JPH0331104B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a rust-preventing wax coating device for applying rust-preventing wax to the underside of a vehicle body, for example, within a floor frame.

(Prior Art) Conventionally, the work of applying anti-rust wax to the underside of a car body has generally been carried out manually by a worker positioned below the car body suspended on a hanger.

(Problems to be Solved by the Invention) Performing the wax application work manually as described above forces the worker into an unreasonable posture.
Furthermore, the working environment is poor, and automation is desired.

In this case, a lifting platform is provided below the vehicle body transport path,
A nozzle jig equipped with multiple coating nozzles facing each coating hole formed at multiple locations in the front and rear of the floor frame is mounted on a lifting platform, and as the platform rises, these coating nozzles are inserted into each coating hole to remove the floor. It is possible to apply anti-rust wax to the inside of the frame all at once, but this would require time and effort to replace the nozzle jig when changing models, and it would be difficult to mix multiple models by running multiple models on the same line. It is impossible to apply it to production methods.

An object of the present invention is to solve these problems and provide an apparatus that is well suited to a multi-model mixed production system.

[Means for Solving the Problems] In the first invention of the present application, in order to achieve the above-mentioned object, three axes in the vehicle length direction, vehicle width direction, and vertical direction are mounted on a base installed in parallel on the vehicle body conveyance path. A three-axis orthogonal coordinate robot with degrees of freedom is installed, and a nozzle support arm extending inward in the width direction of the vehicle is mounted on the robot, and the arm is rotatable around its axis. A coating nozzle is provided that can move forward and backward in a direction perpendicular to the axis. Furthermore, in the second invention of the present application, in the first invention, a movable frame is provided at the tip of the nozzle support arm so as to be able to move forward and backward in the direction perpendicular to the axis of the nozzle support arm so as to monitor the insertion failure of the application nozzle into the application hole. The coating nozzle is supported on the movable frame so as to be freely retractable against a spring, and the movable frame is provided with a detection switch for detecting the retraction of the nozzle.

(Example) Referring to FIGS. 1 and 2, 1 is a vehicle body conveyance path on which rails 2a, 2a for a conveyance cart 2 of an automobile body W are laid, and 3 is a work provided in the middle of the conveyance path 1. A station is shown, a base 4 is arranged in parallel on the side of the transport path 1 of the station 3, and on the base 4,
A three-axis orthogonal coordinate type robot 5 having degrees of freedom in three axes of vehicle length, vehicle width, and up and down directions is arranged, and a nozzle support arm 6 extending inward in the vehicle width direction is installed on the robot 5. The arm 6 is mounted so that it can freely rotate around its axis, and a coating nozzle 7 that can move forward and backward in a direction orthogonal to the axis is provided at the tip of the arm 6.
It was decided that the following would be established. To explain this in more detail, the robot 5 is mounted on the base 4 as shown in FIG.
a first slide base 8 supported slidably in the vehicle length direction; and a second slide base 9 supported slidably in the vehicle width direction by the first slide base 8.
and an elevating base 1 supported so as to be movable up and down along a guide bar 9a erected on the second slide base 9, and the arm 6 is connected to the elevating base 10 via a rotary actuator 11. is mounted rotatably around its axis, and the nozzle 7 is attached to the tip of the arm 6 via a movable frame 13 that is moved back and forth in a direction perpendicular to the axis by a cylinder 12. Parallel movement in the vehicle length direction, vehicle width direction, and vertical direction due to movement of the slide bases 8 and 9 and the lift base 10;
By controlling the posture by rotating the arm 6, the nozzle 7 can be freely positioned at a position opposite to each coating hole Wb formed at a plurality of locations in the front and back of the floor frame Wa of the vehicle body W, and from this facing position 13, the nozzle 7 was advanced toward the coating hole Wb so that it could be freely inserted into the coating hole Wb.

In addition, in the illustrated case, the nozzle 7 is supported by the movable frame 13 so as to be freely retractable against the spring 14, as shown in FIG. Dog 15a with retraction attached to this
A detection switch 15 consisting of a proximity switch for detecting in cooperation with the detection switch 15 is provided. In the drawing, 7a indicates a flexible tube for supplying anticorrosive wax to the nozzle 7.

(Function) After stopping the automobile body W at a predetermined position on the vehicle body transport path 1, the three-axis orthogonal coordinate robot 5 is operated according to the teaching data, and the nozzle support arm 6 is rotated to remove the coating nozzle. 7 is a predetermined coating hole formed in the floor frame Wa of the vehicle body W.
Position it opposite Wb.

If the floor frame Wa extends horizontally in the longitudinal direction of the vehicle, there is no need for vertical movement of the robot 5 or rotation of the arm 6; however, the floor frame Wa may curve upward at the wheel house portion. Therefore, in order to make the coating nozzle 7 face the diagonally downward coating hole Wb in this part, vertical movement of the robot 5 and rotation of the arm 6 are required.

After positioning the nozzle 7, the rear nozzle 7
is moved forward toward the coating hole Wb by the movement of the movable frame 13 and inserted into it, and in this state, the anticorrosive wax is sprayed from the nozzle 7 to coat the inside of the floor frame Wa.

Next, after retracting the nozzle 7 and pulling it out from the coating hole Wb, the robot 5 is operated and the arm 6 is
The nozzle 7 is positioned opposite the next application hole Wb by the rotation of , and the wax is applied by inserting the nozzle 7 into the application hole Wb in the same manner as above, and by repeating this process, the floor frame Wa is Apply anti-rust wax to the entire length of the pipe.

If you save teaching data according to the model, you can easily change the model without replacing mechanical parts.

Also, due to misalignment of the coating hole Wb, the coating nozzle 7 may come into contact with the mouth edge of the cloth hole Wb during the movement of the movable frame 13, but in this case, the nozzle 7
is retracted against the movable frame 13 against the spring 14,
There will be no damage to the nozzle 7 or the vehicle body W, and furthermore, this retreat will be detected by the detection switch 15, which will stop the applicator, activate the display, etc., and prevent the nozzle 7 from moving. It is possible to quickly deal with insertion defects.

(Effects of the Invention) As described above, according to the present invention, it is possible to automatically apply the anti-rust wax to the underside of the vehicle body, and it is also possible to quickly and easily respond to model changes without replacing mechanical parts. Therefore, it is suitable for a multi-model mixed production system, and furthermore, according to the second invention, failure to insert the coating nozzle into the coating hole can be detected by actuation of a detection switch due to retraction of the nozzle,
This has the advantageous effect of preventing damage to the coating nozzle and the vehicle body.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an example of the apparatus of the present invention, FIG. 2 is a side view thereof, FIG. 3 is an enlarged front view of the main parts thereof, and FIG. 4 is an enlarged cut-away front view of the coating nozzle portion. DESCRIPTION OF SYMBOLS 1...Vehicle body transfer path, 3...Base, 5...3-axis orthogonal coordinate robot, 6...Nozzle support arm, 7
... Application nozzle, 13 ... Movable frame, 14 ... Spring, 15 ... Detection switch.

Claims (1)

[Claims] 1. A three-axis orthogonal coordinate robot having degrees of freedom in three axes of the vehicle length direction, vehicle width direction, and vertical direction is arranged on a base parallel to the vehicle body conveyance path. The robot is equipped with a nozzle support arm that extends inward in the width direction of the vehicle, the arm is rotatable around its axis, and a coating nozzle that is movable forward and backward in the direction orthogonal to the axis is provided at the tip of the arm. Features: Rust-preventing wax coating equipment for the underside of the vehicle body. 2. A 3-axis orthogonal coordinate robot with degrees of freedom in the vehicle length direction, vehicle width direction, and vertical direction is placed on a base installed parallel to the vehicle body transport path. A device equipped with a nozzle support arm extending in the direction, the arm being rotatable about its axis, and a dispensing nozzle movable forward and backward in a direction perpendicular to the axis at the tip of the arm, the arm being rotatable around its axis, and a coating nozzle movable back and forth in a direction orthogonal to the axis. A movable frame that can move forward and backward in orthogonal directions is attached, the nozzle is supported on the movable frame so as to be able to move back and forth against a spring, and a detection switch that detects the retreat of the nozzle is provided on the movable frame. A rust-preventing wax coating device for the underside of a car body.