JPH0631227A - Nozzle curing preventing device - Google Patents

Abstract

PURPOSE:To prevent the curing of the resin bonded to the curable resin coating nozzle grasped by a robot hand. CONSTITUTION:A container 3 in which a fluid 4 delaying or preventing the curing of a resin is received is arranged directly under a nozzle 1 returned to the origin position. The cylinder 5 raising the container 3 with respect to the nozzle 1 coming to the origin position is provided and the nozzle 1 is dipped in the fluid 4 at the time of the stop of a robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nozzle for applying a curable resin to a robot hand, moving the nozzle along a resin application surface, and applying the resin to the application surface. The present invention relates to a nozzle curing prevention device that prevents the resin left at the tip from curing.

[0002]

2. Description of the Related Art A robot hand holds a nozzle for applying a curable resin such as a silicone resin or an adhesive, and the nozzle is moved along a resin application surface to apply the resin in a beat shape, for example. I have something to do. For example, a beat-like adhesive is applied to the flange surfaces to be connected to each other. In this case, if the robot hand is returned to the origin position and is stopped after the coating operation is finished, the resin left on the tip of the nozzle may start to cure during this period, which may hinder the next coating. Even if the resin is not completely cured, the surface of the resin may deteriorate, which may hinder the next application.

Therefore, conventionally, in order to prevent the nozzle from hardening during the pause, a method of inserting a rod having the same size as the inner diameter of the nozzle into the nozzle hole or replacing the hardened nozzle is used. It was being done.

[0004]

However, all of the conventional methods for preventing nozzle hardening are merely temporary measures on site, and workability is poor, and drastic measures have been required. In recent years, complete automation has been required in various resin coating systems, and nozzle curing has become a major problem as a countermeasure.

Therefore, an object of the present invention is to promote complete automation of a resin coating system by providing a device for surely preventing nozzle curing.

[0006]

In order to solve the above problems, the present invention comprises a nozzle hardening preventing device as set forth in the claims.

[0007]

With the nozzle hardening prevention device of the present invention having the above-mentioned structure, when the robot hand is at rest at the origin position, the nozzle tip is immersed in a fluid that delays or prevents hardening (including alteration) of the resin. Therefore, it is possible to surely prevent the nozzle from hardening while the robot is stopped.

Since the nozzle hardening preventive apparatus of the present invention merely moves the container containing the fluid up and down, the container is normally lowered and the container is moved when the robot hand reaches the origin position. It only needs to be raised, and nozzle hardening can be reliably prevented with a simple device. It is also possible to keep the container down during the continuous operation and raise the container only when it is stopped for a certain period of time or longer, depending on the curing speed of the resin used.

As the fluid for delaying or preventing the hardening of the resin, various fluids such as gaseous and liquid are considered. For example, when the resin is a silicone resin, liquid paraffin oil is effective in delaying the curing reaction. For a resin that reacts by contacting oxygen in the air, a gas having a high specific gravity can be used. However, in this case, in order to prevent the diffusion of gas into the air, it is preferable to provide a perforated cap made of rubber or the like at the container opening. For solvent-based adhesives, it is sufficient to put the solvent in the container.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a side view showing an example of the structure of a nozzle hardening prevention device according to an embodiment of the present invention. The valve 2 having the nozzle 1 is held by a robot hand (not shown). This robot serves as the center of the resin coating system, and is moved two-dimensionally or three-dimensionally along the coating surface of a resin coating object (work) (not shown). For example, the resin is applied in a beat shape while being discharged. The robot returns to a predetermined origin position when one unit of coating operation, for example, coating of one work is completed. It is assumed that the illustrated nozzle 1 is at the position returned to the origin position.

On the other hand, with respect to the nozzle 1, a lidless container (oil cup) 3 is arranged below the origin position thereof, and a liquid paraffin oil 4 capable of delaying the curing of the silicone resin is disposed inside the container. It is included. The container 3 has an air cylinder 5 located below it.
It is connected to the piston rod 6. A spring 7 for holding the container 3 in a neutral posture is interposed between the cylinder 5 and the container 3. This spring 7 holds the container 3 in the illustrated neutral position when the air to the air cylinder 5 is cut off. When air is sent to the cylinder 5 from an air supply device (not shown), the piston rod 5 is lifted, the container 3 is lifted, and the tip of the nozzle 1 is immersed in the liquid paraffin oil 4. As described above, the nozzle hardening prevention device is configured by the air cylinder 5, the container 3, and the control device that drives the air cylinder 5.

FIG. 2 is a flow chart showing the operation of the control device. When a signal indicating that the robot has returned to the origin position is input in step 201, step 202
The solenoid for supplying air to the air cylinder 5 is turned on, and the container 3 is raised to immerse the nozzle 1 in the oil 4.

Then, when a signal for starting the robot operation is input in step 203, the solenoid is turned off before the robot operation in step 204, and the container 3 is lowered to start the robot operation. As mentioned above, step 2
The solenoid 02 may not be turned on when the robot continuously operates, and may be turned on only when the robot is stopped for a certain period of time or longer.

From the above, when the nozzle 1 is at rest, the nozzle 1
Since the tip of the is immersed in the liquid paraffin oil 4, the reaction of the silicone resin is delayed, and the hardening of the nozzle can be reliably prevented. Depending on the application specifications, the influence of the liquid paraffin oil remaining in the nozzle may be a concern. In this case, a small amount of resin may be blown out from the nozzle 1 before starting the application operation. In addition to this, it is also possible to start the application from a position where the application start portion is slightly removed from the application surface and remove the liquid paraffin oil before starting application.

[0015]

As described above, according to the present invention, since the tip of the nozzle is immersed in the fluid for delaying or preventing the resin hardening when the robot is stopped, the hardening of the nozzle can be surely prevented, and these operations are linked with the robot. Since it can be performed automatically, complete automation of the resin coating system can be achieved.

[Brief description of drawings]

FIG. 1 is a side view illustrating a nozzle curing prevention device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the control device.

[Explanation of symbols]

 1 Nozzle 3 Container 5 Cylinder

Claims (1)

[Claims] 1. A robot hand holds a nozzle for applying a curable resin, and discharges the resin from the nozzle,
When the resin is applied to the application surface by moving the nozzle along the resin application surface, a nozzle curing prevention device that prevents the resin left at the tip of the nozzle from curing is opened at the top. A container containing a fluid for delaying or preventing the hardening of the resin, a vertical movement device for moving the container up and down, and a container for moving the container by the vertical movement device when the robot hand comes to the origin position. A robot hand, which brings the nozzle closer to the nozzle, and when the robot hand comes to the origin position, the controller raises the container to move the nozzle tip into the container. A nozzle curing prevention device, which is immersed in the resin to delay or prevent curing of the resin remaining in the nozzle.