JP6529030B2 - Sealer applicator - Google Patents

Description

  The present invention relates to a sealer coating apparatus capable of determining the quality of a sealer state applied to a work.

  Conventionally, in a panel member comprising an inner panel and an outer panel, such as a door panel and a hood panel constituting a vehicle body part of an automobile, the inner panel and the outer panel are butted and the end of the outer panel is an inner It is assembled integrally with both panels by bending toward the end outer surface of the panel.

  A sealer is applied to the contact surface of such both panels in order to ensure waterproofness. As a device for applying this sealer to a work, a robot operating a sealer gun that discharges the sealer, a sensor detecting the application state of sealer applied to the work, application control means for controlling the application of sealer by the sealer gun, robot control means There is a device provided with a sensor control means, and a storage means for storing a coating disclosure time, a time when a coating defect occurs in a sealer, and the like (for example, see Patent Document 1).

  In this sealer coating apparatus, the sealer discharged from the nozzle of the sealer gun is moved in a predetermined pattern with respect to the work by moving the arm of the robot along a predetermined trajectory based on the information taught in advance by the robot control means. Apply (see FIG. 2 (A) of the same document). The application pattern includes straight portions (see B and D in the same figure) and corner portions (see C and E in the same figure).

  The sealer coating apparatus monitors the position and width of the sealer applied to the work according to the application pattern by a sensor attached to the sealer gun, and when the sensor detects an application defect, the time or position stored in the storage means From the coordinate data, the position of the coating defect is specified, and the sealer is reapplied at this position by the seal gun.

Unexamined-Japanese-Patent No. 1-159075

  In the conventional sealer coating apparatus as described above, the sensor attached to the sealer gun is made to follow the movement of the sealer gun to detect the state of the sealer applied to the work. In this configuration, if the sealer application pattern includes a curved portion such as a corner as described above, when the shella gun moves to draw this curved edge portion, the position of the sensor will be There is a case where it is difficult to detect the state of the sealer applied to the work because it deviates from this portion.

  The present invention has been made in view of the above circumstances, and a sealer coating apparatus capable of suitably detecting the coating state of the sealer even when the sealer coating pattern includes a curved portion. Intended to be provided.

The present invention is for solving the above-mentioned problems, and a coating robot including a seal gun for applying a sealer to a work by moving in a predetermined direction, and imaging the sealer coated on the work from the seal gun A sealer coating apparatus comprising: an imaging device for controlling the coating robot and the control device for controlling the imaging device, wherein the imaging device includes an image sensor for imaging the sealer, and the image sensor for the sealer gun. And a drive unit for rotating the drive unit, the drive unit including an actuator coupled to the image sensor, and a support member movably supporting the actuator, the actuator having a rotation shaft provided with a pinion And the support member is formed in an annular shape, and a gear portion in which the pinion is engaged with the outer peripheral surface thereof is provided. For example, the Shiragan is inserted inside the support member configured annularly, the controller acquires the positional data of the Shiragan from the coating robot, said in the moving direction behind the Shiragan The image sensor and the actuator are arranged along the outer peripheral surface of the support member by rotating the rotation shaft and the pinion of the drive device based on the position data of the sealer gun in order to arrange the image sensor. It is characterized by performing rotational drive control to be rotated around the seal gun .

  According to this configuration, the control device executes the rotational drive control so that the image sensor is always positioned behind the moving direction of the seal gun based on the position data of the seal gun obtained from the coating robot. As a result, even when the application pattern of the sealer applied to the work includes a curved portion, the image sensor can reliably and suitably capture the sealer applied to the work.

  According to the present invention, even when the application pattern of the sealer includes a curved portion, the application state of the sealer can be suitably detected.

It is a side view showing one embodiment of a sealer application device. It is a functional block diagram of a robot control board. It is a functional block diagram of an image processing device. It is a top view for demonstrating the movement of sea Lagan and an image sensor. It is a side view showing other embodiments of a sealer application device.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 4 show an embodiment of a sealer coating apparatus according to the present invention.

  As shown in FIG. 1, the sealer coating apparatus 1 executes control of the coating robot 2 that coats the workpiece W with the sealer S, the imaging apparatus 3 that images the sealer S that is coated onto the workpiece W, and the coating robot 2 The robot control panel 4, an imaging control device 5 that executes control of the imaging device 3, and an image processing device 6 that processes image data acquired by the imaging device 3.

  In this embodiment, the sealer coating apparatus 1 having the robot control panel 4, the imaging control apparatus 5, and the image processing apparatus 6 separately is illustrated, but the present invention is not limited to this. It may be configured by In this case, the control device can have all functions of a robot control board 4, an imaging control device 5 and an image processing device 6 which will be described later.

  The coating robot 2 is connected to a robot control board 4. The coating robot 2 includes an articulated arm 7 and a seal gun 8 as shown in FIG. The articulated arm 7 supports the shella gun 8 at its tip, and moves and operates the shella gun 3 in a three-dimensional manner by operations such as turning, extension, and rocking. The seal gun 8 includes a motor (pump) and other devices (not shown) in addition to the nozzle 9 for discharging the sealer S.

  The imaging device 3 includes an image sensor 10 and a drive device 11 that rotates the image sensor 10 around the seal gun 8.

  The image sensor 10 may be configured by various sensors such as a CCD sensor or a CMOS sensor or a camera. The image sensor 10 is supported by the seal gun 8 via a drive unit 11. The image sensor 10 captures a still image or a moving image of the sealer S applied to the workpiece W, acquires the image data, and stores (records) the image data. In addition, the image sensor 10 is connected to the imaging control device 5 and transmits the acquired image data to the imaging control device 5. As shown in FIG. 1, the image sensor 10 is directed vertically downward so as to image the sealer S directly below.

  The driving device 11 includes an actuator 12 for driving the image sensor 10 and a support member 13 for movably supporting the actuator 12.

  The actuator 12 is formed of, for example, an electric motor, but is not limited thereto. As shown in FIG. 1, this actuator 12 is provided with a pinion 15 on its rotation shaft 14. The actuator 12 is disposed such that its rotational axis 14 is directed downward. The actuator 12 is supported by the support member 13 so as to rotate or rotate around the support member 13. Also, this actuator 12 can be operated by external axis control of the coating robot 2. An image sensor 10 is connected to the actuator 12 via a connecting member 16. Thereby, the image sensor 10 is configured to rotationally move around the support member 13 together with the actuator 12.

  The support member 13 is configured in an annular shape (e.g., an annular shape), and is supported (fixed) on the shella gun 8 in a state where the middle portion of the shella gun 8 is inserted therein. The support member 13 has a gear portion (gear portion) 17 (shown by cross hatching in FIG. 1) on the outer peripheral surface thereof with which the pinion 15 of the actuator 12 meshes. When the rotation shaft 14 of the actuator 12 is rotated, the pinion 15 engaged with the gear portion 17 is rotated, whereby the image sensor 10 and the actuator 12 move around the sealer gun 8 along the outer peripheral surface of the support member 13. Rotate.

  The robot control board 4 is connected to the coating robot 2, the imaging control device 5, and the image processing device 6. The robot control board 4 can mount various hardware such as a CPU, a ROM, a RAM, an HDD, a monitor, and an input interface, for example. As shown in FIG. 2, the robot control panel 4 includes an arithmetic processing unit 18 configured by a CPU, a storage unit 19 configured by a ROM, a RAM, an HDD, and the like, and a robot control unit 20 that controls the coating robot 2. And a drive control unit 21 for controlling the drive unit 11 and a communication control unit 22.

  The arithmetic processing unit 18 executes various arithmetic processing necessary for control relating to the operation of the articulated arm 7 and the operation of the seal gun 8 based on the program and data stored in the storage unit 19. For example, the arithmetic processing unit 18 calculates the timing of imaging of the sealer S by the image sensor 10 based on the position data of the sealer gun 8 transmitted from the coating robot 2. Further, the arithmetic processing unit 18 calculates the desirable position of the image sensor 10 based on the position data of the seal gun 8.

  The storage unit 19 is a program for driving and controlling the multi-joint arm 7 of the coating robot 2 and the seal gun 8, and when the coating defect occurs in the sealer S, the coating robot 2 sets the sealer S as a defective portion to eliminate the problem. It stores data such as a program for recoating, the type of work W, and position data (coordinate data) of the seal gun 8.

  The robot control unit 20 controls the driving of the articulated arm 7 of the coating robot 2 and the discharge of the sealer S by the sealer gun 8 in cooperation with the arithmetic processing unit 18.

  The driving device control unit 21 is connected to an actuator 12 of the driving device 11 in the imaging device 3 (not shown). The driving device control unit 21 cooperates with the arithmetic processing unit 18 to execute rotational drive control of the image sensor 10 by the actuator 12 based on the positional data of the seal gun 8 transmitted from the coating robot 2.

  The communication control unit 22 transmits the position data of the seal gun 8 transmitted from the coating robot 2 to the image processing apparatus 6. The communication control unit 22 also transmits a trigger signal for driving the image sensor 10 to the imaging control device 5 based on the timing of imaging by the image sensor 10 calculated by the arithmetic processing unit 18.

  The imaging control device 5 is connected to the image sensor 10 and the image processing device 6, and transmits image data acquired by the image sensor 10 to the image processing device 6. The imaging control apparatus 5 can mount various hardware such as a CPU, a ROM, a RAM, an HDD, a monitor, and an input interface, for example. The imaging control device 5 causes the image sensor 10 to image the sealer S based on the trigger signal transmitted from the robot control board 4.

  The image processing apparatus 6 can mount various hardware such as a CPU, a ROM, a RAM, an HDD, a monitor, and an input interface, for example. As shown in FIG. 3, the image processing apparatus 6 is acquired by the arithmetic processing unit 23 configured by the CPU, the storage unit 24 configured by the ROM, the RAM, the HDD, and the like, and the image sensor 10 of the imaging device 3 And an image processing unit 25 that executes image processing on the image data.

  The arithmetic processing unit 23 calculates the application width of the sealer S from the image of the sealer S contained in the image data acquired from the image sensor 10. The arithmetic processing unit 23 compares the calculated application width of the sealer S with the reference data (reference value) stored in the storage unit 24 to determine the quality. The arithmetic processing unit 23 stores the determination result of the quality regarding the sealer S in the storage unit 24 and causes the monitor of the image processing device 6 to display the result. Further, when it is determined that the application state of the sealer S is a defect, the arithmetic processing unit 23 transmits data relating to the position (coordinates) of the application defect to the robot control board 4 in order to eliminate the application defect.

  The storage unit 24 is a program related to image processing of image data acquired by the image sensor 10, a program for determining whether the application state of the sealer S applied to the workpiece W is good, image data captured by the image sensor 10, The data etc. which concern on the determination result of the application state made by the arithmetic processing part 23 are memorize | stored. In addition, the storage unit 24 stores reference data (for example, reference value of application width) of the sealer S in a desired application state.

  The image processing unit 25 executes correction processing (image processing) of the image data acquired by the image sensor 10 so that the determination of the application state of the sealer S can be accurately performed by the arithmetic processing unit 23.

  Hereinafter, the method to apply sealer S to work W using sealer application device 1 of the above-mentioned composition is explained.

  First, the sealer application device 1 drives the articulated arm 7 of the application robot 2 to move the sealer gun 8 to the application start position. At the application start position, the nozzle 9 of the seal gun 8 is disposed at an upper position spaced from the workpiece W. At this time, the image sensor 10 is supported by the support member 13 at an initial position (standby position).

  Next, the robot control unit 20 of the robot control board 4 drives the articulated arm 7 to move the shella gun 8 along a predetermined trajectory. Further, the robot control unit 20 operates the seal gun 8 simultaneously with the movement of the seal gun 8 to discharge the sealer S from the nozzle 9. Along with this operation, the coating robot 2 transmits position data (coordinate data) of the tip of the nozzle 9 to the arithmetic processing unit 18 as needed.

  The arithmetic processing unit 18 calculates the coordinates of the image sensor 10 based on the input position data of the nozzle 9. The arithmetic processing unit 18 recognizes the traveling direction of the nozzle 9 based on the position data of the nozzle 9. Further, the arithmetic processing unit 18 calculates the control angle θ of the image sensor 10 so that the image sensor 10 is always positioned in the backward direction of the nozzle 9.

  Hereinafter, the control angle θ in the image sensor 10 will be described with reference to FIG. In the robot control panel 4, a three-dimensional coordinate system (tool coordinate system) of the coating robot 2 is set. This coordinate system includes a Z axis set to coincide with the central axis of the seal gun 8 and an X axis and a Y axis orthogonal to the Z axis and orthogonal to each other. FIG. 4 is a plan view showing the seal gun 8 and the image sensor 10 and the trajectory T of the seal gun 8 in a plan view. The image sensor 10 is rotatable at a predetermined radius around the Z axis (the central axis of the seal gun 8). The locus T of the seal gun 8 is drawn by the nozzle 9 of the seal gun 8 in order to apply the sealer S to the work W in a predetermined pattern, and FIG. 4 shows a curved portion as a part thereof.

  The radius of rotation of the image sensor 10, that is, the value of the separation distance between the image sensor 10 and the seal gun 8, is stored in the storage unit 19 of the robot control board 4. Further, in FIG. 4, the position of the shell gun 8 is such that the center of the shell gun 8, that is, the center of the nozzle 9 is displayed as a control point O1 on the XY plane of this coordinate system. Further, the position of the image sensor 10 is displayed on the XY plane of the coordinate system with the center of the image sensor 10 as the control point O2.

  The arithmetic processing unit 18 of the robot control board 4 defines an angle formed by the X axis of this coordinate system and a straight line L connecting the control point O1 and the control point O2 as a control angle θ. Arithmetic processing unit 18 applies the application pattern of sealer S recorded in advance in storage unit 19, that is, data on trajectory T of nozzle 9 in sealer gun 8, position data (coordinate data) of control point O1, and control point The control angle θ is calculated so that the control point O2 follows the trajectory T of the nozzle 9 based on data relating to the distance between O1 and the control point O2.

  The drive device control unit 21 of the robot control board 4 operates the drive device 11 so as to achieve the control angle θ calculated by the calculation processing unit 18 in cooperation with the calculation processing unit 18. Specifically, the drive control unit 21 changes the position of the image sensor 10 by driving the actuator 12 to rotate the pinion 15.

  On the other hand, the arithmetic processing unit 18 of the robot control board 4 transmits a trigger signal for imaging by the image sensor 10 to the imaging control device 5 via the communication control unit 22. The trigger signal is transmitted to the imaging control device 5 each time the image sensor 10 travels a predetermined distance as the sheath gun 8 moves, or every predetermined time. When receiving the trigger signal, the imaging control device 5 drives the image sensor 10 to capture the sealer S applied immediately below. The captured image data is transmitted from the image sensor 10 to the imaging control device 5, and is input to the image processing device 6 via the imaging control device 5.

  The image processing device 6 measures (calculates) the width of the sealer S included in the image data transmitted from the image sensor 10 by the arithmetic processing unit 23 and the image processing unit 25. The arithmetic processing unit 23 compares the measured width of the sealer S with the reference value stored in the storage unit 24 to determine the quality of the application state of the sealer S. When the arithmetic processing unit 23 determines that the application state of the sealer S is defective, the image processing device 6 transmits that to the robot control board 4 together with the position data (coordinate data) of the nozzle 9. When receiving the defect determination information, the robot control board 4 drives the articulated arm 7 by the arithmetic processing unit 18 and the robot control unit 20 to move the sealer gun 8 to a position (coordinates) determined to be a defect state. Thereafter, the robot control unit 20 operates the seal gun 8 to discharge the sealer S from the nozzle 9 and correct the defective portion.

  According to the sealer coating apparatus 1 according to the present embodiment described above, even if the trajectory T of the seal gun 8 includes a curved portion, the robot control panel 4 (control device) uses the position data of the seal gun 8 as well. Based on the control, the image sensor 10 is controlled so as to always be positioned behind the moving direction of the seal gun 8. Thus, even if the application pattern of sealer S applied from sealer gun 8 includes a curved portion, image sensor 10 can reliably and preferably image sealer S applied to workpiece W. it can.

  Moreover, in the sealer coating device 1 according to the present embodiment, a configuration is adopted in which the image sensor 10 and the actuator 12 are integrally configured and rotated along the outer peripheral surface of the support member 13. For this reason, it is possible to easily attach or detach the image sensor 10 and the actuator 12 to the coating robot 2. As a result, the sealer application device 1 improves the maintainability of the imaging device 3.

  FIG. 5 shows another embodiment of the sealer application device. In the present embodiment, the sealer coating device 1 has the same configuration as that of the embodiment shown in FIGS. 1 to 4, but the method of imaging by the image sensor 10 of the imaging device 3 is different.

  As shown in FIG. 5, the image sensor 10 is directed to the nozzle 9 so that both the nozzle 9 of the seal gun 8 and the sealer S ejected from the nozzle 9 can be imaged. The sealer coating apparatus 1 according to the present embodiment uses the robot control panel 4, the imaging control apparatus 5 and the image processing apparatus 6 to apply the imaging robot 2 and imaging so that the nozzles 9 always appear at the same position in the imaged image data. Control the device 3;

  That is, while the position data of the seal gun 8 is acquired by the coating robot 2 and the robot control panel 4, the drive unit 11 of the imaging device 3 is driven by the drive unit controller 21 of the robot control panel 4. The rotational drive control of the image sensor 10 is executed so as to be captured at the same position. Thereby, even if the image sensor 10 is always positioned behind the traveling direction of the seal gun 8 and the application pattern of the sealer S includes a curved portion, the image sensor 10 reliably and suitably captures the sealer S applied to the work W can do.

  In addition, this invention is not limited to the structure of the said embodiment, It is not limited to the effect mentioned above. The present invention can be variously modified without departing from the scope of the present invention.

  Although the sealer coating device 1 provided with the drive device 11 for rotating the image sensor 10 has been illustrated in the above embodiment, the present invention is not limited to this. For example, by fixing the image sensor 10 to the shella gun 8 and rotating (rotation) the shella gun 8 by the articulated arm 7 about the Z axis, the image sensor 10 has a predetermined control angle θ, The position of 10 may be changed.

  In the above-mentioned embodiment, although drive control device 11 of imaging device 3 was controlled by robot control board 4, it is not limited to this. The drive device 11 may be controlled by the image processing device 6, or a microcomputer may be mounted on the actuator 12 of the drive device 11 to execute rotational drive control of the image sensor 10.

1 sealer application device 2 application robot 3 imaging device 4 robot control panel (control device)
5 Imaging control device (control device)
6 Image processing device (control device)
8 Searagan 10 Image Sensor 11 Drive S Sealer W Work

Claims (1)

Executes control of a coating robot including a sealer gun that applies sealer to a workpiece by moving in a predetermined direction, an image pickup device that picks up an image of the sealer that has been coated on the workpiece from the sealer gun, the control of the coating robot and the image pickup device Sealer comprising a controller for controlling
The imaging device includes an image sensor for imaging the sealer, and a driving device for rotating the image sensor around the sealer gun.
The drive device includes an actuator coupled to the image sensor, and a support member movably supporting the actuator.
The actuator comprises a rotating shaft provided with a pinion,
The support member is formed in an annular shape, and has an outer peripheral surface provided with a gear portion with which the pinion meshes.
The seal gun is inserted into the inside of the annular support member;
The control device acquires position data of the seal gun from the coating robot, and arranges the image sensor behind the moving direction of the seal gun, the rotation of the driving device based on the position data of the seal gun. A sealer coating device is characterized in that rotation drive control is performed to rotate the image sensor and the actuator around the sealer gun along the outer peripheral surface of the support member by rotating the shaft and the pinion .

Images