JPH0420537Y2 - - Google Patents

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Publication number
JPH0420537Y2
JPH0420537Y2 JP18413586U JP18413586U JPH0420537Y2 JP H0420537 Y2 JPH0420537 Y2 JP H0420537Y2 JP 18413586 U JP18413586 U JP 18413586U JP 18413586 U JP18413586 U JP 18413586U JP H0420537 Y2 JPH0420537 Y2 JP H0420537Y2
Authority
JP
Japan
Prior art keywords
inspection device
coating
machine
work
inspection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
JP18413586U
Other languages
Japanese (ja)
Other versions
JPS6390466U (en
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to JP18413586U priority Critical patent/JPH0420537Y2/ja
Publication of JPS6390466U publication Critical patent/JPS6390466U/ja
Application granted granted Critical
Publication of JPH0420537Y2 publication Critical patent/JPH0420537Y2/ja
Expired legal-status Critical Current

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Description

【考案の詳細な説明】 (産業上の利用分野) 本考案は検査装置付き作業機に関するもので、
例えば、ロボツトを用いてなる塗布機(作業機)
に機枠の先端部側に塗布用刷毛(作業手段)が設
けてあり、この塗布用刷毛による塗布作業進行方
向の後方側近傍に、塗膜検査装置が配備されてい
て、ロボツトの作動により機枠を被塗布物(被作
業物)に対し移動させながら前記刷毛によりその
被塗布物の塗布面(作業面)に沿つて塗布しつ
つ、前記検査装置によつて塗布面上の塗膜が正常
に形成されたか否かを検査しうるようになつてい
るような検査装置付き作業機に関する。
[Detailed description of the invention] (Field of industrial application) This invention relates to a working machine with an inspection device.
For example, a coating machine (work machine) using a robot
A coating brush (working means) is provided on the tip side of the machine frame, and a coating film inspection device is installed near the rear side in the direction in which coating work is progressed by the coating brush. While moving the frame relative to the object to be coated (workpiece), the brush is applied along the coating surface (work surface) of the object to be coated, and the inspection device checks whether the coating film on the coating surface is normal. The present invention relates to a work machine equipped with an inspection device capable of inspecting whether or not the invention has been formed.

(従来技術及びその問題点) 上述したような塗膜検査装置付き塗布機におい
て、塗膜検査装置による検査は常に塗布作業と並
行して行われるとは限らず、例えば膜厚に多少の
ばらつきがあつても差し支えないような塗布条件
や、被塗布物もしくは塗布剤の種類等によつては
検査装置は使用されず、塗布機の塗布用刷毛によ
る塗布作業のみ行われる場合がある。
(Prior art and its problems) In a coating machine equipped with a coating film inspection device as described above, the inspection by the coating film inspection device is not always performed in parallel with the coating operation, and for example, when there is some variation in film thickness. Depending on the coating conditions that do not pose a problem, or the type of the object to be coated or the coating agent, the inspection device may not be used and the coating operation may be performed only with the coating brush of the coating machine.

ところで従来の塗膜検査装置付き塗布機ではそ
の検査装置が塗布機の機枠に固定的に設けてあつ
て常時塗布用刷毛の近傍の定位置にあることか
ら、検査装置の非使用時にはそのような刷毛の近
傍における検査装置の存在が被塗布物の出し入れ
や塗布作業等に支障を来たすこととなつていた。
By the way, in a conventional coating machine equipped with a coating film inspection device, the inspection device is fixedly installed in the machine frame of the coating machine and is always in a fixed position near the coating brush, so when the inspection device is not in use, The presence of an inspection device in the vicinity of the brush has caused problems in loading and unloading objects to be coated, coating operations, etc.

(問題点を解決するための技術的手段) 本考案は上記の事情に鑑みて検査装置をその非
使用時には定位置(検査位置)より退避させうる
ようにした検査装置付き作業機を提供するもの
で、その技術的手段は、機枠4に回転駆動装置8
を設置し、この回転駆動装置8の駆動軸9に旋回
アーム10の基端部を固着し、この旋回アーム1
0の先端部側に検査装置2を装備して、この検査
装置2を所定の検査位置とこれより機枠4の基端
部側へ隔たつた退避位置との間で旋回可能にした
ことを特徴とする。
(Technical means for solving the problem) In view of the above circumstances, the present invention provides a working machine with an inspection device that allows the inspection device to be evacuated from its regular position (inspection position) when not in use. The technical means is to install a rotary drive device 8 on the machine frame 4.
is installed, and the base end of the swing arm 10 is fixed to the drive shaft 9 of the rotation drive device 8, and the swing arm 1 is
The inspection device 2 is equipped on the front end side of the machine frame 4, and the inspection device 2 can be rotated between a predetermined inspection position and a retracted position spaced from this to the base end side of the machine frame 4. Features.

(実施例) 以下本考案を、自動車等の窓ガラスの表面に塗
布剤、例えばプライマーを塗布し且つその検査を
行うようにした塗膜検査装置付き塗布機に実施し
た実施例につき図面にもとづいて説明する。
(Example) The following is an example of implementing the present invention in a coating machine equipped with a coating film inspection device that applies a coating agent, such as a primer, to the surface of a window glass of an automobile, etc. and inspects it, based on the drawings. explain.

第1図及び第2図は多関節のロボツト1を用い
てなる塗膜検査装置2付き塗布機3を示してい
る。ロボツト1は腕1aの先端部に回転手首1b
及び屈曲手首1cを有していて、屈曲手首1cの
先端部に機枠4の上端部(基端部)が双方の取付
用フランジ部5,6を介して連結固定され、この
機枠4の下端部(先端部)に作業手段たる塗布用
刷毛7が取付けられている。また機枠4には回転
駆動装置8が取付けてあり、この回転駆動装置8
の駆動軸9に旋回アーム10の基端部が固着さ
れ、この旋回アーム10の先端部には第2図に示
されるようなコ字状の検査装置取付用台枠11が
取付けられていて、このコ字状台枠11の開口単
部に、塗膜検査装置2を構成する受光器12及び
投光器13が上下に対抗配設されている。
1 and 2 show a coating machine 3 equipped with a coating film inspection device 2 using a multi-jointed robot 1. As shown in FIG. The robot 1 has a rotating wrist 1b at the tip of the arm 1a.
and a bent wrist 1c, and the upper end (base end) of the machine frame 4 is connected and fixed to the distal end of the bent wrist 1c via both mounting flanges 5, 6. A coating brush 7 serving as a working means is attached to the lower end (tip). Further, a rotary drive device 8 is attached to the machine frame 4, and this rotary drive device 8
The base end of a swing arm 10 is fixed to the drive shaft 9, and a U-shaped inspection device mounting frame 11 as shown in FIG. 2 is attached to the tip of the swing arm 10. A light receiver 12 and a light projector 13, which constitute the coating film inspection device 2, are arranged vertically in opposition to each other in the single opening of the U-shaped underframe 11.

前記塗布用刷毛7は中空の基筒部7aとこれの
内部に根元部が筒状に束ねられて挿着された毛部
7bとからなるもので、塗布剤圧送機(図示せ
ず)からチユーブ及びバルブ(図示せず)を介し
て圧送されるプライマーは、塗布用刷毛7の基筒
部7a内に流入して毛部7bより注出し、被作業
物たるガラス板Gの表面に幅数mm、厚さ十数μm
程度のプライマーの塗膜を形成すべく塗布される
ようになつている。また、塗膜検査装置2は、塗
布用刷毛7によつてガラス板G表面上に塗布され
たプライマーの塗膜(図示省略)の状態を、塗布
進行方向に関して塗布用刷毛7の後方側に一定距
離をおいた位置で検査するようになつている光セ
ンサー装置で、図示のようにガラス板Gを挟んで
その上下にコ字状台枠11を介して取付けられた
受光器12及び投光器13ガ、形成された塗膜の
状態による受光器12への受光量の変化を検知す
る。
The coating brush 7 consists of a hollow base cylinder part 7a and bristles 7b whose root parts are bundled into a cylindrical shape and inserted into the hollow base cylinder part 7a. The primer, which is pumped through a valve (not shown), flows into the base cylinder part 7a of the coating brush 7 and is poured out from the bristle part 7b, so that it spreads onto the surface of the glass plate G, which is the workpiece, several mm wide. , thickness of more than 10 μm
It is applied to form a primer coating of about 100%. The coating film inspection device 2 also keeps the state of the primer coating (not shown) applied on the surface of the glass plate G by the coating brush 7 at a constant position on the rear side of the coating brush 7 in the coating progress direction. This optical sensor device is designed to perform inspection at a distance, and as shown in the figure, a light receiver 12 and a light emitter 13 are installed above and below a glass plate G via a U-shaped frame 11. , detects changes in the amount of light received by the light receiver 12 depending on the state of the formed coating film.

前記回転駆動装置8は、例えばベーンモータの
ような空気圧モータからなるもので、駆動軸9の
回転により前記旋回アーム10及びこれの先端部
側に取付けられたコ字状台枠11を介して、前記
塗膜検査装置2を、第2図の実線で示す検査装置
とこのような検査位置から機枠4の基端部側へ隔
たつた1点鎖線で示す退避位置との間で駆動軸9
を中心に旋回移動させうるようになつている。こ
の退避位置はコ字状台枠11が図示のように上方
側へ旋回したときその下端部部分が塗布用刷毛7
の下端よりも上方側へ位置しうるような状態とす
る。尚、前記ガラス板Gは、図示は省略するが適
当な支持台によつて定位置に保持されている。
The rotation drive device 8 is composed of a pneumatic motor such as a vane motor, and rotates the drive shaft 9 to rotate the rotation arm 10 and the U-shaped underframe 11 attached to the distal end of the rotation arm 10. The paint film inspection device 2 is connected to the drive shaft 9 between the inspection device shown by the solid line in FIG.
It is designed so that it can be rotated around the center. This retracted position is such that when the U-shaped underframe 11 is turned upward as shown in the figure, the lower end portion of the U-shaped underframe 11 is connected to the coating brush 7.
The state should be such that it can be positioned above the lower end of. Incidentally, the glass plate G is held in a fixed position by a suitable support, although not shown.

上述した塗膜検知装置2付き塗布機3の使用に
あたつて塗膜検査装置2を同時に使用する場合に
は、定位置にある被作業物、即ちガラス板Gに対
して塗布用刷毛7をガラス板Gの塗布面上の所定
位置にセツトすると共に、塗膜検査装置2を第1
図、第2図の実線で示される様な検査位置にセツ
トする。しかして、ロボツト1を作動させて塗布
用刷毛7をガラス板Gの塗布面に沿つて所定の軌
跡で移動しつつ、プライマーを塗布すると共に、
塗膜検査装置2によつて塗布されたプライマーの
塗膜の状態を検査し、塗膜にスケやカスレ等があ
れば信号が出力され、所定の異常警報が発せら
れ、またそれによる処置が施される。
When using the coating machine 3 with the coating film detection device 2 described above and the coating film inspection device 2 at the same time, the coating brush 7 should be moved against the workpiece in a fixed position, that is, the glass plate G. At the same time, the coating film inspection device 2 is set at a predetermined position on the coated surface of the glass plate G.
The inspection position is set as shown by the solid line in FIGS. Then, while operating the robot 1 and moving the coating brush 7 in a predetermined trajectory along the coating surface of the glass plate G, the primer is coated.
The condition of the paint film of the applied primer is inspected by the paint film inspection device 2, and if there are any scratches or scratches on the paint film, a signal is output, a predetermined abnormality alarm is issued, and corresponding measures are taken. be done.

そして、塗膜検査装置2を使用せず刷毛7によ
る塗布作業のみを行う場合には、回転駆動装置8
を作動させ、その駆動軸9、旋回アーム10及び
コ字状台枠11を介して塗膜検査装置2を検査位
置から第2図の1点鎖線で示される退避位置へ旋
回移動させる。尚、塗膜検査装置2が検査位置及
び退避位置にきたとき旋回アーム又はコ字状台枠
11をそれぞれの位置にロツクするためのロツク
機構を設けるとよい。
When the paint film inspection device 2 is not used and only the coating work is performed using the brush 7, the rotary drive device 8
is operated, and the paint film inspection device 2 is pivoted from the inspection position to the retreat position shown by the dashed-dotted line in FIG. Incidentally, it is preferable to provide a locking mechanism for locking the rotating arm or the U-shaped underframe 11 at the respective positions when the coating film inspection device 2 comes to the inspection position and the retracted position.

上述の実施例では、塗膜検査装置として、被塗
布物たるガラス板を挟んでその両側に投光器及び
受光器を配置する透光型の検査装置を例示した
が、投光器及び受光器をガラス板の片面側に配設
して投光器からの光を塗膜上にて反射させて受光
するような光反射型の塗膜検査装置を用いてもよ
く、この場合にはコ字状台枠のようなものは不要
となる。
In the above-mentioned embodiment, a translucent type inspection apparatus was used as a coating film inspection apparatus in which a light emitter and a light receiver were arranged on both sides of a glass plate as an object to be coated. A light reflection type paint film inspection device may be used, which is installed on one side and receives the light from the projector by reflecting it on the paint film. Things become unnecessary.

また、実施例では塗膜検査装置付きの塗布機に
ついてのみ示したが、これはあくまでも一実施例
であつて、例えば作業手段としてヒータを有する
ヒートシール機においてそのヒータの作業進行方
向後方側にシール部の状態を検査する検査装置が
設けてあるようなもの等、種々の検査装置付き作
業機に適用可能である。
Further, in the embodiment, only a coating machine equipped with a coating film inspection device was shown, but this is just one embodiment. For example, in a heat sealing machine having a heater as a working means, a seal is placed on the rear side of the heater in the working direction. The present invention is applicable to various types of working machines equipped with inspection devices, such as those equipped with inspection devices for inspecting the condition of parts.

更に、実施例では、被作業物を固定させておい
て機枠を移動させながら作業を行うようにした作
業機について例示したが、これとは逆に機枠自体
を固定状態として被作業物を移動させるようなも
のにも本考案は適用可能である。
Furthermore, in the embodiment, a working machine was illustrated in which the workpiece is fixed and the workpiece is moved while the machine frame is moved, but conversely, the machine frame itself is fixed and the workpiece is moved. The present invention can also be applied to items that are moved.

(考案の効果) 本考案の検査装置付き作業機によれば、検査装
置をその所定の検査位置と退避位置との間で旋回
移動可能な構成を採用しているため、作業機のみ
を使用して検査装置を使用しない場合にはこの検
査装置を退避させておくことができ、したがつて
検査装置の非使用時には作業手段の近傍に云わば
障害物がなくなることとなつて、作業そのものが
やり易くなると共に、被作業物の出し入れ、位置
決め等が容易となる効果がある。
(Effects of the invention) According to the work machine with an inspection device of the present invention, since the inspection device is configured to be able to pivot between its predetermined inspection position and the evacuation position, only the work machine can be used. When the inspection device is not in use, the inspection device can be evacuated. Therefore, when the inspection device is not in use, there are no obstacles near the work means, and the work itself can be carried out. This has the effect of making it easier to put in and take out the workpiece, position it, etc.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本考案の一実施例を示す塗膜検査装置
付き塗布機の正面図、第2図は同上の側面図であ
る。 2……塗膜検査装置(検査装置)、3……塗布
機(作業機)、4…機枠、7……塗布用刷毛(作
業手段)、8……回転駆動装置、9……駆動軸、
10……旋回アーム、11……コ字状台枠、12
……受光器、13……投光器、G……ガラス板
(被作業物)。
FIG. 1 is a front view of a coating machine equipped with a coating film inspection device showing an embodiment of the present invention, and FIG. 2 is a side view of the same. 2... Paint film inspection device (inspection device), 3... Coating machine (working machine), 4... Machine frame, 7... Coating brush (working means), 8... Rotation drive device, 9... Drive shaft ,
10...Swivel arm, 11...U-shaped underframe, 12
...Receiver, 13... Emitter, G... Glass plate (object to be worked).

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 機枠の先端部に作業手段を設けると共に、該作
業手段の作業進行方向後方側の近傍に検査装置を
配備し、前記機枠を被作業物に対し相対移動させ
ながら前記作業手段により被作業物の作業面に沿
つて所定の作業を施し且つ前記検査装置により前
記作業面上に施された作業の状態を検査するよう
になつている検査装置付き作業機において、前記
機枠に回転駆動装置を設置し、この回転駆動装置
の駆動軸に旋回アームの基端部を固着し、この旋
回アームの先端部側に前記検査装置を装備して、
この検査装置を所定の検査位置とこれより機枠の
基端部側へ隔たつた退避位置との間で旋回移動可
能にしたことを特徴とする検査装置付き作業機。
A working means is provided at the tip of the machine frame, and an inspection device is installed near the rear side of the working means in the work progress direction, and while the machine frame is moved relative to the workpiece, the workpiece is inspected by the work means. A working machine equipped with an inspection device that performs a predetermined work along a work surface and inspects the state of the work performed on the work surface by the inspection device, wherein a rotary drive device is installed in the machine frame. and fixing the base end of the swing arm to the drive shaft of the rotation drive device, and equipping the tip end of the swing arm with the inspection device,
A working machine with an inspection device, characterized in that the inspection device can be pivoted between a predetermined inspection position and a retracted position spaced from the predetermined inspection position toward the base end of the machine frame.
JP18413586U 1986-11-28 1986-11-28 Expired JPH0420537Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18413586U JPH0420537Y2 (en) 1986-11-28 1986-11-28

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18413586U JPH0420537Y2 (en) 1986-11-28 1986-11-28

Publications (2)

Publication Number Publication Date
JPS6390466U JPS6390466U (en) 1988-06-11
JPH0420537Y2 true JPH0420537Y2 (en) 1992-05-11

Family

ID=31131522

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18413586U Expired JPH0420537Y2 (en) 1986-11-28 1986-11-28

Country Status (1)

Country Link
JP (1) JPH0420537Y2 (en)

Also Published As

Publication number Publication date
JPS6390466U (en) 1988-06-11

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