JPS5874166A - Applying device for tacky material - Google Patents

Abstract

PURPOSE:To prevent dead discharge quantity of a tacky material, by providing a discharge nozzle of a tacky agent on an arm of a robot having a continuous locus reproducing function and a sequence operation storing function, and also providing a servo-motor for controlling this discharge quantity. CONSTITUTION:As a robot 6 operates, a main agent and a hardening agent are fed to discharge cylinders 22, 22' from pressure pumps 20, 20'. Through a feed device control panel 35, a servo-motor 31 changes rotational frequency in accordance with an operating signal of the robot 6, that is to say, by a position of a nozzle 15, and varies the discharge quantity. In case when the nozzle 15 is not operated at a constant speed, for instance, a moving speed has been changed comparing with a straight line part, in a curved part and a corner part, a motion of its robot 6 is detected by controllers 35, 37 and 38, the servo- motor 31 is controlled to the discharge quantity of quantity for correcting it, and the discharge quantity of a tacky agent is controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION The disclosed technology is in the field of uniform automatic application of adhesives and the like to the edges of automobile windshields.

Therefore, in this invention, the workpiece such as the windshield glass is set on the workpiece setting table via a jig,
A nozzle operating device installed on the side of the set table flanges a viscous material discharge nozzle and operates to continuously cover the set part of the workpiece, and quantitatively dispenses viscous material such as adhesive from the viscous material supply device. This invention relates to a viscous material coating device that automatically and uniformly coats the material, and in particular, the nozzle actuating device has a high degree of freedom, a six-dimensional continuous trajectory reproducing function, and a sequence operation memory function. The robot has an arm that flanges the viscous material discharge nozzle, and the viscous material supply device connects the discharge cylinder connected to the viscous material pressure pump with a servo motor. The machine is operated by the machine, and the amount of feed to the discharge nozzle is changed depending on the conditions of the application site to make the amount of application uniform.
This invention relates to a viscous material coating device in which a control device changes the rotational speed of the motor in response to an operation signal transmitted from the robot.

As is well known, there are many products in which a viscous material such as an adhesive is applied.For example, when attaching and fixing an automobile windshield glass to a wind frame panel, the adhesive is applied around the edge of the windshield glass.

To illustrate in FIGS. 1 and 2, after a dam 3 is bonded to a predetermined entire peripheral edge of a windshield glass 1 via an already applied adhesive 2, an adhesive 4 is applied to the outside of the dam 3. It is necessary that the material 4 is applied uniformly around the entire circumference without protruding beyond the edge of the windshield glass 1, and at a set height higher than the dam 3, otherwise the sealing function against water leakage will not be complete. There may be problems such as missing or protruding from the panel.

By the way, regarding the technique of applying the adhesive 4 to the windshield glass 1, the windshield glass 1 is set on a rotating setting table via a jig, and the discharge nozzle is held and rotated by an operator. The general method is to apply the adhesive 4 by discharging it to follow the edges of the Wind Inil P glass, which has the drawbacks of being extremely primitive and requiring a high level of skill from the operator, and is not suitable for mass production. There is also the disadvantage that there is variation, and this also has the disadvantage of leading to higher costs through increased consumption of adhesive material.

To deal with this, a mechanical automatic coating device has been developed that uses a presser spring to press the discharge nozzle against the rotating windshield glass set on a rotating set table and automatically traces the coating onto the windshield glass. Because the relative speed with respect to the discharge nozzle is different between the general part of the periphery and the corner part, it is not possible to uniformly discharge the adhesive, that is, to apply it uniformly, and the above-mentioned problems have not been solved in the corner part. there were.

In view of the problems of viscous material dispensing based on the above-mentioned prior art, the purpose of this invention is to dispose viscous material using a robot installed in an operating area that can cover the work by placing the work on a setting table. The gun is configured to be capable of reproducing the set trajectory, and the discharge cylinder operation for the nozzle is controlled via a control device according to the position and speed of the nozzle relative to the workpiece by the function of storing the operation contents of the gun. It is an object of the present invention to provide an excellent viscous material applicator in which the application state of the viscous material over the entire area is uniform at set portions and set sections.

The structure of the present invention that meets the above-mentioned purpose is to set a workpiece on a setting table via a jig, and a robot moves three-dimensionally along a set trajectory against the patterned workpiece with a nozzle in a cylinder with an arm. At the same time, the pressure pump feeds the viscous material to the discharge cylinder, and the servo motor that operates the discharge cylinder controls changes in the position and relative speed of the nozzle via the control device by the sequence memorization operation of the robot. Therefore, the amount of viscous material discharged from the nozzle changes, and as a result, the state of the applied viscous material at all positions is made to be a uniform bead, the same posture, and the same cross section. It is something to do.

Next, one embodiment of the present invention will be described below based on the drawings from FIG. 6 onwards. Note that the same parts as those in the embodiment shown in FIGS. 1-2 will be explained using the same reference numerals.

Reference numeral 5 denotes a viscous material applicator which constitutes the gist of the present invention, and in the embodiment, an automobile windshield is shown as an apparatus for applying an adhesive 4 as a viscous material to a wind frame panel using a lath 1 as a workpiece. ing.

Therefore, 6 is a robot as a nozzle operating device,
It is a commercially available articulated robot with five degrees of freedom and capable of three-dimensional movement, and has a continuous trajectory reproducing function, which is a so-called CP control function, and a function of storing sequence operation contents.

A clamp 8 at the tip of the arm of the mouthpiece 6 is attached to a stand 9, which holds a mixer 10 and a sweepel joint 11,1.
2. A discharge nozzle 15 provided by a flexible hose 14 is held via a fitting 13 so as to be movable in three dimensions.

Reference numeral 16 denotes a work setting table, on which a windshield glass 1 to which a dam 3 is bonded as a work is set in advance via a positioning jig 17, and a proximity switch 1B is configured to determine the type of the work 1. There is.

19 is a viscous material supply device, which includes a pressure pump 20 for the main agent forming the adhesive 4 and a pressure pump f2 for the curing agent.
0' is connected to the discharge cylinders 22 and 2 through pipes 21 and 21'.
2', and from the discharge cylinders 22, 22', discharge pipes 23, 23' cut off the adhesive at the time of setting,
It passes through a shut-off pulp 24 that prevents dripping and is connected to the mixer 10.

The discharge cylinders 22 and 22' are equipped with a four-way valve 2.
5 and 25' are connected by a lock r26.

In addition, a rod F2B for fixing the pistons 27 and 27' is loosely inserted into the discharge cylinders 22 and 22', and the tip thereof has a dog 30 that engages the limit switches 29 and 29'.
, 30' are provided, while a servo motor 31 is provided at the rear end.
It is connected to the output shaft of a ball screw jack 32 which is connected to the.

Reference numeral 33 designates a control wheel for the operator, which is installed at a location where it is easy to work, and equipped with start buttons <, ), S', (abnormal location indicator lamp, work selection runzo, etc.) to make it easier for the operator to use the system. It looks like it.

34 is a control device, among which a control panel 35 of the supply device;
receives an input signal caused by the actuation of the limit switches 29 and 29' of the dogs 30°30' due to the movement of the rod 28, and switches the rotation of the servo motor 31 between forward and reverse directions, and the four-way valve 25°25 ' at the same time, input the rotation speed of the servo motor 31,
The display is digitally displayed, and the rotation speed of the servo motor 31 can be changed using a dial 36.
Further, the shaft-off pulp 24 is also controlled.

Reference numeral 37 denotes a robot control panel, which has a function of controlling during teaching and input/output signals for each position of the nozzle 15, and is electrically connected to a control panel 38. When the type of workpiece is determined by the proximity switch 18, the discrimination signal '-6 is used to select the part of the workpiece 1, e.g. The number of revolutions of the servo motor 31 is programmatically controlled in response to operation signals from the robot 6 for straight sections, curved sections, and corner sections, and the amount of adhesive discharged is selectively changed. Nozzle 1 for workpiece 1
The moving speed of 5 and the amount of adhesive discharged are controlled.

The operation of the viscous material coating device 5 having the above-mentioned configuration is explained in Section 5a.

To explain with reference to the flowchart of the work procedure shown in Figure 5b, after completing each preparation and check, the windshield glass work 1 to which the dam 3 has been attached in advance is set on the setting table 16 via the positioning jig 17, and the set work When the robot 6 is activated via the operation panel 33 after checking whether it is the type of the workpiece with the proximity switch 18/, the robot 6 follows a memorized trajectory according to the type of workpiece, for example, when the windshield is at the measurement position outside the dam 3 The nozzle 15 operates six-dimensionally around the end of the nozzle 15.

In this case, the robot is originally moved at a constant speed to all straight sections, curved sections, and corner sections according to the stored sequence operation.

On the other hand, along with the operation of the cough cutter 6, the pressure feeder 20,
From 20', the main agent and curing agent are discharged from cylinders 22, 22.
', and the servo motor 31 is operated via the supply device control panel 35 in response to the operation signal of the nozzle 6, that is, the nozzle 15
The rotation speed can be changed depending on the position, and the discharge amount can be changed.

Incidentally, the travel speed of the nozzle 15 with the mouth 6 is set constant in advance, but if it changes unexpectedly, the rotation of the servo motor 31 is immediately changed according to the amount of change. The adhesive material 4 on the outside of the dam 3 is always discharged so as to have an electric cross section and a fixed posture, and is made uniform over the entire area.

During this time, from the discharge cylinders 22, 22' to the piston 27
, 27', the main agent and the curing agent are mixed in the mixer 10 through the shut-off pulp 24, and then passed through the nozzle 15.
The WinP shield glass 1 is discharged from the dam 3 to the outside of the dam 3.
It is applied to the surface according to the settings.

During this time, the nozzle purging, wiping, and abnormality detection procedures are as shown in the flowchart of Fig. s'atsb.

When the nozzle 15 returns to the initial position after completing one revolution, the feeder control panel 35 immediately closes the shut-off bulge 24' in response to an operation signal from the robot 6 to prevent dripping.

During this time, when the rod 28 reaches its stroke end, its dog 30 (30') operates the limit switch 29 (29'), and the servo motor 31 is rotated in the reverse direction via the supply device control panel 35. Valve 25, 2
5' is switched, and the continuous and stable discharge of the adhesive is ensured by the return motion of the main agent and curing agent from the pressure pumps 20 and 20' and from the cylinders 22 and 22'.

Then, the applied state of the adhesive 4 can be visually checked during the work, or if an excess or deficiency is unexpectedly found, the amount can be increased or decreased by operating the dial 36 of the supply device control panel 35.

It is needless to say that the embodiments of the present invention are not limited to the above-mentioned embodiments.1 For example, the viscous material is not limited to the adhesive material, but also the filler material. However, the supply system may also be 6 or more liquids.
As described above, according to the present invention, in the apparatus for applying a viscous material to a predetermined part of the workpiece, the workpiece can be coated with a single liquid, and the design of the apparatus can be changed freely. By installing a robot with a continuous trajectory playback function and a sequence motion memory function on the side of the set table, and flange a nozzle for discharging viscous material on its arm that can move in three dimensions, it is possible to basically The viscous material can be applied automatically to the three-dimensional surface of the workpiece, and it can be done accurately and reproducibly, so the operator does not need any skill, and mass production is possible with the same precision and efficiency. Excellent effects are produced.

Therefore, there is no waste in the amount of viscous material used, which has an excellent effect of reducing costs.

Since the robot has a sequence motion memory function, it is possible to move the flange nozzle at a constant speed along a predetermined trajectory, and therefore e#fc7em#
. It's 3゜-1゜8ゎ, yoHo.

- It has the effect of maintaining accuracy.

Furthermore, since a pressure pump is provided for the discharge cylinder connected to the discharge nozzle, the discharge cylinder is always kept in a full state, and the servo motor for driving the discharge cylinder is electrically connected to the outlet via the control device. By connecting to the is the control device G
This is detected and the servo motor is controlled to a discharge amount that corrects it. Therefore, from this point of view as well, an excellent effect is achieved in which the viscous material is reliably applied uniformly over the entire area in a constant cross section and in a constant posture. Ru.

[Brief explanation of drawings]

Figure 1 is a cross-sectional explanatory diagram of the application state of the viscous material to the workpiece;
Fig. 2 is a perspective view of the opening, Fig. 3 and the following are explanatory views of one embodiment of the present invention, Fig. 3 is an explanatory view of the entire display, and Fig. 4 is an explanatory view of the mechanism of the viscous material supply device. , Chapter 5a
, 5b is a flowchart explanatory diagram of the work procedure. 16... Work set table, 6... Nozzle operating device (robot), 19... Viscous material supply device, 5... Viscous material coating device, 15...
Nozzle, 7...Arm, 20.20'...
Pressure pump, 31...Servo motor, 22, 22'...Discharge cylinder, 35.37.38...Control device Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 3 Fig. 5b Fig. 50

Claims (1)

[Claims] A viscous material application device consisting of a workpiece set table, a nozzle actuator installed on the side of the workpiece set table, a viscous material supply device for the nozzle, and a control device for the nozzle actuator and the viscous material feeder. The nozzle actuating device is a mouthpiece having a continuous trajectory reproducing function and a sequence operation memory function having an arm that flanges a viscous material discharging nozzle, and the viscous material supplying device A viscous material having a discharge cylinder connected to a pressure pump and driven by a servo motor, the control device being electrically connected to the servo motor and the robot. Coating device