JPS5867377A - Automatic water honing device - Google Patents

Abstract

PURPOSE:To perform water honing of intricate positions automatically with high productivity by detecting painting defects along the conveying line for substrates, and controlling the operations of automatic water honing robots on the downstream side in accordance with the information on said defects. CONSTITUTION:A substrate 1 such as automotive body 1 which has been undercoated and intercoated is inspected by an inspector 12 in an inspection stage A', and the information on the results thereof is stored in a control board 15 by instructing devices 13R, 13L for defects of painted surfaces. In a correcting and automatic water honing stage B', the contents of the storage of the board 15 are transmitted to a control board 18, by which water honing devices 16R, 16L are operated. After the side surfaces are automatically treated by an automatic water honing machine zone C-1' of a full surface water honing stage C', the substrate goes to a water honing robot 39 for curvature parts of a robot water honing zone C-2', where industrial robots 40, 40' operate to perform water honing for the intricate parts and to correct and perform water hoving for the other parts. The water hoving of the remaining parts is accomplished by industrial robots 41, 41'.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic daffodiling device that automatically daffodils the painted surface of an automobile body, etc., which has undergone the entire undercoating process or intermediate coating process.

Conventionally, daffodil work on automobile bodies has been carried out through the steps shown in Figure 1.

Along the conveyance line 2 of the automobile body 1, an inspection process A;
Repair and correction plumbing process 13. A complete daffodil polishing process is provided, and an automatic daffodil machine zone G-1 and a manual daffodil zone c-2 are provided in the entire daffodil process C. Then, at inspection engineer PII, inspector 3 inspected the painted surface for foreign adhesion and scratches.

Or emit a crater etc. U1.　and mark it.

In the next modified daffodil process B, the operator 4 daffodils the marked portion. [In the L automatic daffodil machine zone C-1, the coating machine [[I11M1- Minute daffodil is done automatically.

Here, the Narcissus machine 5, 6, 7° 8 is equipped with a wheel-type abrasive material in which the abrasive material is arranged radially around the center of rotation, such as a flap abrasive material or a brush abrasive material, and is pressed against the painted surface. Apply it to the painted surface and scrape it.

However, during the conventional modification process mentioned above.

In the modified daffodil process B, the parts to be daffodiled are not fixed, and the worker 4.4 needs to perform the daffodil work in the trench by visually judging the marks made in inspection process A, which requires a large amount of work. This method requires labor and has extremely low productivity.

I cut it. Since the shape of the outer panel of an automobile body has a complex three-dimensional curved surface, unpolished or insufficiently polished surfaces occur in zone C-1 of the automatic daffodil machine. Therefore.

1 worker in manual daffodil zone G-2 9.10.11
However, it is necessary to manually perform correction daffodil, which is 5%.
Also, the relief lines on the body skin and the roof.

For complex areas where the shape changes rapidly, such as in the corners of hoods and luggage, use the automatic daffodil machine zone G-1 described above.
Therefore, we cannot produce enough daffodils.

As is clear from the above explanation, the conventional full-surface Narcissus Hc
However, manual daffodil zone c-2 requires a lot of effort,
The disadvantage is that productivity is extremely low.

The object of the present invention is to fully automate the above-mentioned modified daffodil process B and manual daffodil zone c-2, thereby providing an extremely highly productive automatic daffodil arrangement +ffIL.

The present invention is characterized in that a painted surface defect indicating device is disposed on the conveyance line of the object to be coated at 71y for detecting the position and state of defective coating, and The aim is to automate the daffodil repair work by installing an automatic daffodil robot using an industrial robot etc. on the downstream side and controlling this automatic daffodil robot based on information obtained from a paint surface defect indicator. . That is, the indicating device is located at a position corresponding to the inspection step A in FIG.

Operated by the inspector, the defective coating area and defective coating condition are stored in the control panel for the indicating device. This control panel for the indicating device is connected to the control panel for the robot, and the control panel for the robot In this case, information representing the defective coating area and the condition of the coating defect can be input as electrical signals from the control panel for the indicating device.Then, the control panel for the robot can input this information from the control panel for the modified Daffodil shown in Figure 1. Equivalent to process B
6- Operate an automatic daffodil robot placed at a position according to a predetermined program, thereby correcting areas where paint defects occur on the painted surface.

It does daffodils automatically.

Another feature of the structure of the present invention is that an automatic daffodil machine that daffodils a part of the object to be painted is attached to an industrial robot, and the automatic daffodil machine cannot sufficiently daffodil. This is an automatic daffodil device that is equipped with a daffodil robot for curvature areas that performs daffodils in curvature areas. The 1-curvature water polishing robot is attached to an industrial robot and has a rotating disc type abrasive material attached at right angles to the 1-rotation axis, so it is possible to do daffodils on curved parts. ,Also.

Because it is a small-diameter abrasive, it is possible to polish complex areas.Furthermore, because it is an abrasive that rotates, it is possible to polish fine coatings at high speed. Quality daffodils are now possible.

An embodiment of the present invention will be described below with reference to FIGS. 2 to 8.

FIG. 2 shows a schematic configuration of this embodiment. Along the conveyance line 2 of the automobile body 1, which is the object to be painted, an inspection process AI is carried out on the upstream side of the conveyance line 2. ,Ta. On the downstream side thereof, a modified automatic daffodil process Bl is provided. Painted surface defect indicating devices 13R and 13L are arranged in the inspection process A1, and these painted surface defect indicating devices 138 and 13L are connected to the indicating device control panel 15 by 141 degrees to the signal wiring 14, respectively.

12.1211 Painted surface defect indicator [13 shows the inspector assigned to operate 13L. On the other hand, in the corrected automatic daffodil process B1, daffodil devices 16R, 161, which are made up of industrial robots, are installed, and the daffodil devices 16L and 16L are connected to the signal wiring 17 via the daffodil device control panel, respectively. 181C'g: &je.

And a control panel 15 for the indicating device and a control panel 18 for the daffodil device.
are connected to each other by signal wiring 19.

A detailed diagram of the paint failure indicating device 131'1% (13'L) is shown in FIG. Device 138 (13L) is indicator needle 2
0, and the indicator needle 20 is rotatably attached to the tip of the primary arm 21. The primary arm 21 is rotatably attached to the secondary arm 22, and the secondary arm n is rotatably attached to the tertiary arm O. And 3
The base end of the next arm n is rotatably attached to a swing base 24, and the swing base U is rotatably supported by a base 25.

On the other hand, a rotational connection portion between the indicator needle row and the primary arm 21.

A rotational connection between the primary arm 21 and the secondary arm 22.

A rotational connection between the secondary arm 22 and the tertiary arm n.

A rotational connection between the tertiary arm 23 and the swing base 24.

And, in the rotating connection part between the rotating base Sae and the base δ,
Potentiometers PL, P2., respectively. P3゜P
4. P5 is installed. These potentiometers P1. P2. P3. P4. P5 is provided to detect the position and direction of the tip of the indicator needle row, and this detection signal is transmitted to the indicator control panel 15 via signal wiring 11R, (IIL). In addition, the secondary arm 22
A defective state indicator 26 is attached to the.

This indicator 26 includes a switch 26a for indicating defects on the painted surface such as adhesion of foreign matter, paint flow, and formation of crater-shaped recesses, and a switch 26a for indicating the size and degree of the defect. 261) and potentiometer P1%
P2. P3. P4. A set switch 26c transmits and sets the tip position of the indicator needle row detected at P5 and the set states of the switches 26a and 26b to the control panel 15.
and is provided. That is, set switch 26Q
When is pressed, the location and details of the defect on the painted surface are stored in the control panel 15. Note that n is a signal wiring connecting the instruction section 26 and the control panel 15.

Figure 4 shows a detailed view of Narcissus LM 16R, (16T, ). Narcissus 'Wt, 16R, (16L
) consists of a modified daffodil robot, and a disk-shaped abrasive material 31 rotatably driven by a motor 30 is attached to the wrist portion 4 attached to the tip of the arm portion 28. On the other hand, the modified daffodil robot itself is mounted on the traveling device 32 and is movable. Due to the presence of the traveling device 32, the robot can follow the conveyance direction of the object to be coated, and at the same time can take any relative position in the front and back direction of the object to be coated. Further, due to the presence of the arm portion, the disk abrasive material 311'i can take any position within a plane perpendicular to the traveling direction of the conveyance line 2. Here, the disk abrasive material 31 has an abrasive mixed therein in a direction perpendicular to its axis of rotation, and is implanted with nylon bristles having a rectangular cross section. And the control panel 18
teeth.

It is programmed to command the optimal daffodil operation to the daffodil device 16 (16L) in accordance with a painted surface defect signal transmitted from the control panel 15 via the signal wiring 19 in synchronization with the conveyance of the automobile body 1. .

On the other hand, the automatic daffodil machine 33 is a top daffodil machine 34.

Daffodil machine for side 35.351.36-station, 37.37
1 and a control panel, and the top suction machine and the side suisen [35, 351, . . . , 371] are rotating foil type abrasive pressing type automatic suisen machines.

On the other hand, the suiken robot 39 for the first curvature section is the industrial robot 4.
0.401.41.411, a rotating disk type abrasive material 42 attached to these industrial robots, and a robot control panel. In addition, in FIG. 2, L indicates each driving wiring.

FIG. 5 shows a schematic side view of the top daffodil machine 34, in which the wheel type polishing moon 44 is driven by a motor 45, a pulley 461, a belt 47. It is rotationally driven through the entire pulley 48. Then, a wheel type abrasive material 44, a motor 45, a pulley 4 (j,
The belt 471 pulley 48 is attached to an arm 49, and the arm 49 is supported by a frame 50 via a rotating shaft 51. Arm 49 is.

The cylinder device 52 rotates the wheel abrasive material 44 to conform to the shape of the vehicle body 1.

Figures 6 and 7 show a side daffodil machine 35.35'.

...A plan view and a front cutaway view of 371 are shown, respectively.

The motor 53 drives the pulley 54 . Belt 55. A wheel-type polishing member 57Vi that is rotationally driven via a pulley 56
, attached to arm 58. The arm 58 is connected to the pole mark via the rotating shaft 59.

If you want to make a car body (not shown) a daffodil.

By the action of a weight 62 hanging from the arm 58 via a wire 61, the wheel-shaped abrasive material 57 is pressed against the automobile body with a constant torque. Part 1-
When the daffodil work is completed, the cylinder device 63 is actuated to push the arm 58 and rotate it in the direction of the arm 581rA, thereby separating the wheel-shaped abrasive material 57 from the entire automobile body f.

FIG. 8 shows a perspective view of the daffodil robot 39 for the curvature section,
The industrial robots 40, 4 (1, 41, 41' are arranged on a traveling device 64, follow the conveyance direction of the automobile body, and move to arbitrary relative positions with respect to the longitudinal direction of the automobile body. It is possible.

A tisf-type abrasive material rotatably driven by a motor 67 is attached to the tip of a thousand-key part 66 which can be freely positioned in a plane perpendicular to the direction of movement of the conveyor line by the arm part 65. .

This disk-shaped abrasive material 42 is mixed with an abrasive.

Nylon bristles with a rectangular cross section are planted in a direction perpendicular to the rotation axis. The robot control panel 43 is programmed in advance so that the curvature section daffodil robot 39 performs all predetermined daffodil movements on the automobile body.

The automobile body 1 that has completed the undercoating process or intermediate coating process has its painted surface inspected by the inspector 12.12 in the inspection process AI, and a defective painted surface is detected by the control panel 15 via the paint defect position signal 13 and 13L. be memorized. That is, the tip of the indicator needle 20 is brought into contact with the center of the defective coating area at right angles, and the contents of the defective coating are indicated by the switch 2 (ia
, After setting with 26b, press switch 26Q,
The location and details of the paint defect that occurred on the automobile body 1 are stored in the control panel 15.

Then, when the automobile body 1 reaches the corrected automatic daffodil process Bl, the paint defect position and defect details stored in the control panel 15 are transmitted to the control panel 18 as an electric signal in synchronization with the movement of the automobile body 1. According to the program selected according to this signal, the daffodil devices 168 16L perform the daffodil operation. That is, the traveling device 3 responds to the paint defective position signal.
2, the arm part 28, and the wrist part 29, and the motor 3
The rotating disk-shaped abrasive material 31 is moved to the position of the defective coating by the rotation speed 14.

Furthermore, depending on the coating defect content signal, the disc type abrasive material 3
1) While controlling the amount of pressure applied to the defective area and the amount of one rotation, it performs the operation of scraping the defective area that has occurred on the painted surface. The same applies even if there are multiple defective spots on the painted surface.

Next, the automobile body 1 that has reached the automatic daffodil machine zone C-1 of the entire daffodil process C1 is processed by the top daffodil machine 35.
Most of the hood and luggage are automatically water-sanded, and side water grinders 35.35', 36°361, 37.37
', a part of the side surface is automatically water polished. Next, the car body is covered by a robot ゛Daffodil Zone Q 21
The daffodil robot 39 for the curvature section is reached, and here, the industrial robots 40, 40' operate according to the daffodil motion instructed in advance on the robot control panel 43, and the aforementioned side water rollers 35, 35', 36 In ゜36' and 37.37', waterwork is automatically performed on the remaining complicated parts with shape changes that have not been polished, and correction waterwork is performed on the parts that are insufficiently polished. Then, in the primary industrial robot 41, 41', the top water machine 34 performs water work on the remaining portion that has not been water worked.

In this way, the car body 1 has the daffodil robot 39 for the curvature section.
By passing through, water works will automatically be applied to the entire surface.

In addition, the disk-shaped abrasive material 42 attached to the industrial robot 40.401.41.41' has nylon bristles planted radially around the axis of rotation, and is rotated at 1500 rpm.
A high speed rotation of ~3000 rpm is provided and also.

The diameter of the disc of this disc type abrasive is 5Qmm ~ 1
It has a small diameter of 00mm.

As described above, according to the automatic daffodil apparatus of the present invention, by using an industrial robot, it is possible to achieve extremely high productivity.

In addition, the nylon bristles of the disc-shaped abrasive material adapt to curved parts of the car body, such as pillars, making it possible to sharpen such curved parts.Furthermore, since the abrasive material has a small diameter, it can be used to thoroughly polish complex parts. This has the effect of making water engineering possible.

In addition, since the disc-shaped abrasive rotates at high speed, it is possible to polish fine paint films at high speed.

It is possible to perform high-quality water grinding without streaks, etc., and this brings about the effect that it is possible to perform automatic water grinding of complex parts such as pillar-part palm IJ-fu pure, which was previously impossible.

[Brief explanation of drawings]

Figure 1 is a schematic diagram of the equipment showing the conventional water-refining process.
The figure is a schematic configuration diagram of the automatic daffodil device of the present invention. Figure 3 is a perspective view of the painted surface defect indicator, Figure 4 is a perspective view of the water polishing device, Figure 5 is a partially cutaway side view of the top water heater, and Figure 6 is a plan view of the side water heater. Figure 7 is a side view of the side water pump. FIG. 8 is a perspective view of the Narcissus robot for the curvature section. AI...Inspection process. Mark: Modified automatic daffodil process. CI... Full-scale daffodil process. C-1... Automatic daffodil machine zone. Q21...Robot Narcissus Zone, 1...Car body. 17-2... Conveyance line. 12...Inspector. 13R, 13L...Painted surface defect indicator N. 15...Control panel for indicating device. 16R, 1fliL...Suiken equipment. 18・Fist・-Robot control panel. 34...How many top water units? 35.351.36.36', 37.37'--Daffodil machine for Zaid. Feathers: Control panel. 39...Φ・Daffodil robot for curvature section, '40, 40+,
41.41'・011 Industrial robot. 31, 42... Disk type Kenkishizuki. 43 Fist: Robot control panel. 18-

Claims (1)

[Scope of Claims] (1) A painted surface defect indicating device for detecting a defective position and defective state of the painted surface of the object to be coated is disposed along the conveyance line VC of the object to be coated, The painted surface defect indicating device is connected to a control panel for an indicating device that stores the defective position and the defective state of the painted surface detected by the device, and the device is located downstream of the painted surface defect indicating device on the conveyance line. An automatic daffodil robot for correcting defective parts of the painted surface is provided, and the defective position and defective state are inputted as electrical signals from the control panel for the indicating device. and an automatic daffodil that daffodils a part of the painted surface on a lower fAf side of the automatic daffodil robot on the conveyance line, the robot control panel being provided with a control signal for causing the automatic daffodil robot to correct the defective coating area. A machine is disposed downstream of the automatic daffodil robot on the conveyance line, and downstream or upstream of the automatic daffodil robot,
An automatic daffodil device, characterized in that a daffodil robot for curvature portions is disposed to daffodil the curved portions of the painted surface where daffodils cannot be daffodiled by the automatic daffodil device. (2. In the automatic daffodil device according to claim 1, the painted surface defect indicating device is provided with a primary arm that rotatably supports an indicator needle via a potentiometer, and a potentiometer connected to the primary arm. (3) Scope of Claims Item 1 or 2. In the automatic daffodil apparatus described above, the automatic daffodil robot is configured by an industrial robot capable of handling a disc-shaped abrasive material rotated by a motor. (4) Among claims 1 to 3. The automatic daffodil device according to any one of claims 1 to 4, which comprises a top daffodil machine and a side daffodil machine. (5) Any one of claims 1 to 4. In the automatic daffodil device described in item 1, the automatic daffodil machine is constituted by an abrasive suppression type automatic daffodil machine in the form of a rotating wheel with abrasive sweet tea attached radially to a rotating shaft. (6) Patent Claim In the automatic daffodil apparatus described in any one of the ranges 1 to 5, a rotary disc-type abrasive material is attached in a direction perpendicular to the rotation axis of the hydroponic robot for the curvature section. It is configured by being attached to an industrial robot.