所定の溶融深さまで溶融されたと判断した場合（ステップＳ３：ＹＥＳ）、ＣＰＵ７，９は熱板３３，５３を退避させる（ステップＳ４）。一方、ＣＰＵ７，９が所定の溶融深さまで溶融されていないと判断した場合（ステップＳ３：ＮＯ）、ＣＰＵ７，９はこの判断を繰り返す。   Then, the CPUs 7 and 9 determine whether or not the main body part W1 and the small part W2 have been melted to a predetermined melt depth (step S3). Here, when it is determined that the CPUs 7 and 9 have been melted to a predetermined melting depth (step S3: YES), the CPUs 7 and 9 retract the hot plates 33 and 53 (step S4). On the other hand, when it is determined that the CPUs 7 and 9 are not melted to a predetermined melting depth (step S3: NO), the CPUs 7 and 9 repeat this determination.

ステップＳ４において、熱板３３，５３を退避させた後、ＣＰＵ９は、ロボット２を駆動させることにより、小部品Ｗ２の溶融箇所を本体部品Ｗ１の溶融箇所の上方に移動させる（ステップＳ５）。
次いで、ＣＰＵ９は、ロボット２を駆動させることにより、小部品Ｗ２の溶融箇所と本体部品Ｗ１の溶融箇所を接合させて溶着を行う（ステップＳ６）。
そして、ＣＰＵ９は、小部品Ｗ２を本体部品Ｗ１に所定時間溶着させたか否かを判断する（ステップＳ７）。ここで、ＣＰＵ９が所定時間溶着させたと判断すると（ステップＳ７：ＹＥＳ）、これをもって本処理を終了させ、ＣＰＵ９が所定時間溶着させていないと判断すると（ステップＳ７：ＮＯ）、ＣＰＵ９はこの判断を繰り返す。 In step S4, after retracting the hot plates 33 and 53, the CPU 9 drives the robot 2 to move the melting point of the small part W2 above the melting point of the main body part W1 (step S5).
Next, the CPU 9 drives the robot 2 so as to join the melted part of the small part W2 and the melted part of the main body part W1 and perform welding (step S6).
Then, the CPU 9 determines whether or not the small part W2 is welded to the main body part W1 for a predetermined time (step S7). Here, if the CPU 9 determines that the welding has been performed for a predetermined time (step S7: YES), the present process is terminated. If the CPU 9 determines that the welding has not been performed for the predetermined time (step S7: NO), the CPU 9 makes this determination. repeat.

＜溶融制御処理＞
次に、本体部品及び小部品の溶融制御処理について説明する。
図７に示すように、ＣＰＵ７，９は、熱板３３，５３に通電する（ステップＳ１１）。次いで、ＣＰＵ７，９は、ロボット１，２を駆動させ、本体部品Ｗ１及び小部品Ｗ２と熱板３３，５３とを対面させた後、エアシリンダ３２，４２を駆動させることにより熱板３３を本体部品Ｗ１に当接させ、小部品Ｗ２を熱板５３に当接させる（ステップＳ１２：押し付け工程）。
次いで、本体部品Ｗ１及び小部品Ｗ２と熱板３３，５３との当接後、計時回路３５，４５は、経過時間の計測を開始する（ステップＳ１３：計時工程）。また、経過時間の計測とともに、ポテンショメータ３４，４４は、エアシリンダ３２，４２の変位を検出する。言い換えると、この変位は、熱板３３及び小部品Ｗ２の変位の検出であり、ＣＰＵ７，９は、単位変位量算出プログラム８１ａ，１１１ａを実行することにより、単位時間当たりの熱板３３及び小部品Ｗ２の単位変位量を算出する（ステップＳ１５：単位変位量算出工程）。さらに、ＣＰＵ７，９は、総変位量算出プログラム８１ｂ，１１１ｂを実行することにより、計時回路３５，４５が経過時間の計測を開始してからの熱板３３及び小部品Ｗ２の総変位量を算出する（ステップＳ１５：総変位量算出工程）。
次いで、ＣＰＵ７，９は、データエリア８２，１１２に記憶された基準データ８２ａ，１１２ａを読み取り、読み取ったデータから目標となる目標単位変位量、目標総変位量を算出する（ステップＳ１６）。
そして、ＣＰＵ７，９は、駆動制御プログラム８１ｃ，１１１ｃを実行することにより、ステップＳ１５において算出された単位変位量及び総変位量が目標単位変位量及び目標総変位量に近づくようにエアシリンダ３２，４２の押し付けストローク、押し付け時間を調整する（ステップＳ１７：駆動制御工程）。
これをもって、本処理を終了させる。 <Melting control processing>
Next, the melting control process for the main body parts and the small parts will be described.
As shown in FIG. 7, the CPUs 7 and 9 energize the heat plates 33 and 53 (step S11). Next, the CPUs 7 and 9 drive the robots 1 and 2 to face the main body parts W1 and the small parts W2 and the hot plates 33 and 53, and then drive the air cylinders 32 and 42 to move the hot plate 33 to the main body. The part W1 is brought into contact with the component W1, and the small part W2 is brought into contact with the hot plate 53 (step S12: pressing step).
Next, after the main body part W1 and the small part W2 are brought into contact with the hot plates 33 and 53, the timing circuits 35 and 45 start measuring elapsed time (step S13: timing process). The potentiometers 34 and 44 detect the displacement of the air cylinders 32 and 42 along with the measurement of the elapsed time. In other words, this displacement is the detection of the displacement of the hot plate 33 and the small component W2, and the CPUs 7 and 9 execute the unit displacement amount calculation programs 81a and 111a, so that the hot plate 33 and the small component per unit time are executed. A unit displacement amount of W2 is calculated (step S15: unit displacement amount calculation step). Further, the CPUs 7 and 9 execute the total displacement calculation programs 81b and 111b, thereby calculating the total displacement of the hot plate 33 and the small component W2 after the timing circuits 35 and 45 start measuring the elapsed time. (Step S15: Total displacement calculation step).
Next, the CPUs 7 and 9 read the reference data 82a and 112a stored in the data areas 82 and 112, and calculate a target unit displacement amount and a target total displacement amount that are targets from the read data (step S16).
The CPUs 7 and 9 execute the drive control programs 81c and 111c, so that the unit displacement amount and the total displacement amount calculated in step S15 approach the target unit displacement amount and the target total displacement amount. The pressing stroke and pressing time of 42 are adjusted (step S17: drive control process).
This is the end of this process.

＜作用効果＞
実施形態における本体部品Ｗ１及び小部品Ｗ２の溶融装置３，４、本体部品Ｗ１及び小部品Ｗ２の溶融ロボットシステム１０及び本体部品Ｗ１及び小部品Ｗ２の溶融方法によれば、熱板３３を本体部品Ｗ１に押し付け、小部品Ｗ２を熱板５３に押し付けると、ポテンショメータ３４，４４はエアシリンダ３２，４２のピストンロッドの変位を検出することで結果的に熱板３３、小部品Ｗ２の変位を検出し、計時回路３５，４５は熱板３３、小部品Ｗ２の押し付けを開始してからの経過時間を計測する。また、制御装置５，６のＣＰＵ７，９は、単位変位量算出プログラム８１ａ，１１１ａを実行することにより、単位時間当たりの熱板３３、小部品Ｗ２の単位変位量を算出する。
そして、ＣＰＵ７，９は、駆動制御プログラム８１ｃ，１１１ｃを実行することにより、算出された単位変位量が、データエリア８１，１１２に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、エアシリンダ３２，４２の熱板３３、小部品Ｗ２への押し付け力を調節するようにエアシリンダ３２，４２の駆動を制御する。
また、ＣＰＵ７，９は、駆動制御プログラム８１ｃ，１１１ｃを実行することにより、算出された総変位量が、データエリア８１，１１２に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、エアシリンダ３２，４２の熱板３３、小部品Ｗ２への押し付け力と熱板３３の本体部品Ｗ１への押し付け時間、小部品Ｗ２の熱板５３への押し付け時間のうち少なくとも一方を調節するようにエアシリンダ３２，４２の駆動を制御する。 <Effect>
According to the melting devices 3 and 4 for the main body part W1 and the small part W2, the melting robot system 10 for the main body part W1 and the small part W2, and the melting method for the main body part W1 and the small part W2 in the embodiment, the hot plate 33 is replaced with the main body part. When pressed against W1 and the small part W2 is pressed against the hot plate 53, the potentiometers 34 and 44 detect the displacement of the piston rod of the air cylinders 32 and 42, thereby detecting the displacement of the hot plate 33 and the small part W2. The timing circuits 35 and 45 measure the elapsed time since the pressing of the hot plate 33 and the small part W2 is started. Further, the CPUs 7 and 9 of the control devices 5 and 6 calculate the unit displacement amounts of the heat plate 33 and the small component W2 per unit time by executing the unit displacement amount calculation programs 81a and 111a.
The CPUs 7 and 9 execute the drive control programs 81c and 111c, so that the calculated unit displacement amount is a reference unit per unit time derived from the elapsed time and the displacement amount stored in the data areas 81 and 112. The drive of the air cylinders 32 and 42 is controlled so as to adjust the pressing force of the air cylinders 32 and 42 against the hot plate 33 and the small part W2 so as to approach the displacement amount.
Further, the CPUs 7 and 9 execute the drive control programs 81c and 111c so that the calculated total displacement amount approaches the reference total displacement amount derived from the elapsed time and the displacement amount stored in the data areas 81 and 112. As described above, at least one of the pressing force of the air cylinders 32 and 42 to the hot plate 33 and the small part W2, the pressing time of the hot plate 33 to the main body part W1, and the pressing time of the small part W2 to the hot plate 53 is adjusted. Thus, the drive of the air cylinders 32 and 42 is controlled.

これにより、熱板３３の本体部品Ｗ１への押し付け時間、小部品Ｗ２の熱板５３への押し付け時間を調整することにより、適切な時間だけ樹脂を溶融させることで、溶着のサイクルタイムを短縮することができる。また、エアシリンダ３２，４２の熱板３３、小部品Ｗ２への押し付け力を調整することにより、本体部品Ｗ１及び小部品Ｗ２を長めに溶融させる必要がなくなり、過剰な加熱による樹脂の劣化を防止することができる。また、溶融深さを安定させることができ、溶融深さの不確実さに起因する製品の品質が不安定になる、不良品を製造してしまうという問題が解消され、溶着の品質を向上させることができる。
また、所定の動作範囲内で動作するロボット１，２に溶融装置３，４を設けることにより、溶着を行う本体部品Ｗ１及び小部品Ｗ２の生産ラインでの使用に適した溶融ロボットシステム１０を提供することができる。 Thereby, by adjusting the pressing time of the hot plate 33 to the main body component W1 and the pressing time of the small component W2 to the hot plate 53, the resin is melted only for an appropriate time, thereby shortening the cycle time of welding. be able to. Further, by adjusting the pressing force of the air cylinders 32 and 42 against the hot plate 33 and the small part W2, it is not necessary to melt the main body part W1 and the small part W2 longer, and the deterioration of the resin due to excessive heating is prevented. can do. In addition, the melt depth can be stabilized, and the problems of unstable product quality due to uncertain melt depth and the production of defective products are eliminated, and the quality of welding is improved. be able to.
In addition, by providing the melting devices 3 and 4 to the robots 1 and 2 operating within a predetermined operating range, a melting robot system 10 suitable for use in the production line of the main body part W1 and the small parts W2 to be welded is provided. can do.

＜その他＞
なお、本発明は上記実施形態に限られるものではない。例えば、熱板３３，５３による本体部品Ｗ１及び小部品Ｗ２への押し付けは、熱板３３の本体部品Ｗ１への押し付けのように熱板３３による絶対的な押し付けであってもよいし、小部品Ｗ２の熱板５３への押し付けのように熱板５３による相対的な押し付けであってもよい。従って、ロボット１で本体部品Ｗ１を把持して熱板３３に押し付けるものであってもよいし、ロボット２に熱板５３を設けて小部品Ｗ２を押し付けるものであってもよい。
また、熱板３３及び小部品Ｗ２の単位変位量と総変位量を用いてエアシリンダ３２，４２の駆動制御を行ったが、いずれか一方で駆動制御を行ってもよい。
また、各プログラムは機能毎に別個に作成してもよいし、全てのプログラムを処理の流れに沿って一体に作成して一つのプログラムとしてもよい。また、全ての処理をプログラムによりソフト的に処理するものに限らず、その一部又は全部の処理をハードウェアで処理するようにしてもよい。
また、ソレノイドバルブ３２ａ，４２ａを２ポジション５方弁とし、電空レギュレータを付加することで押し付け力を切り換えることができるように構成してもよい。
また、エアシリンダ３２とポテンショメータ３４に代えて、サーボモータを駆動源とする直動運動機構を使用してもよい。また、エアシリンダ４２とポテンショメータ４４に代えて、サーボモータを駆動源とする直動運動機構を使用してもよい。
その他、発明の範囲内で自由に置換、変更が可能である。 <Others>
The present invention is not limited to the above embodiment. For example, the pressing of the hot plate 33, 53 to the main body part W1 and the small part W2 may be an absolute pressing by the hot plate 33 like the pressing of the hot plate 33 to the main body part W1, or the small part. Relative pressing by the hot plate 53, such as pressing of the W2 to the hot plate 53, may be used. Therefore, the robot 1 may hold the main body part W1 and press it against the hot plate 33, or the robot 2 may be provided with the hot plate 53 to press the small part W2.
Moreover, although drive control of the air cylinders 32 and 42 was performed using the unit displacement amount and total displacement amount of the hot plate 33 and the small component W2, drive control may be performed on either side.
In addition, each program may be created separately for each function, or all programs may be created integrally along the processing flow to form one program. Further, not all of the processing is processed by software by a program, but part or all of the processing may be processed by hardware.
Further, the solenoid valves 32a and 42a may be two-position five-way valves so that the pressing force can be switched by adding an electropneumatic regulator.
Further, instead of the air cylinder 32 and the potentiometer 34, a linear motion mechanism using a servo motor as a drive source may be used. Further, instead of the air cylinder 42 and the potentiometer 44, a linear motion mechanism using a servo motor as a drive source may be used.
In addition, substitution and change are possible freely within the scope of the invention.

溶融装置及び溶融ロボットシステムの概要図。1 is a schematic diagram of a melting apparatus and a melting robot system. 本体部品の溶融装置の構成を示すブロック図。The block diagram which shows the structure of the melting | fusing apparatus of main body components. 本体部品の溶融装置の機能を示すブロック図。The block diagram which shows the function of the melting | fusing apparatus of main body components. 小部品の溶融装置の構成を示すブロック図。The block diagram which shows the structure of the melting apparatus of small parts. 小部品の溶融装置の機能を示すブロック図。The block diagram which shows the function of the melting | fusing apparatus of small parts. 本体部品と小部品の溶着処理を示すフローチャート。The flowchart which shows the welding process of a main-body component and a small component. 本体部品及び小部品の溶融制御処理を示すフローチャート。The flowchart which shows the fusion control process of a main-body component and a small component.

符号の説明Explanation of symbols

１ ロボット
２ ロボット
３ 溶融装置
４ 溶融装置
５ 制御装置（単位変位量算出手段、総変位量算出手段、駆動制御手段）
６ 制御装置（単位変位量算出手段、総変位量算出手段、駆動制御手段）
１０ 溶融ロボットシステム
３２ エアシリンダ（押し付け手段）
３３ 熱板（加熱部材）
３４ ポテンショメータ（変位検出手段）
３５ 計時回路（計時手段）
４２ エアシリンダ（押し付け手段）
４４ ポテンショメータ（変位検出手段）
４５ 計時回路（計時手段）
５３ 熱板（加熱部材）
７０ 押し付け部（押し付け手段）
７１ 加熱部（加熱部材）
７２ 変位検出部（変位検出手段）
７３ 計時部（計時手段）
７４ 単位変位量算出部（単位変位量算出手段）
７５ 総変位量算出部（総変位量算出手段）
７７ 駆動制御部（駆動制御手段）
７８ 記憶部（記憶手段）
８２ データエリア（記憶手段）
９０ 押し付け部（押し付け手段）
９１ 加熱部（加熱部材）
９２ 変位検出部（変位検出手段）
９３ 計時部（計時手段）
９４ 単位変位量算出部（単位変位量算出手段）
９５ 総変位量算出部（総変位量算出手段）
９７ 駆動制御部（駆動制御手段）
９８ 記憶部（記憶手段）
１１２ データエリア（記憶手段）
Ｗ１ 本体部品（樹脂部品）
Ｗ２ 小部品（樹脂部品） DESCRIPTION OF SYMBOLS 1 Robot 2 Robot 3 Melting apparatus 4 Melting apparatus 5 Control apparatus (unit displacement amount calculation means, total displacement amount calculation means, drive control means)
6 Control device (unit displacement calculation means, total displacement calculation means, drive control means)
10 Melting robot system 32 Air cylinder (pressing means)
33 Hot plate (heating member)
34 Potentiometer (displacement detection means)
35 Timekeeping circuit (timekeeping means)
42 Air cylinder (pressing means)
44 Potentiometer (displacement detection means)
45 Timekeeping circuit (timekeeping means)
53 Hot plate (heating member)
70 Pressing part (pressing means)
71 Heating part (heating member)
72 Displacement detector (displacement detector)
73 Timekeeping section (timekeeping means)
74 Unit displacement calculation unit (unit displacement calculation means)
75 Total displacement calculation unit (total displacement calculation means)
77 Drive control unit (drive control means)
78 Storage section (storage means)
82 Data area (storage means)
90 Pressing part (pressing means)
91 Heating part (heating member)
92 Displacement detector (displacement detector)
93 Timekeeping section (timekeeping means)
94 Unit displacement calculation unit (unit displacement calculation means)
95 Total displacement calculation unit (total displacement calculation means)
97 Drive control unit (drive control means)
98 storage unit (storage means)
112 Data area (storage means)
W1 Body parts (resin parts)
W2 Small parts (resin parts)

Claims (7)

樹脂部品を加熱して溶融させる加熱部材と、
前記加熱部材を前記樹脂部品に押し付ける押し付け手段と、
前記樹脂部品に関して、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間と前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位量とを予め対応付けて記憶する記憶手段と、
前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出手段と、
前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時手段と、
前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、単位時間当たりの前記加熱部材の単位変位量を算出する単位変位量算出手段と、
前記単位変位量算出手段により算出された単位変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力を調節するように前記押し付け手段の駆動を制御する駆動制御手段と、
を備えることを特徴とする樹脂部品の溶融装置。 A heating member that heats and melts resin parts;
Pressing means for pressing the heating member against the resin component;
Storage means for preliminarily associating and storing an elapsed time after the pressing means starts pressing the heating member and a displacement amount of the heating member pressed against the resin component by the pressing means with respect to the resin component When,
Displacement detecting means for detecting the displacement of the heating member pressed against the resin component by the pressing means;
A time measuring means for measuring an elapsed time since the pressing means starts pressing the heating member;
Unit displacement amount calculating means for calculating a unit displacement amount of the heating member per unit time based on the displacement of the heating member detected by the displacement detection means and the elapsed time measured by the time measuring means;
The heating member of the pressing member so that the unit displacement amount calculated by the unit displacement amount calculation unit approaches the reference unit displacement amount per unit time derived from the elapsed time and the displacement amount stored in the storage unit. Drive control means for controlling the drive of the pressing means so as to adjust the pressing force to
An apparatus for melting resin parts, comprising: 樹脂部品を加熱して溶融させる加熱部材と、
前記加熱部材を前記樹脂部品に押し付ける押し付け手段と、
前記樹脂部品に関して、前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間と前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位量とを予め対応付けて記憶する記憶手段と、
前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出手段と、
前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時手段と、
前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、前記計時手段が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出手段と、
前記総変位量算出手段により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御する駆動制御手段と、
を備えることを特徴とする樹脂部品の溶融装置。 A heating member that heats and melts resin parts;
Pressing means for pressing the heating member against the resin component;
Storage means for preliminarily associating and storing an elapsed time after the pressing means starts pressing the heating member and a displacement amount of the heating member pressed against the resin component by the pressing means with respect to the resin component When,
Displacement detecting means for detecting the displacement of the heating member pressed against the resin component by the pressing means;
A time measuring means for measuring an elapsed time since the pressing means starts pressing the heating member;
Based on the displacement of the heating member detected by the displacement detection means and the elapsed time measured by the time measurement means, a total displacement amount for calculating the total displacement of the heating member since the time measurement means has started timing is calculated. Displacement amount calculating means;
The pressing force of the pressing member to the heating member so that the total displacement calculated by the total displacement calculating unit approaches the reference total displacement derived from the elapsed time and the displacement stored in the storage unit. Driving control means for controlling the driving of the pressing means so as to adjust at least one of the pressing time of the heating member to the resin component;
An apparatus for melting resin parts, comprising: 前記変位検出手段により検出された前記加熱部材の変位と前記計時手段により計測された経過時間とに基づいて、前記計時手段が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出手段を備え、
前記駆動制御手段は、前記総変位量算出手段により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御することを特徴とする請求項１に記載の樹脂部品の溶融装置。 Based on the displacement of the heating member detected by the displacement detection means and the elapsed time measured by the time measurement means, a total displacement amount for calculating the total displacement of the heating member since the time measurement means has started timing is calculated. A displacement amount calculating means;
The drive control means is configured so that the total displacement calculated by the total displacement calculation means approaches the reference total displacement derived from the elapsed time and the displacement stored in the storage. The melting of the resin component according to claim 1, wherein the driving of the pressing means is controlled so as to adjust at least one of a pressing force to the heating member and a pressing time of the heating member to the resin component. apparatus. 請求項１〜３のいずれか一項に記載の樹脂部品の溶融装置と、
複数のアームを有し、当該アームの先端に前記樹脂部品の溶融装置が設けられるとともに、駆動力が付与されることにより、前記アームの先端が所定の動作範囲内で動作する単数又は複数のロボットと、
を備えることを特徴とする樹脂部品の溶融ロボットシステム。 A melting apparatus for resin parts according to any one of claims 1 to 3,
One or a plurality of robots having a plurality of arms, the resin component melting device is provided at the tip of the arm, and the driving force is applied to move the tip of the arm within a predetermined operation range. When,
A melting robot system for resin parts, comprising: 請求項１に記載の樹脂部品の溶融装置を用いた樹脂部品の溶融方法において、
前記押し付け手段により前記加熱部材を前記樹脂部品に押し付ける押し付け工程と、
前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、
前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時工程と、
前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、単位時間当たりの前記加熱部材の単位変位量を算出する単位変位量算出工程と、
前記単位変位量算出工程により算出された単位変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる単位時間当たりの基準単位変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力を調節するように前記押し付け手段の駆動を制御する駆動制御工程と、
を備えることを特徴とする樹脂部品の溶融方法。 In the melting method of the resin component using the melting device of the resin component according to claim 1,
A pressing step of pressing the heating member against the resin component by the pressing means;
A displacement detection step of detecting a displacement of the heating member pressed against the resin component by the pressing means;
A time measuring step of measuring an elapsed time since the pressing means starts pressing the heating member;
A unit displacement amount calculating step for calculating a unit displacement amount of the heating member per unit time based on the displacement of the heating member detected by the displacement detection step and the elapsed time measured by the time measuring step;
The heating member of the pressing member so that the unit displacement amount calculated by the unit displacement amount calculating step approaches the reference unit displacement amount per unit time derived from the elapsed time and the displacement amount stored in the storage means. A drive control step of controlling the drive of the pressing means so as to adjust the pressing force to
A melting method for resin parts, comprising: 請求項２に記載の樹脂部品の溶融装置を用いた樹脂部品の溶融方法において、
前記押し付け手段により前記加熱部材を前記樹脂部品に押し付ける押し付け工程と、
前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、
前記押し付け手段が前記加熱部材の押し付けを開始してからの経過時間を計測する計時工程と、
前記押し付け手段により前記樹脂部品に押し付けられた前記加熱部材の変位を検出する変位検出工程と、
前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、前記計時工程が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出工程と、
前記総変位量算出工程により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御する駆動制御工程と、
を備えることを特徴とする樹脂部品の溶融方法。 In the melting method of the resin component using the melting device of the resin component according to claim 2,
A pressing step of pressing the heating member against the resin component by the pressing means;
A displacement detection step of detecting a displacement of the heating member pressed against the resin component by the pressing means;
A time measuring step of measuring an elapsed time since the pressing means starts pressing the heating member;
A displacement detection step of detecting a displacement of the heating member pressed against the resin component by the pressing means;
Based on the displacement of the heating member detected by the displacement detection step and the elapsed time measured by the time measurement step, the total displacement amount for calculating the total displacement of the heating member after the time measurement step starts timing is calculated. A displacement amount calculating step;
The pressing force of the pressing member to the heating member so that the total displacement calculated by the total displacement calculating step approaches the reference total displacement derived from the elapsed time and the displacement stored in the storage means. And a drive control step of controlling the driving of the pressing means so as to adjust at least one of the pressing time of the heating member to the resin component,
A melting method for resin parts, comprising: 請求項５に記載の樹脂部品の溶融方法において、
前記変位検出工程により検出された前記加熱部材の変位と前記計時工程により計測された経過時間とに基づいて、前記計時工程が計時を開始してからの前記加熱部材の総変位量を算出する総変位量算出工程を備え、
前記駆動制御工程では、前記総変位量算出工程により算出された総変位量が、前記記憶手段に記憶された経過時間と変位量から導かれる基準総変位量に近づくように、前記押し付け部材の前記加熱部材への押し付け力と前記加熱部材の前記樹脂部品への押し付け時間のうち少なくとも一方を調節するように前記押し付け手段の駆動を制御することを特徴とする樹脂部品の溶融方法。 In the melting method of the resin component according to claim 5,
Based on the displacement of the heating member detected by the displacement detection step and the elapsed time measured by the time measurement step, the total displacement amount for calculating the total displacement of the heating member after the time measurement step starts timing is calculated. Equipped with a displacement calculation step,
In the drive control step, the total displacement amount calculated in the total displacement amount calculation step approaches the reference total displacement amount derived from the elapsed time and the displacement amount stored in the storage means. A method for melting a resin component, wherein the driving of the pressing means is controlled so as to adjust at least one of a pressing force to the heating member and a pressing time of the heating member to the resin component.
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