JP6172032B2 - Vehicle sealer coating device - Google Patents

Description

  The present invention relates to a vehicle sealer application device that applies a sealer to an overlapping portion of a vehicle door by hemming, for example.

  In general, the outer edge of the door for a vehicle is formed by overlapping the outer edge of the outer panel and the outer edge of the inner panel, and the outer peripheral flange end standing on the outer edge of the outer panel is sandwiched between the outer edge of the inner panel and the back side of the outer panel. Hemming is performed by folding back and closing. As shown in FIG. 4, a sealer coating device 100 having a sealer gun 101 having a sealer nozzle 103 formed at the tip thereof attached to the tip of an arm of a robot 102 is provided, and a hemming overlapped portion of a vehicle door (work W) is provided. In addition, a sealer is automatically applied to improve waterproofness and rust prevention. Therefore, the position of the sealer nozzle 103 in the sealer gun 101 needs to be accurately taught (teaching) to the robot 102 so as to correspond to the overlapped portion of the workpiece W that has been hemmed.

  As shown in FIG. 5, for example, a sealer coating apparatus 200 described in Patent Document 1 includes a sealer gun 201 attached to a robot 202 via a floating mechanism 203, and a sealer nozzle 204 attached to the sealer gun 201. The positioning guide 205 includes a positioning guide 205 for positioning the sealer nozzle 204 and an adjustment bolt 206 for adjusting the height of the sealer nozzle 204. The positioning guide 205 extends along the outer peripheral flange tip W1 of the outer panel W0. The positioning guide 205 and the sealer nozzle 204 are arranged so that the center portion of the sealer nozzle 204 is always positioned at the outer peripheral flange tip W1 while moving while being in contact. According to this sealer coating apparatus 200, even if the shape of the outer peripheral flange tip W1 changes, the positioning guide 205 moves while being in contact with the outer peripheral flange tip W1, so it is necessary to change the position of the sealer nozzle 204 one by one. Therefore, the teaching man-hour of the robot 202 can be reduced.

JP 2009-172455 A

However, since the sealer applied to the hemming overlapped portion is in a position where it can be seen when getting on and off the vehicle, the appearance of the sealer is also important. In particular, as shown in FIG. 6, in order to apply the sealer with a uniform width and a uniform film thickness with a uniform width and a uniform film thickness, the discharge port 207 at the tip of the sealer nozzle 204 is formed in a slit shape and then discharged. It must be applied at a constant speed while the longitudinal direction of the outlet 207 (the direction of the arrow S1) and the normal direction (the direction of the arrow H1) of the outer edge WG of the workpiece W are matched.
However, the positioning guide 205 of the sealer coating apparatus 200 described in Patent Document 1 can guide the center portion 208 of the discharge port 207 so that it is always located at the outer peripheral flange tip W1, but the length of the discharge port 207 is long. The direction S1 and the normal direction H1 at the outer edge WG of the workpiece W cannot be matched.
Therefore, in the sealer coating apparatus 200 described in Patent Document 1, the longitudinal direction S1 of the discharge port 207 and the normal direction H1 at the outer edge WG of the workpiece W at a portion where the outer edge WG of the workpiece W is formed in a curved shape. Therefore, many teaching points are required, and it takes a lot of man-hours for teaching the robot 202 and requires a high level of skill.

  The present invention has been made in order to solve the above problems, and even if the outer edge of the workpiece is formed in a curved shape, the sealer looks good with a uniform width and uniform film thickness in the hemming overlapped portion. An object of the present invention is to provide a vehicle sealer coating device that can be coated.

In order to solve the above-described problems, a vehicle sealer coating apparatus according to the present invention has the following configuration.
(1) A robot, a sealer gun attached to the robot, and a sealer nozzle attached to the sealer gun so as to be pivotable, with the outer peripheral flange tip standing on the outer edge of the outer panel sandwiching the outer edge of the inner panel A sealer coating device for a vehicle that applies a sealer from a slit-like discharge port formed at the tip of the sealer nozzle to the overlapping part of the hemming process that is folded back and closed on the back side of the outer panel.
In the sealer nozzle, the tip of the sealer nozzle is crossed with the outer edge of the outer panel while following the outer edge of the outer panel, and the normal direction of the outer edge of the outer panel and the length of the discharge port are crossed at the crossing position. A copying mechanism that matches the direction is mounted.

In the present invention, the sealer nozzle has the tip of the sealer nozzle crossed with the outer edge of the outer panel while following the outer edge of the outer panel, and the normal direction at the outer edge of the outer panel and the longitudinal direction of the discharge port at the crossing position Is installed so that the tip of the sealer nozzle crosses the outer edge of the outer panel even if the outer edge of the outer panel that is hemmed like the corner of the workpiece is curved. Thus, the sealer can be applied to the overlapping portion of the hemming process in a state where the normal direction at the outer edge and the longitudinal direction of the discharge port are automatically matched by the copying mechanism. Therefore, the vehicle sealer coating apparatus according to the present invention can apply the sealer with a uniform width and uniform film thickness to the overlapped portion of the hemming process without requiring many teaching points and high skill. .
Therefore, according to the present invention, even if the outer edge of the workpiece is formed in a curved shape, the sealer coating apparatus for a vehicle that can apply the sealer with a uniform width and a uniform film thickness to the overlapped portion of the hemming process. Can be provided.

The “slit-like discharge port” corresponds to various long holes such as a rectangular hole, an oblong hole, and an elliptical hole whose length in the longitudinal direction is longer than that in the width direction.
Moreover, it is preferable that the discharge port is formed on an extension line in the rotation axis of the sealer nozzle with respect to the sealer gun. Even if the sealer nozzle is rotated around the rotation axis with respect to the sealer gun, the discharge port can be rotated without changing the position on the extension line of the rotation axis. Therefore, the longitudinal direction of the discharge port and the normal direction at the outer edge of the outer panel can be matched without changing the position of the discharge port. Therefore, it is much easier to guide the discharge port to the position of the overlapping portion by the copying mechanism and at the same time to match the longitudinal direction of the discharge port with the normal direction at the outer edge of the outer panel.

(2) In the vehicle sealer coating apparatus described in (1),
The copying mechanism includes a roller body that contacts an outer edge of the outer panel and rotates as the sealer nozzle moves.

In the present invention, the copying mechanism is provided with a roller body that abuts on the outer edge of the outer panel and rotates as the sealer nozzle moves, so that the followability of the copying mechanism with respect to the outer edge of the outer panel is improved. . Therefore, even if the outer edge of the outer panel is formed in a curved shape, the copying mechanism smoothly follows, and an unreasonable burden is not imposed on the sealer nozzle on which the copying mechanism is mounted.
Therefore, according to the present invention, even when the outer edge of the workpiece is formed in a curved shape, the hemming overlapped portion looks good with a uniform width and a uniform film thickness while preventing deformation and breakage of the sealer nozzle. Sealer can be applied well.

(3) In the vehicle sealer coating apparatus described in (1) or (2),
In the copying mechanism, two arm portions supported to be swingable by the sealer nozzle are inclined at substantially equal inclination angles at positions symmetrical with respect to the center line in the width direction of the discharge port. However, a first guide member that contacts the outer edge of the outer panel is provided.

In the present invention, the copying mechanism is configured such that the two arm portions swingably supported by the sealer nozzle are symmetric with respect to the center line in the width direction of the discharge port, and are inclined at substantially equal sizes. Since the first guide member that abuts the outer edge of the outer panel while being inclined is provided, the sealer nozzle is rotated with respect to the sealer gun by the first guide member, and the longitudinal direction of the discharge port and the normal line at the outer edge of the outer panel The direction can be substantially matched.
Specifically, the two arm portions of the first guide member are supported by the sealer nozzle in a swingable manner. Further, the two arm portions are in contact with the outer edge of the outer panel at a position symmetrical with respect to the center line in the width direction of the discharge port while being inclined at a substantially uniform inclination angle. Therefore, when the robot moves the sealer nozzle in the sealer application feeding direction, the two arms are configured so that the two arms maintain a substantially uniform inclination angle with respect to the center line in the width direction of the discharge port. The part rotates the sealer nozzle with respect to the sealer gun. Here, the center line in the width direction of the discharge port coincides with the bisector of the inner angle formed by the two arm portions. The center line in the width direction of the discharge port is formed in the longitudinal direction of the discharge port, and the bisector of the inner angle formed by the two arm portions is formed in the normal direction at the outer edge of the outer panel. Therefore, the first guide member having the two arm portions can always match the longitudinal direction of the discharge port with the normal direction of the outer edge of the outer panel even if the outer edge of the outer panel is formed in a curved shape. . As a result, the copying mechanism including the first guide member can automatically match the discharge port formed in the slit shape with the optimum condition for sealer application.
Therefore, according to the present invention, even when the outer edge of the workpiece is formed in a curved shape, it is possible to apply the sealer with better appearance with a uniform width and a uniform film thickness on the overlapping portion of the hemming process.

(4) In the vehicle sealer coating apparatus described in any one of (1) to (3),
The copying mechanism includes a second guide member in which a tip of a rod portion protruding a predetermined length from the discharge port comes into contact with a step formed by the tip of the outer peripheral flange and the back surface of the inner panel. To do.

In the present invention, the copying mechanism includes the second guide member in which the tip of the rod portion protruding a predetermined length from the discharge port comes into contact with the stepped portion formed by the tip of the outer peripheral flange and the back surface of the inner panel. The gap between the discharge port and the hemming overlapped portion can be maintained at a predetermined value by the two guide members. Further, the discharge port can be moved along the step portion formed by the outer peripheral flange tip and the inner panel back surface by the second guide member. Therefore, the copying mechanism including the second guide member can stabilize the sealer discharge position with respect to the overlapping portion of the hemming process even if the outer edge of the workpiece is formed in a curved shape.
Therefore, according to the present invention, it is possible to apply the sealer with a more uniform width and a uniform film thickness with a better appearance.
In addition, it is preferable that a sphere is fitted to the tip of the rod portion, and the sphere contacts the step portion while rotating. Moreover, it is preferable that the front-end | tip of a rod part contact | abuts on a level | step-difference part so that the longitudinal direction center part of a discharge port may be located in an outer peripheral flange front-end | tip.

(5) In the vehicle sealer coating apparatus described in (4),
The sealer gun is attached to the robot via a pedestal with a telescopic mechanism that can expand and contract in a direction orthogonal to a rotation axis of the sealer nozzle.

In the present invention, the sealer gun is attached to the robot via a base with a telescopic mechanism that can be expanded and contracted in a direction perpendicular to the rotation axis of the sealer nozzle, so that the sealer gun is automatically moved following the second guide member of the copying mechanism. Can be moved. Therefore, the longitudinal direction of the discharge port and the normal direction at the outer edge of the outer panel can be made coincident with each other while guiding the discharge port to the overlapping portion without finely correcting the position of the sealer gun.
Therefore, according to the present invention, the man-hour required for teaching the robot can be reduced. Moreover, quick teaching can be performed without requiring high skill.

(6) In the vehicle sealer coating apparatus described in any one of (1) to (5),
A tip end portion of the sealer nozzle is formed in a substantially L shape or a substantially J shape, and the discharge port is opened in a direction facing the sealer gun.

In the present invention, the tip of the sealer nozzle is formed in a substantially L shape or a substantially J shape, and the discharge port is opened in a direction facing the sealer gun. The sealer can be applied while the sealer gun is disposed at a position facing the workpiece with the workpiece interposed therebetween. Therefore, the vehicle sealer coating apparatus according to the present invention can dispose a sealer gun on the outside of the vehicle with respect to the workpiece while the workpiece is attached to the body of the vehicle, and can apply the sealer from the inside of the vehicle. The sealer can be applied in the process after the electrodeposition coating and before the intermediate coating.
Therefore, according to the present invention, it is not necessary to pre-cure (pre-cure) the sealer by heating prior to the shower cleaning performed immediately before the electrodeposition coating, and an expensive sealer corresponding to the pre-cure (pre-cure) (pre-cure sealer) ), And an inexpensive sealer can be used. Moreover, heating equipment for pre-curing and heating energy can be omitted, and the sealer cost can be greatly reduced.

  According to the present invention, there is provided a vehicle sealer coating device that can apply a sealer with a uniform width and a uniform film thickness to a hemming overlapped portion even when the outer edge of a workpiece is formed in a curved shape. can do.

It is a side view of the sealer application device of the vehicles concerning the embodiment of the present invention. It is A detailed view shown in FIG. It is operation | movement explanatory drawing of the sealer coating device of the vehicle shown in FIG. It is a typical perspective view of the conventional sealer coating device of a vehicle. It is sectional drawing of the sealer coating device described in patent document 1. FIG. It is a fragmentary sectional view of the sealer nozzle front-end | tip part when applying the sealer coating device shown in FIG. 5 to the corner part of a workpiece | work.

  Next, a vehicle sealer coating apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. First, the structure of the vehicle sealer coating apparatus according to this embodiment will be described, and then the coating method of the sealer coating apparatus will be described. Finally, the function and effect of the vehicle sealer coating apparatus according to this embodiment will be described.

<Structure of sealer coating device>
First, the structure of the vehicle sealer coating apparatus according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view of a vehicle sealer coating apparatus according to an embodiment of the present invention. FIG. 2 shows a detailed view of A shown in FIG.

As shown in FIG. 1, the sealer coating apparatus 10 for a vehicle according to this embodiment includes a sealer gun 2 on the surface side of the outer panel W0 in a state where a work (vehicle door) W is attached to a body B of a vehicle V. Is arranged, and the sealer S is applied from the back side of the outer panel W0 to the hemming overlapped portion W3. The workpiece W is not limited to the vehicle door. For example, various lids attached to the body B such as a bonnet and a trunk are applicable.
The vehicle sealer coating device 10 is attached to the robot 1 installed outside the vehicle, the sealer gun 2 attached to the arm tip of the robot 1 via a pedestal 23 with a telescopic mechanism 22, and the tip 21 of the sealer gun 2. The sealer nozzle 3 and the copying mechanism 4 attached to the sealer nozzle 3 are provided.

  The robot 1 is an articulated robot, and a substantially rectangular base 23 is fastened to the tip of the arm. At the upper end of the pedestal 23, an expansion / contraction mechanism 22 that can expand and contract in a direction orthogonal to the rotation shaft 321 of the sealer nozzle 3 is formed. A sealer gun 2 formed in a substantially bowl shape is attached to the upper end of the telescopic mechanism 22. A cylindrical sealer nozzle 3 is attached to a distal end portion 21 of the sealer gun 2 by a joint portion 32 so as to be pivotable.

  The sealer nozzle 3 is formed such that the intermediate portion 33 extended from the joint portion 32 is inclined in a direction away from the rotation shaft 321, and the tip portion 31 at the tip is formed in an approximately L shape. . The distal end portion 31 is bent at a substantially right angle at a base portion 312 extending parallel to the rotation shaft 321 and extends in a direction orthogonal to the rotation shaft 321. The outer diameter of the sealer nozzle 3 is about 2 to 3 mm. A slit-like discharge port 311 is formed at the tip portion 31 of the sealer nozzle 3 along a direction orthogonal to the rotation shaft 321. A central portion 314 in the longitudinal direction of the discharge port 311 is formed on an extension line of the rotation shaft 321. The discharge port 311 is formed in a rectangular hole and is opened in a direction facing the front end portion 21 of the sealer gun 2 (in the direction of arrow J). The gap d1 between the discharge port 311 and the overlapped portion W3 subjected to hemming is preferably about 4 to 5 mm.

As shown in FIG. 1 and FIG. 2, the copying mechanism 4 has two arm portions 51 and 52 having the same length swingably supported by the base portion 312 at the tip portion 31 of the sealer nozzle 3. The first guide member 5 is in contact with the outer edge WG of the outer panel W0 at a position symmetrical to the center line 315 in the width direction while being inclined at substantially equal inclination angles θ1 and θ2.
A substantially rectangular mounting plate 313 is fixed to the base 312 at the tip 31 of the sealer nozzle 3, and two arm portions 51 and 52 are pivotally pivoted by shaft portions 511 and 521, respectively, on both side ends thereof. It is supported. Roller bodies 512 and 522 are pivotally supported at the lower ends of the two arm portions 51 and 52, respectively, so as to be rotatable. Each roller body 512, 522 contacts the outer edge WG of the outer panel W0. Tension springs 53 and 54 are mounted between the mounting plate 313 and the arm portions 51 and 52. The tension springs 53 and 54 are biased in the direction in which the roller bodies 512 and 522 are close to each other.

  When the robot 1 moves the sealer nozzle 3 in the sealer application direction, the two arm portions 51 and 52 respectively have inclination angles θ1 and θ2 having substantially equal sizes with respect to the center line L1 in the width direction of the discharge port 311. To maintain, the sealer nozzle 3 is rotated relative to the sealer gun 2. Here, the center line 315 in the width direction of the discharge port 311 coincides with the bisector L1 of the internal angle θ formed by the two arm portions 51 and 52. A center line 315 in the width direction of the discharge port 311 is formed in the longitudinal direction of the discharge port 311 (the direction of the arrow S1), and the bisector L1 of the inner angle θ formed by the two arm portions 51 and 52 is the outer panel W0. Is formed in the normal direction (the direction of the arrow H1) at the outer edge WG. Accordingly, the first guide member 5 having the two arm portions 51 and 52 always has the outer edge WG of the outer panel W0 in the longitudinal direction S1 even if the outer edge WG of the outer panel W0 is formed in a curved shape. It can be made to correspond with the normal line direction H1.

  Further, the copying mechanism 4 includes a second guide member 6 in which the tip of the rod portion 61 protruding from the discharge port 311 by a predetermined length comes into contact with the stepped portion W4 formed by the outer peripheral flange tip W1 and the back surface of the inner panel W2. ing. The rod portion 61 is fixed to the sealer nozzle side end (the front side in the feed direction of the sealer nozzle) where the discharge port 311 is formed by a U-shaped metal fitting 62. The rod portion 61 is fixed in a direction orthogonal to the tip portion 31 of the sealer nozzle 3. When the position of the outer peripheral flange tip W1 of the outer panel W0 changes, the rod portion 61 follows this, but the inclination angles θ1 and θ2 of the arm portions 51 and 52 described above increase and decrease, and the longitudinal direction S1 at the discharge port 311 increases. Is always matched with the normal direction H1 at the outer edge WG of the outer panel W0.

Here, it is preferable that a sphere 611 is fitted to the tip of the rod portion 61 so that the sphere 611 contacts the stepped portion W4 while rotating. Since the sphere 611 contacts the stepped portion W4 while rotating, the frictional resistance can be reduced, so that the sealer nozzle 3 can be quickly rotated by the first guide member 5.
Moreover, it is preferable that the rod part 61 is contact | abutted to the level | step-difference part W4 so that the longitudinal direction center part 314 of the discharge outlet 311 may be located in the outer peripheral flange front-end | tip W1. By positioning the longitudinal direction central portion 314 of the discharge port 311 at the outer peripheral flange tip W1, the center in the width direction of the sealer S to be applied can be matched with the stepped portion W4. Sealer can be reliably applied.

Further, the hole size d2 in the width direction at the discharge port 311 is preferably about 0.1 to 0.2 times the hole size d3 in the longitudinal direction. For example, when the hole dimension d2 in the width direction is about 0.3 mm, the hole dimension d3 in the longitudinal direction is preferably about 3 mm.
The distance d4 between the rod portion 61 and the center line 315 in the width direction of the discharge port 311 is preferably shorter. This is because it is easy to make the inclination angles θ1 and θ2 of the two arm portions 51 and 52 uniform. The spherical body 611 of the rod portion 61 preferably has a radius d5 within the thickness of the outer panel W0. This is because the tip of the rod portion 61 is difficult to come off from the stepped portion W4.

<Coating method of sealer coating device>
Next, a coating method of the vehicle sealer coating apparatus according to the present embodiment will be described with reference to FIG. FIG. 3 shows an operation explanatory diagram of the vehicle sealer coating apparatus shown in FIG. 3A shows a case where sealer application is performed on a portion where the outer edge WG of the workpiece W is formed in a straight line, and FIG. 3B shows a case where the outer edge WG of the workpiece W is curved from a straight line. FIG. 3C shows the case where the sealer is applied to a portion where the outer edge WG of the workpiece W is formed in a curved shape.

  As shown in FIG. 3A, when the sealer is applied to a portion where the outer edge WG of the workpiece W is formed in a straight line, the tip end portion 31 of the sealer nozzle has an inner angle formed by the two arm portions 51 and 52. Located on the bisector. The bisector of the inner angle formed by the two arm portions 51 and 52 is orthogonal to the outer edge WG of the workpiece W. Therefore, the longitudinal direction of the discharge port 311 formed in the tip end portion 31 of the sealer nozzle coincides with the normal direction of the outer edge WG at a position where the tip end portion 31 of the sealer nozzle is orthogonal to the outer edge WG. Further, since the discharge port 311 is positioned at the outer peripheral flange tip W1 by the rod portion 61, sealer application can be performed with a uniform width and a uniform film thickness.

  As shown in FIG. 3B, when the sealer is applied to a portion where the outer edge WG of the workpiece W is curved from a straight line, the tip end portion 31 of the sealer nozzle has two inner angles formed by the two arm portions 51 and 52. Located on the dividing line. The bisector of the inner angle formed by the two arm portions 51 and 52 is orthogonal to the tangent line at the outer edge WG at the position where the tip 31 of the sealer nozzle intersects the outer edge WG of the workpiece W. Therefore, the longitudinal direction of the discharge port 311 formed in the tip end portion 31 of the sealer nozzle coincides with the normal direction of the outer edge WG at the position where the tip end portion 31 of the sealer nozzle intersects the outer edge WG. Further, since the discharge port 311 is positioned at the outer peripheral flange tip W1 by the rod portion 61, sealer application can be performed with a uniform width and a uniform film thickness.

As shown in FIG. 3C, when the sealer is applied to a portion where the outer edge WG of the workpiece W is formed in a curved shape, the tip end portion 31 of the sealer nozzle is an inner angle formed by the two arm portions 51 and 52. It is located on the bisector. The bisector of the inner angle formed by the two arm portions 51 and 52 is orthogonal to the tangent line at the outer edge WG at the position where the tip 31 of the sealer nozzle intersects the outer edge WG of the workpiece W. Therefore, the longitudinal direction of the discharge port 311 formed in the tip end portion 31 of the sealer nozzle coincides with the normal direction of the outer edge WG at the position where the tip end portion 31 of the sealer nozzle intersects the outer edge WG. Further, since the discharge port 311 is positioned at the outer peripheral flange tip W1 by the rod portion 61, sealer application can be performed with a uniform width and a uniform film thickness.
As described above, according to the vehicle sealer coating apparatus 10 according to the present embodiment, the hemming overlapped portion is always used regardless of whether the outer edge WG of the workpiece W is formed in a straight shape or a curved shape. It is possible to apply a sealer with a uniform width and a uniform film thickness.

<Effect>
As described above in detail, according to the sealer coating apparatus 10 for a vehicle according to the present embodiment, the front end portion 31 of the sealer nozzle 3 is connected to the outer panel W0 while following the outer edge WG of the outer panel W0. Since the scanning mechanism 4 is mounted so that the normal direction H1 of the outer edge WG of the outer panel W0 and the longitudinal direction S1 of the discharge port 311 coincide with each other at the crossing position. Even if the outer edge WG of the outer panel W0 that has been hemmed is formed in a curved shape, at the position where the tip 31 of the sealer nozzle 3 intersects the outer edge WG of the outer panel W0, the normal direction H1 at the outer edge WG In a state in which the longitudinal direction S1 of the discharge port 311 is automatically matched by the copying mechanism 4, the overlapping portion W3 for hemming is placed on the shim. It can be color coating. Therefore, the sealer coating device 10 of the vehicle V according to the present invention applies the sealer with a uniform width and a uniform film thickness to the overlapped portion W3 of the hemming process without requiring many teaching points and high skill. be able to.

  Further, according to the present embodiment, the copying mechanism 4 includes the roller bodies 512 and 522 that are in contact with the outer edge WG of the outer panel W0 and rotate with the movement of the sealer nozzle 3, and therefore the outer edge WG of the outer panel W0. The followability of the copying mechanism 4 with respect to is improved. Therefore, even if the outer edge WG of the outer panel W0 is formed in a curved shape, the copying mechanism 4 follows smoothly, and an unreasonable burden is not imposed on the sealer nozzle 3 on which the copying mechanism 4 is mounted. Therefore, it is possible to apply the sealer with good appearance with a uniform width and a uniform film thickness on the overlapping portion W3 of the hemming process while preventing the sealer nozzle 3 from being deformed or broken.

  Further, according to the present embodiment, the copying mechanism 4 is configured such that the two arm portions 51 and 52 that are swingably supported by the sealer nozzle 3 are symmetrical with respect to the center line 315 in the width direction of the discharge port 311. Since the first guide member 5 that abuts the outer edge WG of the outer panel W0 while being inclined at substantially equal inclination angles θ1 and θ2, the sealer nozzle 3 is moved to the sealer gun 2 by the first guide member 5. The longitudinal direction S1 of the discharge port 311 and the normal direction H1 at the outer edge WG of the outer panel W0 can be made substantially coincident with each other.

  Specifically, the two arm portions 51 and 52 of the first guide member 5 are supported by the sealer nozzle 3 so as to be swingable. Further, the two arm portions 51 and 52 are in contact with the outer edge WG of the outer panel W0 while being inclined at inclination angles θ1 and θ2 having substantially equal sizes with respect to the center line 315 in the width direction of the discharge port 311. . Therefore, when the robot 1 moves the sealer nozzle 3 in the feed direction in which the sealer is applied, the two arm portions 51 and 52 are inclined at an angle θ1 having a substantially equal size with respect to the center line 315 in the width direction of the discharge port 311. , Θ2, the two arm portions 51, 52 rotate the sealer nozzle 3 with respect to the sealer gun 2. Here, the center line 315 in the width direction of the discharge port 311 coincides with the bisector L1 of the internal angle θ formed by the two arm portions 51 and 52. The center line 315 in the width direction of the discharge port 311 is formed in the longitudinal direction S1 of the discharge port 311. The bisector L1 of the inner angle θ formed by the two arm portions 51 and 52 is a method at the outer edge WG of the outer panel W0. It is formed in the line direction H1. Accordingly, the first guide member 5 having the two arm portions 51 and 52 always has the outer edge WG of the outer panel W0 in the longitudinal direction S1 even if the outer edge WG of the outer panel W0 is formed in a curved shape. It can be made to correspond with the normal line direction H1. As a result, the copying mechanism 4 including the first guide member 5 can automatically match the discharge port 311 formed in a slit shape with the optimum conditions for sealer application.

  Further, according to the present embodiment, in the copying mechanism 4, the tip of the rod portion 61 protruding from the discharge port 311 by a predetermined length comes into contact with the stepped portion W4 formed by the outer peripheral flange tip W1 and the back surface of the inner panel W2. Since the second guide member 6 is provided, the gap d1 between the ejection port 311 and the hemming overlapped portion W3 can be held at a predetermined value by the second guide member 6. Further, the second guide member 6 can move the discharge port 311 along a stepped portion W4 formed by the outer peripheral flange tip W1 and the back surface of the inner panel W2. Therefore, the copying mechanism 4 including the second guide member 6 can stabilize the sealer discharge position with respect to the overlapping portion W3 in the hemming process even if the outer edge WG of the workpiece W is formed in a curved shape.

  Further, according to the present embodiment, the sealer gun 2 is attached to the robot 1 via the base 23 with the expansion / contraction mechanism 22 that can expand and contract in the direction orthogonal to the rotation shaft 321 of the sealer nozzle 3. 2 The sealer gun 2 can be automatically moved following the guide member 6. Therefore, without slightly correcting the position of the sealer gun 2, the discharge port 311 is guided to the overlapping portion W3, and at the same time, the longitudinal direction S1 of the discharge port 311 coincides with the normal direction H1 at the outer edge WG of the outer panel W0. Can be made. Therefore, the man-hour required for teaching the robot 1 can be reduced. Moreover, quick teaching can be performed without requiring high skill.

  Further, according to the present embodiment, the tip 31 of the sealer nozzle 3 is formed in a substantially L shape, and the discharge port 311 is opened in a direction facing the sealer gun 2 (direction of arrow J). Therefore, sealer application can be performed while disposing the discharge port 311 of the sealer nozzle 3 and the sealer gun 2 at positions facing each other across the workpiece W. Therefore, the sealer coating apparatus 10 can apply the sealer from the inside of the vehicle by disposing the sealer gun 2 on the outside of the vehicle with respect to the workpiece W while the workpiece W is attached to the body B of the vehicle V. For example, a sealer can be applied in a step after electrodeposition coating and before intermediate coating. Therefore, prior to shower cleaning performed immediately before electrodeposition coating, the sealer S need not be pre-cured by heating, and an expensive sealer corresponding to pre-curing (pre-curing) is not used. An inexpensive sealer S can be used. Moreover, heating equipment for pre-curing and heating energy can be omitted, and the sealer cost can be greatly reduced.

  INDUSTRIAL APPLICABILITY The present invention can be used, for example, in a vehicle sealer application device that applies a sealer to an overlapping portion by hemming of a vehicle door.

DESCRIPTION OF SYMBOLS 1 Robot 2 Sealer gun 3 Sealer nozzle 4 Copying mechanism 5 1st guide member 6 2nd guide member 10 Sealer coating device 22 Telescopic mechanism 23 Base 31 Tip part 32 Joint part 33 Intermediate part 51, 52 Arm part 53, 54 Extension spring 61 Rod part 311 Discharge port 312 Base part 313 Mounting plate 314 Longitudinal center part 315 Width direction center line 321 Rotating shaft 512, 522 Roller body 611 Sphere H1 Normal direction L1 Bisectral line S Sealer S1 Longitudinal direction W Work W0 Outer panel W1 Outer peripheral flange tip W2 Inner panel W3 Overlapping part W4 Stepped part

Claims (4)

The outer panel includes a robot, a sealer gun attached to the robot, and a sealer nozzle attached to the sealer gun so as to be pivotable. The outer peripheral flange end standing on the outer edge of the outer panel is sandwiched between the outer edges of the inner panel. A sealer application device for a vehicle that applies a sealer from a slit-like discharge port formed at the tip of the sealer nozzle to a hemming overlapped portion that is folded back and closed on the back side,
In the sealer nozzle, the tip of the sealer nozzle is crossed with the outer edge of the outer panel while following the outer edge of the outer panel, and the normal direction of the outer edge of the outer panel and the length of the discharge port are crossed at the crossing position. Wearing a copying mechanism that matches the direction ,
The copying mechanism includes a second guide member in which a tip of a rod portion protruding from the discharge port by a predetermined length comes into contact with a step formed by the tip of the outer peripheral flange and the back surface of the inner panel;
The sealer coating apparatus for a vehicle, wherein the sealer gun is attached to the robot via a pedestal with a telescopic mechanism that can expand and contract in a direction orthogonal to a rotation axis of the sealer nozzle . In the vehicle sealer coating apparatus according to claim 1,
The vehicular sealer coating device, wherein the copying mechanism includes a roller body that abuts on an outer edge of the outer panel and rotates as the sealer nozzle moves. In the vehicle sealer coating apparatus according to claim 1 or 2,
In the copying mechanism, two arm portions supported to be swingable by the sealer nozzle are inclined at substantially equal inclination angles at positions symmetrical with respect to the center line in the width direction of the discharge port. A vehicle sealer coating device, comprising a first guide member that contacts the outer edge of the outer panel. In the vehicle sealer coating apparatus according to any one of claims 1 to 3 ,
A sealer coating apparatus for a vehicle, wherein a tip end portion of the sealer nozzle is formed in a substantially L shape or a substantially J shape, and the discharge port is opened in a direction facing the sealer gun. .

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