JPH079460U - Coating machine - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a coating machine which can be automated and whose quality can be improved. [Structure] The robot hand 1 includes a support member 24 and an arm mechanism 22. The arm mechanism 22 is a horizontally movable member 20.
And a vertically movable member 21 and a mounting clamp 14. The dispenser 15 is attached to the mounting clamp 14. The nozzle 16b of the dispenser 15 is brought into contact with the step portion 17e formed on the coated portion A of the work 17. Horizontal movable member 20
Has a horizontal slide plate 4 that can be horizontally moved by the urging force of the first spring 7. The vertically movable member 21 is the second
It has a vertical slide plate 11 which can be vertically moved by the urging force of a spring 13. When the support member 24 rotates about the center O of the work 17, the dispenser 15 applies the coating agent to the coating target portion A.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a coating machine, and more particularly to a coating machine for coating a work having an annular coated portion with a coating agent such as an adhesive.

[0002]

[Prior art and its problems]

 Conventionally, as this type of coating machine, for example, one shown in FIG. 2 is known. That is, the coating machine shown in FIG. 2 includes a work receiving jig 40 that is rotated by an external drive source. Then, a cylindrical work 41 having an annular coated surface B on its outer periphery is placed and held on the work receiving jig 40, and then the work receiving jig 40 is driven by an external drive source. And the coating material is attached to the surface B to be coated of the work 41 by operating the dispenser 42 of the manual type.

In FIG. 2, a work receiving jig 40 is a cylindrical rotating body whose upper surface can receive a work 41 which is an object to be coated, and its axis is oriented in the vertical direction. It is arranged as follows. Then, by placing the work 41 on the upper surface of the work receiving jig 40, the work 41 is held by the work receiving jig 40. The work receiving jig 40 is not shown. It is rotated about its axis by the driving of an external drive source, whereby the work receiving jig 40 and the work 41 can rotate integrally.

Here, the work 41 is formed by a work body 41a having a cylindrical shape and a flange portion 41b formed on one end surface of the work body 41a so as to project outward. The outer peripheral end surface is designed to be the coated surface B having an annular shape. Then, when the work 41 is placed at a predetermined position on the upper surface of the work receiving jig 40 with the axis of the work 41 facing vertically, the axis of the work 41 moves to the work receiving jig 40. It is designed to be held in a state where it coincides with the center of rotation.

To apply the coating agent to the work 41, first, while the work 41 is placed and held on the work receiving jig 40, an unillustrated external drive source is driven to work. The receiving jig 40 is rotated integrally with the work 41. Next, while rotating the work 41, the manual dispenser 42 is operated, and the nozzle 43 of the dispenser 42 is positioned so as to be in contact with the surface B to be coated from the side of the work 41. Then, in this state, the coating agent is discharged from the dispenser 42 so that the coating agent is applied to the entire surface B to be coated of the work 41.

However, in the case of such a conventional example, there is a possibility that the film thickness of the coating agent applied to the coated surface B of the work 41 becomes uneven.

That is, since the dispenser 42 must be manually operated in order to apply the coating agent to the surface B to be coated of the work 41, the contact state of the nozzle 43 with respect to the surface B to be coated at the time of coating operation. It could be unstable.

In general, the work 41 has a predetermined tolerance, and the outer diameter of the flange portion 41b also has a tolerance within a predetermined range. Therefore, when the surface B to be coated is distorted due to the variation in the tolerance, there is a distortion on the surface B to be coated even when the dispenser 42 is held in a fixed state when the work 41 rotates. As a result, the tip of the nozzle 43 comes into contact with and separates from the surface to be coated B, so that the adhesion state of the coating agent to the surface to be coated B may become unstable.

Further, in the above-mentioned conventional example, since the coating work is all performed manually, the cycle time of the work process is likely to be long, and therefore the productivity is low.

It is an object of the present invention to solve the above problems and to provide a coating machine which can improve the coating on a work and can automate the coating process.

[0011]

[Means for solving problems]

 In order to solve the above problems, the present invention is an applicator for holding a work having a stepped annular coated portion on a workpiece holding member and applying a coating agent to the coated portion of the workpiece. There, a dispenser is attached to the tip of a robot hand that has an arm mechanism that can move horizontally and vertically by an urging member, and a nozzle that discharges the coating agent can abut the stepped portion of the work. It is said that the dispenser applies the coating agent to the coated portion while being urged in the horizontal direction and the vertical direction by the urging member and in the state where the nozzle is in contact with the coated portion of the work. It has a structure.

[0012]

[Action]

 Since the present invention employs the above means, it is possible to control the dispensing operation of the dispenser by operating the robot hand, thereby automating the coating process.

Further, according to the present invention, it is possible to improve the coating accuracy on the work. That is, since the dispenser that applies the coating agent to the work is operated by a robot hand having an arm mechanism that can move in the horizontal direction and the vertical direction, the dispenser for applying the coating agent to the work to be coated in the radial direction or in the height direction. Even if there is an error in the size, this size error is absorbed. That is, the dispenser in which the nozzle is in contact with the stepped portion of the coated portion by the urging force of the urging member operates in the horizontal or vertical direction depending on the degree and direction of the dimensional error of the coated portion due to the operation of the arm mechanism. By moving to, it is possible to always keep the contact state of the nozzle with the coated portion constant. Therefore, the work is uniformly coated on the entire surface of the coated portion regardless of the dimensional error.

[0014]

Embodiments Embodiments of the present invention shown in the drawings will be described below. FIG. 1 is a diagram showing an embodiment of a coating machine according to the present invention. That is, the applicator shown in FIG. 1 holds the work 17 by the work holding member 23 and applies the coating agent to the annular coating target portion A formed on the work 17, and the tip end of the robot hand 1 is A dispenser 15 capable of depositing a coating agent is attached to the annular coating target portion A of the work 17 by the driving operation of the robot hand 1. The robot hand 1 is formed of a rotatable support member 24 and an arm mechanism 22. At this time, the arm mechanism 22 moves reciprocally in the vertical direction by the horizontal movable member 20 having the horizontal slide plate 4 which can move back and forth in the horizontal direction by the biasing force of the first spring 7, and the biasing force of the second spring 13. It is formed by a vertically movable member 21 having a possible vertical slide plate 11 and a mounting clamp 14. Then, the dispenser 15 applies the coating agent in a state of being urged by the first spring 7 and the second spring 13 and in a state where the nozzle 16b is in contact with the coated portion A of the workpiece 17, in which case The dimensional error of the coated portion A is absorbed by the arm mechanism 22.

In FIG. 1, the work holding member 23 is formed of a fixed base 19 and a work receiving jig 18 fixed to the upper part of the fixed base 19. The work receiving jig 18 has a holding portion 18a formed in a size and shape capable of receiving the work 17 that is a member to be coated, and the work 17 is placed and fitted in the holding portion 18a. It has become so.

Here, the work 17 is composed of a substantially cylindrical work body 17a having both ends open, and a disc-shaped mounting plate 17c having a size capable of closing one opening of the work body 17a. Become. Then, the work 17 is held by the work receiving jig 18 with its axis aligned with the axis of the fixed base 19. At this time, a first flange portion 17b annularly protruding outward is formed at the upper end opening of the work body 17a, and a peripheral edge portion of the mounting plate 17c is annularly protruding outwardly and extends toward the work body 17a. The second flange portion 17d is formed so as to come into contact with the first flange portion 17b.

Then, when the mounting plate 17c is combined with the work body 17a held by the work receiving jig 18 in a state where the upper end opening is closed, the peripheral end portion of the second flange portion 17d of the mounting plate 17c is An annular step portion 17e is formed so as to protrude outward from the peripheral end portion of the work body 17a, and the surface formed by the step portion 17e is the coated portion A. At this time, the flanges 17b and 17d of the work 17 are formed with holes 17f penetrating the work body 17a and the mounting plate 17c, and the work receiving jig 18 is provided with holes 17f of the work 17. The work 17 has a pin 18b that can be inserted and can be erected. The work 17 is positioned by inserting the pin 18b into the hole 17f of the work 17 and hooking the work 17 in the horizontal direction. At the same time, it is designed to be integrally held and fixed to the fixed base 19.

The coated portion A of the work 17 is coated by the dispenser 15 operated by the robot hand 1. The robot hand 1 includes a support member 24 and an arm mechanism 22 attached to the support member 24. The support member 24 is attached to a rotary shaft (not shown), and a control device (not shown) is driven to rotate the rotary shaft so that the support member 24 rotates about the rotary shaft O as a rotation center O. At this time, the rotation shaft (not shown) for rotating the support member 24 is arranged with its axis aligned with the axis of the work 17 held by the work receiving jig 18, and the rotation of this rotation shaft Thus, the support member 24 is adapted to rotate in the horizontal direction.

An arm mechanism 22 including a horizontally movable member 20, a vertically movable member 21, and an attachment clamp 14 is attached to the lower end of the support member 24.

The horizontally movable member 20 is formed by a horizontal plate 2 having a horizontal slide rail 3 on its lower surface and a horizontal slide plate 4 having a moving block 4a on its upper surface. The horizontal slide rail 3 of the horizontal plate 2 is arranged in a horizontal state so as to face the radial direction around the rotation center O, and in this state, the horizontal plate 2 is at the lower end portion of the support member 24. Is attached to. Then, the horizontal slide plate 4 is attached to the horizontal slide rail 3.

The horizontal slide plate 4 is an urging member arranged on the horizontal plate 2 with its moving block 4 a slidably engaged with the horizontal slide rail 3 of the horizontal plate 2. By the urging force of the first spring 7, the moving block 4a can reciprocate in the radial direction around the center O along the horizontal slide rail 3.

The moving range of the horizontal slide plate 4 is restricted by the stopper 5. The stopper 5 has a hole, is erected on the horizontal slide plate 4, and a bolt 6 screwed to the end of the horizontal plate 2 on the radially outer side is inserted into the hole of the stopper 5. At this time, the stopper 5 is capable of reciprocating within the range between the head 6a of the bolt 6 and the locking surface 3a formed at the end of the horizontal plate 2 on the radially outer side.

A first spring 7 is arranged between the stopper 5 and the head 6 a of the bolt 6 while being fitted to the bolt 6. The first spring 7 is a so-called compression coil spring, and the first spring 7 biases the stopper 5 toward the rotation center O, so that the horizontal slide plate 4 is integrated with the stopper 5 and It enables reciprocal movement in the radial direction around O.

A vertically movable member 21 is provided below the horizontally movable member 20. The vertically movable member 21 is formed of a vertical plate 8 having a vertical slide rail 10 and a vertical slide plate 11 having a moving block 11a. The vertical slide rail 10 of the vertical plate 8 is arranged vertically, and in this state, the upper end of the vertical plate 8 is attached to the lower end of the horizontal slide plate 4 of the horizontal movable member 20. As a result, the vertically movable member 21 is horizontally moved together with the horizontal slide plate 4 along with the horizontal movement of the horizontal slide plate 4.

Then, the vertical slide plate 11 is attached to the vertical slide rail 10. The vertical slide plate 11 has a moving block 11a slidably engaged with the vertical slide rail 10 of the vertical plate 8 and is a second spring that is an urging member arranged on the vertical plate 8. By the urging force of 13, the moving block 11 a can reciprocate in the vertical direction along the vertical slide rail 10.

The moving range of the vertical slide plate 11 is restricted by the stopper 11a. The stopper 11a has a hole and is erected on the vertical slide plate 11 so as to face the center O, and a bolt 12 screwed to the vertical plate 8 is inserted into the hole of the stopper 11a. The bolt 12 is screwed so as to stand upright on a support plate 9 provided horizontally at the lower end of the vertical plate 8, so that the head 12a of the bolt 12 and the support plate 9 are separated from each other. The stopper 11a can reciprocate within the range.

A second spring 13 is arranged between the stopper 11 a and the head 12 a of the bolt 12 while being fitted on the bolt 12. The second spring 13 is a so-called compression coil spring. When the second spring 13 urges the stopper 11a upward in the vertical direction, the vertical slide plate 11 is integrated with the stopper 11a. It enables reciprocal movement in the vertical direction.

A mounting clamp 14 is mounted on the vertical slide plate 11, and a dispenser 15 is removably mounted on the mounting clamp 14. As a result, the attachment clamp 14 moves vertically with the dispenser 15 as the vertical slide plate 11 moves vertically.

The dispenser 15 is composed of a dispenser body 16a having a material tank and a pressure pump (not shown) built therein, and a nozzle 16b for discharging a coating agent. A material tank (not shown) contains a coating material such as an adhesive, and the coating material in the material tank is discharged from a nozzle 16b by driving a pressure pump (not shown).

In this case, in order to apply the coating agent to the coated portion A of the work 17, the dispenser 15 is set so that the tip of the nozzle 16 b thereof is directed to the coated portion A of the work 17. It is necessary to attach it to the attachment clamp 14 in this state. That is, the dispenser 15 needs to be arranged such that the tip end portion of the nozzle 16b thereof comes into contact with and engages the step portion 17e formed on the coated portion A of the work 17 from obliquely below.

At this time, the dispenser 15 is in a state of being urged in the horizontal direction and the vertical direction by the urging force of the first spring 7 and the second spring 13, and further, the nozzle 16b is brought into contact with the step portion 17e. In the state, the robot hand 1 teaches the control device (not shown) to set the initial position. Here, during teaching, the horizontal position is set when the distance (diameter) from the center O of the work 17 to the step portion 17e is the minimum allowable size, and the vertical position is set. , Set when the distance (height dimension) from the bottom surface of the work 17 to the step 17e is the maximum allowable dimension.

Next, the operation of the above will be described. This applicator is configured as described above, so that the robot hand 1 is driven and the dispenser 15 is operated, so that the application agent can be evenly applied to the applied portion A of the work 17. Has become.

First, the work 17 is held by the work holding member 23. At this time, the work 17 is placed on the holding portion 18a of the work receiving jig 18 in a state where the work body 17a and the mounting plate 17c are combined, and the pin 18b is inserted into the hole 17f of the work 17. Then, the work 17 is integrally fixed to the work receiving jig 18.

Next, the robot hand 1 is driven by the control device (not shown) that has finished teaching, and the dispenser 15 is set to the initial position. At this time, the dispenser 15 is arranged in a state where the tip of the nozzle 16b thereof is in contact with and engaged with the stepped portion 17e which is the coated portion A of the work 17. Then, the robot hand 1 is driven to rotate the support member 24 about the center O, so that the dispenser 15 discharges the coating agent from the nozzle 16b and the arm mechanism 22 (the horizontal movable member 20 and the vertical movable member 21). ) Will rotate with. This allows the coating agent to be applied to the entire surface of the coating target portion A by moving while discharging the coating agent in a state where the tip end portion of the nozzle 16b is in contact with the coating target portion A. Has become.

Further, in the above-mentioned coating machine, the coating process can be automated. That is, since the controller 15 drives the robot hand 1 to operate the dispenser 15 that applies the coating agent to the work 17, the control operation makes it possible to automate a series of coating steps. There is.

Further, in the above-mentioned coating machine, the coating of the coating agent on the coated portion A of the work 17 can be made uniform.

That is, the robot hand 1 has an arm mechanism 22 in which a horizontal movable member 20 and a vertical movable member 21 are arranged, and the dispenser 15 attached to the tip of this arm mechanism 22. The coating agent is applied to the coated portion A of the work 17 by operating. That is, the dispenser 15 can be moved in the horizontal direction and the vertical direction by operating the horizontal movable member 20 and the vertical movable member 21 of the arm mechanism 22, and accordingly, the dimension (diameter dimension) of the coated portion A can be set. And height dimension) error is absorbed.

First, when the coated portion A of the work 17 has a dimensional error in the diametrical dimension, the horizontally movable member 20 operates. That is, in the horizontally movable member 20, the horizontal slide plate 4 is movable radially outward along the horizontal slide rail 3. Therefore, when the diameter of the coated portion A has an error of a plus dimension, when the tip of the nozzle 16b of the dispenser 15 rotates along the coated portion A, an error of a plus dimension is generated. At a certain portion, the horizontal slide plate 4 moves in the horizontal direction with respect to the horizontal slide rail 3 against the biasing force of the first spring 7, so that the dispenser 15 is integrated with the vertical movable member 21 in the radial direction. It is designed to move outward.

When the dimensional error in the radial direction disappears, the horizontal slide plate 4 returns to the initial position by the urging force of the first spring 7, whereby the dispenser 15 moves inward in the radial direction. It will be located in the initial position.

Next, if there is a dimensional error in the height dimension of the coated portion A of the work 17, the vertically movable member 21 is activated. That is, in the vertically movable member 21, the vertical slide plate 11 can move vertically downward along the vertical slide rail 10. Therefore, when the height dimension of the coated portion A has a minus dimension error, when the tip portion of the nozzle 16b of the dispenser 15 rotates along the coated portion A, the minus dimension error occurs. At a certain portion, the vertical slide plate 11 moves vertically with respect to the vertical slide rail 10 against the urging force of the second spring 13, so that the dispenser 15 moves vertically downward. There is.

When the dimensional error in the height direction is eliminated, the vertical slide plate 11 is returned to the initial position by the urging force of the second spring 13, so that the dispenser 15 is moved upward in the vertical direction. Will be located in position.

Therefore, the dimensional error in the radial direction and the height direction in the coated portion A of the work 17 is caused by the movement of the tip end portion of the nozzle 16 b of the dispenser 15 in the horizontal direction and the vertical direction, and thus The two springs 13 are absorbed according to the amount of compression. As a result, the contact state of the nozzle 16b with respect to the coating portion A is always constant regardless of the dimensional error of the work 17, so that the film thickness of the coating agent applied to the coating portion A should be uniform over the entire surface. You can do it.

In the above embodiment, the robot hand 1 is driven to rotate the support member 24 about the axis of the work 17 as a center O, whereby the nozzle 16b of the dispenser 15 is moved to the work. Although the coating is performed while being moved along the coated portion A of 17, it is not limited to this. That is, the support member 24 may be fixed with the dispenser 15 in the initial position, and the work holding member 23 may be rotated in the horizontal direction about the center O. That is, the workpiece 17 may be rotated while the nozzle 16b of the dispenser 15 is in contact with the coated portion A, so that the coating agent is coated on the entire surface of the coated portion A while the workpiece 17 rotates. It is a thing.

[0044]

[Effect of device]

 As described above, according to the present invention, the dispenser is attached to the tip of the robot hand and the robot hand is used to apply the coating agent along the portion to be coated of the workpiece. It is possible to improve the productivity.

Further, the dispenser is operated by the robot hand having an arm mechanism that can move in the horizontal direction and the vertical direction, and at this time, the nozzle of the dispenser is brought into contact with the coated portion of the work by the urging force of the urging member. By applying the coating agent in contact with each other, even if there is a dimensional error in the coated part of the work, the dispenser can measure the dimensional error of the coated part by horizontal movement or vertical movement of the arm mechanism. Can be absorbed. Therefore, the coating accuracy is improved and the quality can be improved.

[Brief description of drawings]

FIG. 1 is a view showing an embodiment of a coating machine according to the present invention.

FIG. 2 is a diagram showing a conventional example.

[Explanation of symbols]

 1 ... Robot hand 2 ... Horizontal plate 3 ... Horizontal slide rail 3a ... Locking surface 4 ... Horizontal slide plate 4a, 11b ... Moving block 5, 11a ... Stopper 6, 12 ... Bolt 6a, 12a ...... Head 7, 13 ...... Spring (biasing member) 8 …… Vertical plate 9 …… Support plate 10 …… Vertical slide rail 11 …… Vertical slide plate 14 …… Mounting clamp 15, 42 …… Dispenser 16a… ... Dispenser body 16b, 43 ... Nozzle 17, 41 ... Work piece 17a, 41a ... Work piece body 17b, 17d, 41b ... Flange portion 17c ... Mounting plate 17e ... Step portion 17f ... Hole 18, 40 ... Work receiving jig 18a …… Holding part 18b …… Pin 19 …… Fixed stand 20 …… Horizontal movable member 21 …… Vertical movable member 2 ...... arm mechanism 23 ...... workpiece holding member 24 ...... support member A ...... target coating portion B ...... coated surface

Claims (1)

[Scope of utility model registration request] 1. A work holding member (2) for holding a work (17) having an annular coated portion (A) forming a step (17e).
A coating machine which holds the coating material on the coating target portion (A) of the work (17) and holds the urging member (7) (1).
3) has a step (17e) of the work (17) at the tip of a robot hand (1) having an arm mechanism (22) that can be moved in the horizontal direction and the vertical direction. A dispenser (15) that can be abutted on is attached to the dispenser (15),
The nozzle (16) is urged in the horizontal direction and the vertical direction by the urging members (7) and (13).
An applicator characterized in that the coating agent is applied to the coated portion (A) in a state where b) is in contact with the coated portion (A) of the work (17).