JPH0731166U - Sealer coating device - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] The deviation of the work is continuously confirmed, and the distance of the nozzle in the X-axis direction to the work, which is the sealer gun distance to the work, is properly controlled, and the work assembly variation Even if there is, always apply a consistent quality sealer. [Structure] Mounting plate 1 at the tip of robot arm 1
4, a holding body 15 slidably guided in the Y-axis direction of the work W by a spring 19, and a holding member 16 slidably guided in the holding body in the X-axis direction of the work via guide shafts 30a and 30b. A cylinder 18 for moving the holding member forward and backward in the X-axis direction, a sealer discharge nozzle 20 provided at the tip of the guide shaft 30b, a guide plate 21 made of a conductor extending parallel to the nozzle, and an end of the work. A controller for appropriately controlling the distance in the X-axis direction of the nozzle with respect to the work by detecting the presence or absence of energization by the guide tip contacting the end edge of the work by the sealer gun 11 composed of the guide tip 22 contacting the edge. Equipped with.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a sealer coating device for automatically coating a sealer on a predetermined position of a work by a robot.

[0002]

[Prior art]

 A sealer is applied to the body of an automobile to make it watertight and airtight. This sealer application is automatically sealed by a sealer gun 2 attached to a robot arm 1, as shown in FIG.

In this sealer gun 2, a holding member 3 is fixed to a mounting plate 1 a at the tip of a robot arm 1, a nozzle 4 for discharging a sealer is held by the holding member 3, and the end edge of the work W is fixed. A guide member 8 for positioning is fixed to the nozzle 4 via a connecting member 7, a guide cylinder 5 is provided on the holding member 3, and a guide rod 6 having one end fixed to the connecting member 7 is guided to the guide cylinder 5. .

[0004]

[Problems to be solved by the device]

 As shown in FIG. 4, the sealer gun 2 having the above-mentioned conventional structure positions the sealer application position by abutting the guide member 8 on the edge of the work W, and applies the sealer S to the predetermined position of the work W by the nozzle 4. However, as shown in FIG. 5, when the edge of the work W is brought into contact with the guide member 8, the edge of the work W shifts in the −X direction due to variations in the assembly of the work W. If the nozzle 4 and the work W are separated from each other, the coating quality of the sealer S is deteriorated, and if the edge of the work W is misaligned in the + X direction, the guide member 8 is moved to the guide member 8 as shown in FIG. The nozzle 4 is damaged by the interference.

An object of the present invention is to provide a sealer coating device that solves the above conventional problems.

[0006]

[Means for Solving the Problems]

 A feature of the present invention for achieving the above object is that a mounting plate fixed to the front end of a robot arm is pushed in the Y-axis direction of the work axis direction by a spring in the work contact direction to slide. Movably guided holding member, a holding member slidably guided to the holding member in the X-axis direction orthogonal to the work axis line through a guide shaft, and the holding member fixed to the holding member and held by the holding member. A cylinder that moves forward and backward in the axial direction, a nozzle for discharging a sealer provided at the tip of the guide shaft, a guide plate fixed to the holding member and made of a conductor extending parallel to the nozzle, The required width fixed to the tip of the guide plate is made of a conductor and the other is made of an insulator, and a sealer gun composed of a guide tip that abuts against the edge of the work, and the guide chip. Flop detects the presence or absence of contact with energized the edge of the workpiece, in which a controller for controlling the distance in the X-axis direction of the relative to the workpiece nozzle suitability by the detection signal.

[0007]

[Action]

 With the above configuration, the edge of the work contacts the guide tip with the conductor of the required width and the conductivity is confirmed, so that the work gap is continuously confirmed and the fluctuation of the sealer gun distance to the work is judged. The distance between the nozzle and the workpiece in the X-axis direction is appropriately controlled.

[0008]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 10 is a robot and 1 is a robot arm. A sealer gun 11, which will be described later, is attached to the tip A of the robot arm 1. Further, the robot 10 is based on an earth checker 12 which transmits a detection signal when the contact position of the work W by the sealer gun 11 is displaced, and a deviation detection signal of the contact position of the work W by the earth checker 12. And a controller 13 for controlling the robot arm 1 in order to appropriately correct the distance of the sealer gun 11 to the work W.

The construction of the sealer gun 11 will be described with reference to FIG. Reference numeral 14 is a mounting plate fixed to the tip of the robot arm 1. A holder 15 is slidably attached to the attachment plate 14 via a slide rail 17 in the Y-axis direction of the work W, and is pressed by a spring 19 in the direction of contact with the work W.

Guide shafts 30a and 30b extending in the X axis direction orthogonal to the workpiece W axis line are fixedly provided on the holding body 15, and the holding member 16 is slidably guided by the guide shafts 30a and 30b. ing. A cylinder 18 is fixed to the holding body 15, and an operating rod 18a of the cylinder 18 is connected to the holding member 16 to move the holding member 16 forward and backward in the X-axis direction.

A nozzle 20 for discharging a sealer is provided at the tip of the guide shaft 30 b, and a guide plate 21 made of a conductor extending in parallel with the nozzle 20 is fixedly provided on the holding member 16. .

A guide chip 22 that abuts against the edge of the work W is fixed to the tip of the guide plate 21. As shown in FIG. 3, the guide chip 22 has a required width L1 made of a conductor 22a and another width L2 made of an insulator 22b. The conductor 22a is connected to the earth checker 12 by a conductive wire.

Since the present invention has the structure as described above, with respect to the displacement of the sealer gun 11 in the Y-axis direction in FIG. 2, the holding body 15 should slide in the Y-axis direction within the pressing allowable range of the spring 19. Follow by. Further, the edge of the work W is brought into contact with the guide tip 22, and the displacement of the work W in the X-axis direction is brought into contact with the conductor 22a having the required width L1 to check the conductivity, whereby the sealer in the X-axis direction with respect to the work W is confirmed. The distance (L2 ± L1) of the gun 11 can be continuously confirmed.

Accordingly, the deviation of the work W is detected by contacting the insulator 22b other than the conductor 22a having the required width L1, and the controller 13 controls the robot arm 1 so that the distance of the nozzle 20 to the work W becomes appropriate. Even if there are variations in the assembly of the work W, the distance of the nozzle 20 to the work W is appropriately controlled according to the variation, and the sealer is applied.

The guide tip 22 moves the holding member 16 forward by the cylinder 18 when detecting the deviation of the work W for positioning the sealer gun 11, and retracts to the retracted end when the sealer is applied after the detection.

[0016]

[Effect of device]

 As described above, according to the present invention, the holding plate, which is slidably guided by the spring in the Y-axis direction of the work axis to the mounting plate fixed to the tip of the robot arm, is slidably guided. A holding member slidably guided to the body in the X-axis direction orthogonal to the work axis line via a guide shaft, a cylinder fixed to the holding body to move the holding member forward and backward in the X-axis direction, and the guide. A nozzle for discharging a sealer provided at the tip of the shaft, a guide plate made of a conductor fixed to the holding member and extending parallel to the nozzle, and a required width fixed at the tip of the guide plate is a conductive plate. The sealer gun is composed of a body and the other is made of an insulator, and is composed of a guide tip that abuts on the edge of the work, and the guide tip contacts the edge of the work and passes through. The controller is equipped with a controller for detecting the presence / absence of the workpiece and appropriately controlling the distance of the nozzle in the X-axis direction with respect to the workpiece based on the detection signal. Judging fluctuations in the distance, the distance of the nozzle in the X-axis direction relative to the work is properly controlled, and even if there are variations in the assembly of the work, it is possible to obtain a consistent quality sealer application by following it. It has the advantage that it can.

[Brief description of drawings]

1] Overall configuration diagram of the present invention

FIG. 2 is a side view of the sealer gun of part A in FIG.

FIG. 3 is an enlarged perspective view of a guide tip portion.

FIG. 4 is a side view of a conventional device.

FIG. 5 is an explanatory diagram of a defect of the conventional device.

FIG. 6 is an explanatory diagram of a defect of the conventional device.

[Explanation of symbols]

 1 Robot Arm 10 Robot 11 Sealer Gun 13 Controller 15 Retainer 16 Retaining Member 17 Slide Rail 18 Cylinder 19 Spring 20 Nozzle 21 Guide Plate 22 Guide Gate 22a Conductor 22b Insulator 30a Guide Axis 30b Guide Axis

Claims (1)

[Scope of utility model registration request] 1. A holding body which is slidably guided by a spring in a Y-axis direction, which is a work axis direction, and is slidably guided to a mounting plate fixed to the tip of a robot arm, and the work axis line is mounted on the holding body. A holding member slidably guided through a guide shaft in an X-axis direction orthogonal to, a cylinder fixed to the holding body for moving the holding member forward and backward in the X-axis direction, and a tip end of the guide shaft. The sealer discharge nozzle provided, a guide plate fixed to the holding member and made of a conductor extending parallel to the nozzle, and a required width fixed to the tip of the guide plate are made of a conductor, Is a sealer gun which is made of an insulating material and is composed of a guide tip that contacts the edge of the work, and the guide tip contacts the edge of the work to detect the presence or absence of energization. And a controller for appropriately controlling the distance of the nozzle in the X-axis direction with respect to the work by the detection signal.