JPH05317808A - Pretreatment of surface coated with adhesive - Google Patents

Abstract

PURPOSE:To decrease the man-hours and robots regarded necessary for a wiping treatment and a primer applying operation in succession thereto. CONSTITUTION:A wiping gun 4 having a vertically movable wiping head 6 and a primer applying gun 5 are mounted at the front end of the arm 2 of the robot 1. A windshield W is first subjected to a wiping treatment by moving the wiping gun 6 along an adhesive applying locus P, then the primer is applied thereon by moving the primer applying gun 5 along the adhesive applying locus P. The position of the primer applying gun 5 is so controlled as to move along the moving locus Q on the outer side of the adhesive applying locus P at the time of the wiping treatment, by which the contamination of the windshield W in the event of the sag and fall of the primer from the primer applying gun 5 is prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, prior to an adhesive application work for applying an adhesive in a bead shape to the periphery of an article to be coated, performs a wipe treatment of an adhesive application surface and a primer application work as pretreatments. It relates to a method automatically performed by a robot.

[0002]

2. Description of the Related Art For example, when a windshield glass (front window glass) or a rear window glass is adhered and fixed to a vehicle body in a vehicle body assembly process, for example, a urethane adhesive is bead-shaped on the periphery of the window glass. Prior to the application of the adhesive, a wiping process and a primer application work must be performed as a pretreatment of the adhesive application surface. Therefore, conventionally, a glass subline as shown in FIG. 2 is provided separately from the main body assembly line, and the above-mentioned pretreatment is performed in this glass subline.

Wiping step S of the glass sub-line
_{Both 1} and the primer application step S ₂ are, for example, vertical articulated robots (industrial robots) R ₁ or R ₂
The wiper gun G ₁ is attached to the tip of the arm A ₁ of the robot R _{1 in} the wiping step S ₁ , as shown in FIG. 3, while the robot R _{2 in the} primer applying step S ₂ is installed. As shown in FIG. 4, a primer coating gun G ₂ is attached to the tip of the arm A ₂ of the above.

Then, in the wiping step S ₁ , when the window glass W conveyed from the previous step is positioned at a fixed position by the conveyor C, the robot R ₁ moves the wipe head H ₁ of the wipe gun G _{1 to} the wipe head H ₁ . While pressing the window glass W, the wipe gun G ₁ is moved along a pre-stored adhesive application locus P ₁ to wipe away a portion to which the adhesive is applied in a later step.

This wiping process is carried out for the purpose of removing foreign matters, oils and the like in the portion of the window glass W to which the adhesive is to be applied, and a predetermined wipe is performed from the wipe head H ₁ of the wipe gun G _1. It is performed while discharging an appropriate amount of liquid.

On the other hand, in the primer coating step S ₂ ,
When the window glass W, which has been wiped in the previous step, is positioned at a fixed position, the robot R ₂ presses the primer coating head H ₂ of the primer coating gun G ₂ against the window glass W during the wipe processing. The primer coating gun G ₂ is moved under the same locus P ₂ and the primer discharged from the primer coating head H ₂ is coated on the portion where the adhesive is to be coated in a later step.

The window glass W, which has been subjected to the wiping process and the pre-treatment of the primer application work, is sequentially put into the window glass adhering step of the vehicle body assembly line, and the adhesive is applied in a bead shape by, for example, a sealing robot. After that, it is glued and fixed to the window opening of the car body.

[0008]

However, in the conventional pretreatment method as described above, the wiping step S
_{Since the 1} and the primer applying step S ₂ are independent of each other, the number of steps of the glass sub-line is increased and the line is lengthened. In addition, the wipe treatment step S ₁ and the primer applying step S ₂ are both performed by the wipe gun G. Despite moving ₁ and the primer coating gun G ₂ under the same loci P ₁ and P ₂ , two independent robots R
_{Since 1} and R ₂ are required, the cost of the equipment increases, which is not preferable.

The present invention has been made in view of the above-mentioned problems, and the pretreatment for reducing the equipment cost by performing the wiping treatment and the primer coating work in the same process and by one robot. The purpose is to provide a method.

[0010]

SUMMARY OF THE INVENTION According to the present invention, prior to applying an adhesive along the periphery of an object to be coated, as a pretreatment, a substantially horizontal adhesive application surface is wiped by a robot and a primer is applied. A method of performing a coating operation, wherein a wipe gun for a wiping process having a vertically movable wipe head and a primer coating gun for a primer coating operation are provided downward and parallel to each other at the tip of the robot arm. Then, while the wipe head of the wipe gun is lowered, the wipe gun is moved along the adhesive application locus to apply the wipe liquid and the wipe treatment is performed, and then the gun at the end of the arm is changed from the wipe gun to the primer application gun. Move the primer application gun along with the adhesive application trajectory while switching and simultaneously raising the wipe head of the wipe gun. The primer is applied by Succoth,
When performing the wiping process with the wipe gun, the wiping process is performed while controlling the position so that the primer coating gun is always located outside the peripheral edge of the object to be coated.

[0011]

According to this method, the robot first executes the wipe process by selecting the wipe gun and moving the wipe gun along the adhesive application locus stored and set in advance. When the wipe process is completed, the robot selects a primer application gun instead of the wipe gun and moves the primer application gun along the above-mentioned adhesive application trajectory to apply the primer to the previously wiped part. ..

During the wiping process performed prior to the primer application, the primer application gun attached to the tip of the robot arm together with the wipe gun is
By performing the wiping process while controlling the position so that it is always positioned outside the object to be coated, rather than the locus of adhesive application, that is, the locus of movement of the wipe gun, during the wiping process, some primers are more difficult to handle than the wiping solution. Even if it drops from one primer application gun, it does not drop directly onto the article to be coated, and it is possible to prevent stains on the article to be coated due to the adhesion of excess primer.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an explanatory view showing an embodiment of the present invention, and shows an example in which the window glass W of the automobile described above is used as an object to be coated.

As shown in FIG. 1A, the pretreatment step S for the purpose of wiping the window glass W in the glass sub-line and applying the primer is mainly performed by the vertical articulated robot 1, for example. Is configured,
When the window glass W conveyed by the conveyor from the previous step is positioned by a jig (not shown) in the pretreatment step S, the robot 1 will remove the adhesive in the post step of the window glass W as described later. A wiping process is performed on the portion to be applied, and a primer applying operation is further performed following the wiping process.

At the tip of the arm 2 of the robot 1, a wipe gun 4 and a primer coating gun 5 are arranged downward and in parallel with each other via a common bracket 3 as shown in FIGS. It is set up.

The wipe gun 4 is provided with a soft wipe head 6 at its lower end as in the conventional case, and the wipe head 6 is vertically movable by the operation of an actuator 7 such as an air cylinder. A volatile wipe liquid is supplied to the wipe head 6 from a wipe liquid supply source (not shown), and a proper amount of the wipe liquid is discharged from the wipe head 6 during the wiping process. The glass W is wiped off.

On the other hand, the primer coating gun 5 is provided with a soft primer coating head 8 at its lower end as in the conventional case, and the primer coating head 8 is supplied with a primer from a primer supply source (not shown). It has become. Then, at the time of applying the primer, the primer is applied to the window glass W while discharging an appropriate amount of the primer from the primer applying head 8.

The control device 9 of the robot 1 is pre-teached with data of a closed-loop movement locus for moving the wipe gun 4 and the primer coating gun 5 along the adhesive coating locus P of the window glass W. The wipe gun 4 is stored and set for each gun 4 and 5.
The adhesive application locus P is used for both the wiping process by the method and the primer application by the primer application gun 5.
The wipe gun 4 and the primer coating gun 5 are moved along the same movement locus.

Although the wipe gun 4 and the primer coating gun 5 are basically moved along the same locus during the wiping process and the primer application as described above, the movement locus data during the wiping process includes: The data includes the closed-loop movement locus Q of the primer coating gun 5 that is not directly involved in the wiping process.

That is, when the primer coating gun 5 is used for primer coating, the primer coating gun 5 is only controlled so as to move along the adhesive coating locus P, while the wipe gun 4 is used for wiping. The wipe gun 4 is controlled so as to move along the adhesive application trajectory P, and at the same time, the primer application gun 5 that is not directly involved in the wiping process always operates on the adhesive application trajectory P.
It is controlled so as to move along a closed-loop movement locus Q that is outside and outside the region of the window glass W.

Therefore, according to the structure of this embodiment, FIG.
When the window glass W to be processed is positioned in the pre-processing step S shown in (A) of FIG. Data is called. Then, the robot 1 lowers the wipe head 6 so that the wipe head 6 is lower than the primer applying head 8 by a predetermined amount a as shown in FIG. The wipe head 6 of the wipe gun 4 is pressed to the upper wipe start position, and while the wipe liquid discharged from the wipe head 6 is applied, the wipe gun 4 is moved at a predetermined speed along the adhesive application locus P to the wipe end position and wiped. Apply processing. It is desirable that the wipe start position and the wipe end position overlap each other by a predetermined amount.

During the wiping process, if the wiping gun 4 moves, the primer coating gun 5 not directly involved in the wiping process also moves accordingly, but only the movement locus of the wiping gun 4 is defined. Coating gun 5
When the movement locus of the primer coating gun 5 is not specified, the primer coating gun 5 passes over the adhesive coating surface of the window glass W in accordance with the movement of the wipe gun 4, and, for example, the primer of the primer coating gun 5 is There is a possibility that the primer may drop from the coating head 8 and stain the window glass W. In particular, the primer is more troublesome to handle than the wiping solution due to its nature, and its removal is troublesome if it adheres to an extra portion.

Therefore, in the present embodiment, in addition to moving the wipe gun 4 along the adhesive application locus P in the wiping process as described above, the primer application gun 5 moves along the locus of movement of the wipe gun 4. The postures of the wipe gun 4 and the primer coating gun 5 are controlled so as to move along a movement locus Q outside the (adhesive coating locus P). As a result, during the wiping process, the primer coating gun 5 always moves outside the window glass W, and even if the primer drips from the primer coating gun 5, this will be the case. It does not adhere to W.

When the wiping process is completed at the wiping process ending position on the adhesive application locus P, as shown in FIG. 1C, the wiping head 6 reaches a position higher than the primer applying head 8 by a predetermined amount b. While moving up, the control device 9 of the robot 1 calls up the data of the movement locus in the primer application mode.

Then, the robot 1 presses the primer coating head 8 at the primer coating start position on the closed loop-shaped movement locus (adhesive coating locus P) shown in FIG. The primer is applied by moving along the movement locus P to the primer application end position.

At this time, the movement locus of the primer coating gun 5 is only defined, and the movement locus of the wipe gun 4 is not particularly defined. Therefore, the wipe gun 4 is moved to the window glass W according to the movement of the primer coating gun 5. It is possible to pass over. However, the wipe head 6 of the wipe gun 4 is at a position higher than the primer application head 8 of the primer application gun 5 as described above, and does not come into direct sliding contact with the window glass W. Even if the wiping liquid may drop, the wiping liquid is easier to handle than the above-mentioned primer, so that there is no particular problem.

In this embodiment, the wiping head 6 is vertically movable instead of the primer applying head 8 because the wiping liquid itself supplied to the wiping head 6 is easier to handle than the primer. This is because it is easy.

[0028]

As described above, according to the present invention, the wiping gun and the primer coating gun are provided at the tip of the arm of one robot, and these guns are selectively switched to perform the wiping process and the primer coating work. By performing the above, it is possible to perform both pre-treatment such as wipe processing and primer application in the same process and with one robot, so the number of processes is reduced and the facility cost is greatly reduced. Can be achieved.

Further, during the wiping process performed prior to the primer coating, the primer coating gun mounted on the tip of the robot arm together with the wipe gun is always located outside the peripheral edge of the object to be coated with respect to the movement trajectory of the wipe gun. By performing the wiping process while controlling the position so that it is positioned, even if the primer, which is more difficult to handle than the wiping solution, may drop from the primer coating gun, it does not drop directly onto the object to be coated. Therefore, there is an effect that the stain of the coated object due to the adhesion of the extra primer can be prevented in advance.

[Brief description of drawings]

1A and 1B are diagrams showing an embodiment of the present invention, in which FIG. 1A is an explanatory plan view of a moving locus of a wipe gun and a primer coating gun, FIG. 1B is an explanatory diagram at the time of wiping treatment, and FIG. Explanatory drawing of.

FIG. 2 is an explanatory plan view of a conventional pretreatment process for the purpose of wiping treatment and primer application work.

FIG. 3 is an explanatory view of the wipe processing step of FIG. 2.

FIG. 4 is an explanatory diagram of a primer application process of FIG.

[Explanation of symbols]

 1 ... Robot 2 ... Arm 4 ... Wipe gun 5 ... Primer application gun 6 ... Wipe head 8 ... Primer application head P ... Adhesive application trajectory Q ... Primer application gun movement trajectory W ... Window glass (object to be coated)

Claims (1)

[Claims] 1. A method of applying a wiping treatment and a primer coating operation by a robot to a substantially horizontal adhesive coating surface as a pretreatment before the adhesive is coated along the periphery of an object to be coated. Then, a wipe gun for wiping having a vertically movable wipe head and a primer coating gun for primer coating work are provided downward and in parallel to each other at the tip of the robot arm, and the wipe head of the wipe gun is provided. In the lowered state, the wipe gun is moved along the adhesive application locus to apply a wiping solution and a wiping process is performed. Primer by moving the primer coating gun in the raised state along the adhesive coating track. In the case of applying and wiping with the wipe gun, the wiping process is performed while controlling the position so that the primer applying gun is always located outside the periphery of the object to be coated. Processing method.