JPH0410945Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention is a high viscosity fluid application gun that uses a robot to apply sealer to the hemming portion of the end of an automobile door panel, body panel, etc. This relates to a guide device for a high viscosity fluid applicator gun that performs guiding, and in particular, a guide device for a high viscosity fluid applicator gun that can prevent the guide device and the high viscosity fluid applicator gun from being damaged even if the guide device collides with an obstacle. Regarding.

[Conventional technology]

As is well known, for example, in an automobile manufacturing factory, in the body painting process in which unpainted so-called white bodies that have been sent through a welding process, an assembly process, etc. are painted, a body assembly or a door assembly is formed. Therefore, there is a process of applying a high viscosity fluid filler such as a sealer as a sealant along the seams between predetermined panel materials joined by spot welding or adhesives, etc., to prevent water leakage around the body, and Technologies to prevent the occurrence of rust, corrosion, etc. are widely adopted.

Therefore, as a high viscosity fluid application device for applying a sealer, which is a high viscosity fluid filler, to the joints of these panel materials, etc., the present applicant has devised, for example, the one shown in Fig. 3. A gun for manually applying high viscosity fluid (Japanese Utility Model Application No. 60-039373) is known.

Alternatively, a high viscosity fluid applicator as shown in Fig. 4 (Japanese Patent Laid-Open Publication No. 2003-111013) can be used to automatically perform this application work and apply an appropriate amount of sealer to the joints of panels, etc. by accurately following the joints of the panels, etc. No. 61-216766) was invented by the present applicant and has been filed.

The former manual high viscosity fluid application gun 30 shown in FIG. 3 has a nozzle 31 at its tip and a guide pin 32 made of resin fixed to the tip.

Then, the operator holds the handle 33 of the high viscosity fluid application gun 30 in his hand and inserts the resin guide pin 32 at the tip of the resin guide pin 32 into the joint between the panel materials, which is the reference surface for the sealer application area of the automobile body. The sealer is applied to a predetermined application area by bringing it into contact with a nearby end face or corner.

In addition, the latter high viscosity material coating device 4 shown in FIG.
0 is a robot 50 shown in FIG. 5 with a coating gun 41 shown in FIG. When applying a high viscosity fluid such as a sealer to the joints of panel materials in door assemblies, door assemblies, etc., as shown in FIG. In the case of copy coating work on a panel material that has a reference surface 56 parallel to the seam 55 of the hemming part 54, which is the application site, at the end, the fourth
Returning to the figure, the guide cylinder 44 provided on the block body 43 of the gun body 42 is operated, and the guide pin 47 made of resin is inserted into the detent groove 45a provided along the nozzle shaft 45 via the linear motion bearing 46. The high viscosity material coating device 4 is moved forward (ascended in FIG. 4) to direct the nozzle 48 at the tip of the nozzle shaft 45 to a predetermined coating site.
0, the nozzle 48 is moved to a position near the previously taught coating trajectory, and then this nozzle 48 is moved toward the hemming portion 54 of the door assembly 53 shown in FIG. ,
The guide pin 47 shown in FIG. 4 is brought into contact with the reference surface 56 shown in FIG. 5 to automatically and accurately apply a high viscosity fluid such as a sealer. , the guide cylinder 44 is operated, the guide pin 47 made of resin is moved back (raised in FIG. 4), and the nozzle 48 at the tip is directed to a predetermined coating area, thereby applying the high viscosity material coating device 40. By the operation, the aiming point of the nozzle 48 is directed to the seam to teach the coating trajectory, and
In addition, if the dimension from the reference surface 56 to the seam 55 in FIG. 5 is narrow and the width changes minutely, the tip of the wrist 51 of the robot 50 in FIG. The rotating shaft 4 shown in FIG.
9 to coincide with the axis of the nozzle 48, and this rotating shaft 49 (same as the rotating shaft 57 in FIG. 5)
By rotating in the direction of arrow C in the figure, the guide cylinder 44, guide pin 47, and nozzle shaft 45 are rotated by a predetermined angle along with the gun body 42, and the guide pin 47 is set on the reference plane 56 in FIG. By rotating the nozzle 48 together with the rotating shaft 49 while tilting and abutting the nozzle 48 at an angle, the nozzle hole 48a is controlled to move toward and away from the reference surface 56 in FIG. In this way, installation errors, positional deviations, trajectory errors, etc. of panel materials such as automobile body assemblies and door assemblies can be absorbed, thereby making copying coating work possible.

[Problem that the invention attempts to solve]

However, high viscosity fluid coating devices such as the manual high viscosity fluid coating gun 30 shown in FIG. 3 and the high viscosity material coating device 40 shown in FIG.
Resin-made guide pins 32 and 47 provided in nozzles 31 and 48 at the tips of coating guns 30 and 41 have their positions fixed with respect to the sealer application direction.

Therefore, a protrusion (not shown) may come into contact with the reference surface 56 for the seam 55 of the hemming portion 54, which is the application site shown in FIG. If the guide pins 31 and 47 protrude from the joining area and reach the reference surface 56 and solidify, the guide pins 31 and 47 will collide with these obstacles (not shown) during the coating movement, and the guide pins 3
1,47 may end up being damaged.

In this case, the coating work will be delayed due to the damage, especially in the case of the high viscosity material coating device 40 shown in FIG. A spare coating gun 41 is prepared as a measure to prevent the entire tip from being damaged and repairing it, which would require a large amount of time and reduce the operating rate of the coating line, or to prevent the operating rate from decreasing. ,
There was also the problem that it took extra space and man-hours to manage it.

Therefore, the purpose of the present invention is to prevent guide pins, etc., from being applied even if there are obstacles such as protrusions or hardened adhesive in the areas where the sealer is applied, such as on the body assembly or door assembly of an automobile body. The purpose is to prevent damage to the guide device or the high viscosity fluid application gun.

[Means for solving problems]

Therefore, the present invention supports a resin guide pin of a guide device so as to be rotatable in the direction in which the sealer is applied, so that this guide pin rotates when it collides with an obstacle, and furthermore, It is characterized by detecting the rotation of the guide pin due to a collision.

Specifically, the high viscosity fluid application gun guide device according to the present invention is a high viscosity fluid application gun guide device that guides the application locus of the high viscosity fluid application gun provided on the wrist of a robot, and includes: a guide bracket supported by a gun body having a discharge nozzle and having a mounting surface parallel to the axis of the gun body; and a guide bracket supported by the mounting surface of the guide bracket and parallel to a plane containing the application locus of the high viscosity fluid application gun. A guide pin made of resin that can be rotated, a metal bushing buried near the rear end of the guide pin, and a distance detection device fixed to the mounting surface of the guide bracket to detect proximity and separation of the metal bushing. It is characterized by consisting of means.

[Effect]

According to the configuration of the present invention, the sealer is applied to the joints of the panel materials while the guide pin is in contact with the reference surface for the joints of the panel materials, which is the application locus for the body assembly, door assembly, etc. of an automobile body. During coating, even if the guide pin collides with an obstacle such as a protrusion or foreign object on the reference surface, it rotates slightly and transfers the impact force to the guide device or high viscosity fluid coating gun. At the same time, it is possible to detect the rotation of this guide plate and take measures against the presence of obstacles.
This also prevents damage to the high viscosity fluid application gun.

〔Example〕

Hereinafter, one embodiment of a guide device for a high viscosity fluid application gun according to the present invention will be described with reference to the drawings.

1 and 2 show an embodiment of a guide device for a high viscosity fluid application gun according to the present invention, FIG. 1 is a plan view of the high viscosity fluid application gun including the guide device, and FIG. 2 shows a partial cross-sectional view of a high viscosity fluid application gun including the guide device of FIG. 1; FIG.

Here, as shown in FIG. 5 described above, a sealer (not shown) is applied to the door assembly of the automobile body by a robot 50 having three or more operating axes as a means of moving a high viscosity fluid application gun. The explanation will be given by taking as an example a high viscosity fluid application device that applies liquid to a predetermined area.

In FIG. 1, the reference numeral 1 is the same as the gun rotation axis 57 at the tip of the wrist 51 of the robot 50 in FIG. 5, and the reference numeral 2 is concentric with the gun rotation axis 1. High viscosity fluid application gun (High viscosity fluid application gun 5 in Figure 5)
2), and the code 3 indicates this high viscosity fluid application gun 2.
(corresponding to the guide device 58 in FIG. 5) attached to the guide device 58 in FIG.

This high viscosity fluid application gun 2 has a base plate 4 fixed to the gun rotation shaft 1, and a second
As shown in the figure, a guide body 6 is swingably supported on the base base plate 4 by a swing shaft 5 whose axis is orthogonal to the rotation axis of the gun rotation shaft 1 .

As shown in FIG. 1, a sealer supply port 6a for supplying a sealer material (not shown) is bored in the rear side surface (lower side surface in the drawing) of the gun body 6.

A hollow nozzle shaft 7 is further screwed onto the gun body 6, and a sealer passage 7a inside the nozzle shaft 7 is communicated with the sealer supply port 6a.

A discharge nozzle 8 is screwed onto the tip (upper end in the drawing) of this nozzle shaft 7.

The rear part of the gun body 6 (lower part in the drawing)
An opening/closing cylinder 10 is fixed concentrically with the nozzle shaft 7, and a needle shaft 12 installed in the sealer passage 7a is fixedly extended to a piston 11 in the opening/closing cylinder 10,
The tip of the needle shaft 12 opens and closes the sealer discharge port 8a of the discharge nozzle 8.

And, on the outer surface of the nozzle shaft 7,
A spline type anti-rotation groove 7b is formed, and the linear motion bearing 13 is slidable along the nozzle shaft 7 in its axial direction and engages with the anti-rotation groove 7b in a spline manner. It is restrained and mounted on a shaft so that it cannot rotate.

On the other hand, a guide cylinder 14 is fixed to the side surface of the gun body 6.
A floating joint 17 is provided at the tip of the extending rod 16 extending from the linear motion bearing 13, and is fixedly connected to the base end of the bearing holder 18 of the linear motion bearing 13.

And the linear motion bearing 13
A guide bracket 19 having an L-shaped cross section is fixed to the bearing holder 18 .

A mounting surface 19a of the guide bracket 19 that is parallel to the nozzle shaft 7 is parallel to a surface including the coating locus of the high-viscosity fluid coating gun 2, and a resin guide pin 20 is attached to the mounting surface 19a at its rear ( The lower part (in the drawings) is rotatably supported by a shaft, and a cylindrical metal bush 21 made of magnetic metal is fitted in the rear part of the bushing 21, which is on the left side in FIG.

Furthermore, the mounting surface 1 of the guide bracket 19
9a, a proximity switch 22, which is a distance detection means for detecting proximity and separation of the metal bush 21, is attached and fixed by a fixing band 23 at a position below the portion where the metal bush 21 is fitted into the guide pin 20. There is.

The forward and backward positions of the linear motion bearing 13 are regulated by a pair of stop bars 24 and 25 fixed at two positions on the nozzle shaft 7, and the guide pin 20 controls the forward movement of the linear motion bearing 13. The dimensions are adjusted so that in the position, the tip (upper end in the drawing) protrudes from the tip of the discharge nozzle 8, and in the retracted position of the linear motion bearing 13, the tip is retreated from the tip of the discharge nozzle 8. has been done.

Next, the operation of this embodiment will be explained.

In the above configuration, when the robot 50 applies a sealer (not shown) to the seam 55 of the panel of the door assembly 53 of the automobile body having the reference surface 56 as shown in FIG. 1, supply high pressure air to the guide cylinder 14 to advance the extension rod 16 upward in the drawing along the anti-rotation groove 7b on the outer surface of the nozzle shaft 7. The guide pin 20 together with the bearing holder 18 is advanced upward in the same drawing, as shown in FIG.
It is brought into contact with a reference surface 56 for a seam 55 of the panel material, which is the application site, so as to absorb the positional deviation of the robot 50.

Then, the opening/closing cylinder 10 of the high viscosity fluid application gun 2 shown in FIG. 1 is operated to open the needle shaft 12.
is moved downward in the drawing, and while discharging sealer (not shown) from the sealer discharge port 8a at the tip, move the high viscosity fluid application gun 2 in the direction of arrow A in FIG. 2 (arrow D in FIG. 5). ) in the direction of
A sealer (not shown) is applied to a predetermined application area.

A projection or
If there is an obstacle (not shown) such as a solidified sealer deposit, the guide pin 20 shown in FIG. 1 collides with this obstacle (not shown).

When this guide pin 20 collides with the aforementioned obstacle (not shown), it rotates in the direction of arrow B in FIG.
1 is a proximity switch 2 provided behind it.
2, the proximity switch 22 detects the separation of the metal bush 21 and outputs a signal indicating that the metal bush 21 has collided with an obstacle.

Then, based on a signal indicating that the robot has collided with an obstacle, a command from a control device (not shown) stops the operation of the robot 50 shown in FIG. Then, the sealer (not shown) is stopped from being discharged from the sealer discharge port 8a of the discharge nozzle 8.

In this way, when the operation of this high viscosity fluid applicator stops, after removing the obstruction (not shown) on the reference surface 56 of the outer surface of the green hemming part 54 of the door assembly 53, The guide pin 20 is returned to its initial position and the coating operation is restarted.

In this way, the door assembly 5 in FIG.
On the reference surface 56 of the outer surface of the hemming part 54 of the edge of 3,
Even if there is an obstacle (not shown) such as a protrusion or a solidified sealer deposit, the guide pin 20 of the guide device 3 that collides with this obstacle during the coating operation will rotate in the coating movement direction. Since the collision force is released, damage to the guide device 3 including the guide pin 20 or damage to the high viscosity fluid application gun 2 can be prevented.

Moreover, since the rotation of the guide pin 20 of the guide device 3 due to the collision with this obstacle is detected and the operation of the high viscosity fluid application device is stopped based on the detection signal, the operation of the high viscosity fluid application device is stopped immediately on the spot. Obstacles can be removed and recoating can be performed, reducing the number of extra man-hours for rework in post-processes and the work space required for rework.

Furthermore, in the case of this embodiment, the guide pin 20 of the guide device 3 is slidably supported on the gun body 6 of the high viscosity fluid application gun 2 so that it can be moved backward, so that the guide pin 20 can be moved backward. By doing so, the reference plane 56 as shown in FIG.
The sealer can also be applied to the seams 55 of panel materials that do not have a sealant.

In the case of this embodiment, the guide pin 20 is made rotatable, and the proximity switch 2 detects the rotation.
The robot 5 in FIG.
There will be no extra load on the machine, and there will be no hindrance to the coating work.

[Effect of idea]

As described above, according to the guide device of the high viscosity fluid application gun of the present invention, there are no protrusions or deposits of solidified sealer on the reference surface of the outer surface of the hemming portion of the edge of the door assembly. Even if an obstacle exists, the guide pin that collides with the obstacle rotates and transfers the impact force from the collision to the guide device.
In addition, since the high viscosity fluid is not transmitted to the gun, damage caused by collision with the obstacle can be prevented, and repair work associated with such damage can be reduced.

In addition, since the rotation of the guide pin due to collision with the obstacle is detected, abnormalities can be confirmed on the spot, and can be treated on the spot.
This has the excellent effect of reducing the rework that was conventionally required and the extra space for the rework.

[Brief explanation of drawings]

1 and 2 show an embodiment of a guide device for a high viscosity fluid application gun according to the present invention, FIG. The figure shows a partial cross-sectional view of a high viscosity fluid application gun including the guide device of FIG.
FIG. 3 shows a conventional example of a high viscosity fluid application gun guide device, and is a perspective view of the entire high viscosity fluid application gun including a guide pin. FIG. 4 shows another conventional example (prior application example) of a guide device for a high viscosity fluid application gun, and is a plan view of the area around the application gun of the high viscosity fluid application device including the guide device. FIG. 5 is a perspective view of the entire high viscosity fluid application apparatus, showing a state in which a sealer is applied to a hemming portion of a door assembly of an automobile body. 2... High viscosity fluid application gun, 3... Guide device, 6... Gun body, 8... Discharge nozzle, 19
...Guide bracket, 19a...Mounting surface, 20
...Guide pin, 21 ...Metal bushing, 22
... Proximity switch (distance detection means), 50 ... Robot, 51 ... Wrist.

Claims (1)

[Scope of utility model registration request] A guide device for a high viscosity fluid coating gun that guides the coating locus of a high viscosity fluid coating gun installed on the wrist of a robot, the mounting surface being supported by a gun body having a discharge nozzle and parallel to the axis of the gun body. a resin guide pin that is pivotally supported on the mounting surface of the guide bracket and is rotatable in parallel to a plane including the coating locus of the coating gun; and a resin guide pin that is embedded near the rear end of the guide pin. A guide device for a high viscosity fluid application gun, comprising: a metal bush made of metal; and a distance detecting means fixed to the mounting surface of the guide bracket for detecting approach and separation of the metal bush.