JPS5997876A - Method of wiping panel off and chip grasping hand used for said method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a panel wiping method and a chip gripping hand used in the method.

Car window glasses are generally attached to the car body with adhesive. To explain this installation in more detail, in order to improve the appearance of the adhesive part of the window glass, a black printing print is applied to the outer periphery of the window glass in advance.
Primer (adhesive agent) and adhesive were applied to this outer periphery to attach it to the car body.

However, this installation requires printing on the outer periphery of the window glass, making it expensive. In order to solve this problem, the applicant added a function to the primer that improves its appearance, that is, it is easy to apply to the outer periphery of the window glass with a uniform film thickness, and the parting line clearly appears when the window glass is coated. We researched a method that allows it to be attached to the vehicle body simply by applying primer and then adhesive. When applying the primer in the process of establishing this method, if the glass surface is dirty or has fat from fingers or other objects on it, the adhesive may peel off after the window glass is attached to the car body, making it difficult to install the window glass. We have found a problem in that the coating becomes insufficient, and fingerprints and the like stand out in white, spoiling the appearance. Although the sacrificial assembly process in which window glass is installed is one of the cleanest parts of the automobile assembly process, fat may adhere to the window glass due to manual handling during transportation to the factory or during storage. Or get covered in dust.

Therefore, the purpose of the present invention is to use a robot to wipe off this fat or dust, but since each window glass gets dirty in different ways, if you try to use the chip repeatedly to wipe the window glass, the chip will get dirty. You need to keep an eye on it and throw away the chips when they become more than a certain level of dirt. Monitoring this contamination requires a considerable investment in equipment and is expensive. Therefore, the present invention uses a robot to wipe the window glass with a chip, and by discarding the chip after each wipe, this can be done at low cost without requiring monitoring.

Note that the term "panel" includes glass plates, copper plates, plastic plates, etc.

The gist of the panel wiping method according to the present invention is that a chip gripping hand fixed to the tip of a robot arm grips a fixed amount of chips supplied from a chip supply device, and the chips are wiped off the panel. It automatically slides along the removal area, supplies wiping agent toward the chip during wiping, releases the grip on the chip after wiping, and discards the chip each time it is wiped. It is in.

In addition, the gist of the chip gripping hand according to the present invention is that it includes a base member fixed to a robot arm, and a hand that removably holds chips attached to the base member and supplied in fixed amounts from a chip supply device. The tip gripping hand has a clamping member, and has a tip end of a wiping agent supply tube and a tip end of an air discharge tube proximate to the clamping member.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

FIG. 1 is a perspective view schematically showing a degreasing process system for an automobile window glass 1. As shown in FIG. In FIG. 1, a window glass 1 is placed on two plane shuttlepers 2 extending in parallel and moved, and when it reaches a predetermined position, a lifter 3 is activated and the four corners are suctioned and fixed with a suction plate 4. A chip gripping hand H is attached to the tip of the state arm Ra. A chip supply device C is installed near the chip gripping hand H to supply a certain amount of degreasing chips to the chip gripping hand H based on teaching information from the robot R. A storage tank 5 for supplying a degreasing agent to the robot H and a control device 6 for controlling the operation of the chip gripping node H are installed behind the robot H.

In this embodiment, the chip gripping hand H has a pneumatic cylinder 1 as a base member, as shown in FIGS. At the same time, a pneumatic cylinder 8 as an actuator is fixed to the tip of the piston rod 7a with a screw 9, and a piston rod 10 of the pneumatic cylinder 8 is fixed to the tip of the piston rod 7a as shown in FIG. To,
For example, a pair of clamp arms 12a as clamp members are connected via a link mechanism 11.

12b, as well as the air supply from the air supply tube 14 communicating with the lower chamber 13 of the pneumatic cylinder 8 and the atmosphere opening hole 15, as shown by the solid line and two-dot chain line in FIG.
Return spring 17 built into the royal house 16 with
The piston rod 1 operated by the return force of
Clamp arms 12a, 12 according to the forward and backward movements of
b is configured to open and close. Chips 37 are provided on the inner walls of the clamp arms 12a and 12b.
Wide clamping pieces 18a and 18b for clamping are provided on the port 19, respectively. This clamp piece 1
The inner walls of 8a and 18b are formed in an uneven shape to increase the sliding contact resistance, and one of the clamping pieces 18b has an abbreviated backup member 20 that serves as a sliding contact guide for the chip during degreasing. It is pasted. Note that this backup member 20 is formed into a predetermined shape using an elastic pad or a brush. Further, a degreasing agent supply tube 21 is attached to the lower part of the pneumatic cylinder 8 , and the tip of this degreasing agent supplying tube 21 is directed toward the chip 37 . In this embodiment, the tip of the degreasing agent supply tube 21 is provided close to the clamp arm 12a so that the degreasing agent is supplied to the sliding surface in front of the tip 37 in the sliding direction. It is also possible to arrange the degreasing agent so as to reach the up member 20 or the tip 3T, and to soak the degreaser directly into the tip.

Note that the degreasing agent supply tube 21 supplies the degreasing agent at a ratio t=;
It is connected to a tank 5 that stores ethyl acetate, which is used as a degreasing agent, for example, via a control device 6 that incorporates a metering pump that pumps a metered amount. Further, the lower part of the pneumatic cylinder 8 has an air discharge tube 23 attached thereto, and the discharge nozzle portion 24 formed at the tip of the air discharge tube 23 reaches a position near the upper part between the clamping pieces 18a and 18b, and It is arranged facing downward.

In this embodiment, the air discharged from the discharge nozzle section 24 is the exhaust pressure air from the pneumatic cylinder 8, and the air supplied from the air supply piped inside the control device 6 as shown in FIGS. 4 and 5. Pulp 26 of solenoid valve 25 connecting tube 14 and air discharge tube 23.
It is controlled by 27 switching.

Furthermore, the clamp arms 12a, 12b and the clamping piece 18a
.

18b and the back amplifier member 20, horizontally penetrating holes 28a, 28a are formed in a straight line, and an optical fiber for chip detection extending from the control device 6 is inserted into the hole 28a on one side of the clamp arm 12a. The tip of No. 29 has been inserted. This optical fiber 29 is used as a transmissive light sensor using this optical fiber,
It is designed to be activated when light transmission through the pores 28a and 28b is blocked.

The chip gripping node H having the above configuration is assembled to the robot H by fixing the mounting 7 flange 30 of the pneumatic cylinder 7 to the end mounting portion of the robot arm Ra with a screw 31. )R performs a predetermined teaching operation, and causes the chip gripping hand H to grip the chip and move the peripheral edge of the window glass 1 in response to a command signal from the control device w6.

On the other hand, the chip supply device C includes a pair of feed rollers 34a attached to a support stand 33, as shown in FIG.
A cotton cloth 35 as a chip material is rolled up between 34b and a certain amount is rolled up and cut by a cutter 36 operated by an air cylinder 32 with a tap roller.
1. Winding up the cotton cloth 35 is as follows:
Motor 3 that rotationally drives one feed roller 34a
8, and feed rollers 34a, 34
A pair of photoelectric switches 39 provided at a predetermined position above b
The amount of winding of the cotton cloth 35 is detected by a and 39b. The rolled cotton cloth 35, cutter 36, mower 38, and photoelectric switch 39 are also attached to the support base 33 in the same way as the feed roller 34. Reference numeral 40 is a used chip discharge container. In this embodiment, a cotton cloth 35 is used as the chip material because the cotton cloth 35 has water absorption properties and does not form fluff when melted. If so, cotton cloth 3
It can also be used with items other than 5. However, without using the cutter 36 as described above as a means for supplying the chips 37,
Perforations are made in a rolled or folded cotton cloth 35 for each size of the chip 37, and after being held by the chip gripping hand 1, the cloth is pulled and cut, or it is cut to the size of the chip from the beginning. The cotton cloth may be held by the chip holding hands H.

Next, a degreasing process for the automobile window glass 1 using the apparatus according to the above embodiment will be explained.

First, as shown in FIG. 2, the robot R moves the chip gripping node H to the feed roller 34a of the chip supply device C based on the teaching information.

34b to a position near the top. In this state, an arrival signal is sent from the robot R to the control device 6,
The motor 38 drives the feed rollers 34a, 34.
b is rotated to wind up the cotton cloth 35.

Then, the photoelectric switches 39a and 39b detect the passage of the cotton cloth 35 after it has been rolled up a certain amount, and the rotation of the motor 38 is stopped in response to the detection signal. Next, as shown in FIG. 4, the solenoid pulp 25 is actuated to connect one pulp 26 to the air supply source 41:
4 is connected to supply air at a predetermined pressure into the lower chamber 13 of the pneumatic cylinder 8. Then, the piston rod 10 is moved back, the clamp arms 12a and 12b are closed, and the clamping piece 1 is closed.
The upper end of the cotton cloth 35 is held between 8a and 18b. Then, the switch is activated by blocking the transmission of light from the optical fiber 29 with the cotton cloth 35, and the cutter 36 is activated by a command signal from the control device 6 to cut the cotton cloth 35 into chips 31. As shown in FIGS. 1 and 3, the chip gripping node H with the chip 37 gripped at the tip is moved around the periphery of the window glass 1 set in a predetermined position by the lifter 3 according to the following teaching information. The chip 37 moves upward, and then lowers to a position where the chip 37 contacts the window glass 1 in the next operation. In this state, the metering pump starts operating in response to a designated signal from the control device 6, and the robot R moves the tip gripping hand H along the periphery of the window glass 1. At this time, the degreasing agent pumped from the metering pump is delivered from the tip of the degreasing agent supply tube 21 to the front side of the chip 370 in a drip form and in fixed amounts, and this degreasing agent is brought into sliding contact at step 37. Wipe off fat and dirt adhering to the window glass 1. In this case, since the chip 37 is pressed against the window glass 1 surface by the spring action of the pneumatic cylinder 7, the window glass 1
Since the chip 37 does not move to follow the variation in the vertical direction of the surface, degreasing etc. can be carried out sufficiently. When the tip gripping hand H has gone around the periphery of the window glass 10, a degreasing end signal is issued, the supply of degreasing agent from the metering pump is stopped, and the tip gripping hand H
rises to a position away from the window glass 1. Then, after returning to the specified position, an arrival signal is issued,
As shown in FIG. 5, the solenoid pulp 25 is the pulp 2T.
Switch to the side. Therefore, the air supply from the air supply source 41 is stopped, and the restoring force of the return spring 17 pushes down the piston rod 10, causing the link mechanism 11 to
via the clamp arm 12a.

Open 12b. Furthermore, the above-mentioned operation of the solenoid pulp 25 connects the air supply tube 14 and the air discharge tube 23, and the lowering of the piston rod 10 causes the exhaust pressure air from the lower chamber 13 of the pneumatic cylinder 8 to flow through the air discharge tube 23. The compressed air is discharged from the discharge nozzle portion 24 toward the chip 37 as compressed air. Therefore, the chip 37 is forcibly blown away by the air pressure.
It is discarded into a discharge container 40 provided below. In this state, one degreasing process is completed, and the chip supply device C
Return to the upper position to prepare for the next degreasing process.

In the above embodiment, exhaust air from the pneumatic cylinder 8 is used as the discharge air, but it goes without saying that a separate air supply source may be provided.

In addition, in the above embodiment, the pneumatic cylinder I is used as the pace member of the tip gripping node H, but it is not necessarily limited to this, and for example, a member with a built-in spring can be designed as appropriate. You can change it. Furthermore, regarding the clamp member of the chip gripping hand H and its actuator, see 1. Any device may be selected as long as it can grip the chip, and it goes without saying that confirmation of gripping of the chip by the clamp member is not limited to the detection means using a transmissive sensor using an optical fiber.

In the above embodiment, the example of the member to be degreased is automobile window glass, but it is of course not limited to this, and it is not limited to degreasing. Of course, the present invention can be applied to means. Further, the wiping agent is not limited to ethyl acetate, and it goes without saying that commonly known degreasing agents can be used.

As explained above, according to the panel wiping method according to the present invention, it is possible to replace the tip and wipe the panel each time without human intervention, and the wiping operation is completed in nine wiping operations. We were able to achieve automation.

Further, according to the chip gripping hand according to the present invention, it is possible to grip the chip in a removable manner, and to dispose of the chip that is no longer needed without human intervention. automatically supplied,
We were able to achieve automation of wiping vegetables using chips.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an automobile window glass wiping process system according to an embodiment of the present invention, FIG. 2 is a perspective view of an embodiment of a chip gripping hand and a chip supply device, and FIG. The front view of the chip gripping hand, and FIGS. 4 and 5 are operational diagrams of the chip gripping hand. 1... Window glass (panel) 1... Pneumatic cylinder (base member) 12a, 12b... Clamp arm (clamp member) 21... Wiping agent supply tube (degreasing agent supply tube) 23... Air discharge tube 37... Chip C... Chip supply device H
...Chip gripping hand R...Robot Ra...Robot arm Fig. 4 Fig. 5 44

Claims (1)

[Claims] A chip gripping hand I fixed to the tip of a robot arm (Ra) grips a chip supply device (a chip (37) that is supplied in a fixed amount starting from 0), and this chip (
The tip (37) is automatically moved along the wiping area of the panel (1), and the tip (37) is moved automatically during the wiping process.
A method for wiping a panel, characterized in that a wiping agent is supplied toward the panel, and after wiping is completed, the gripping state of the tip (37) is released so that the tip (37) is placed on it. (2) A pace member (force) fixed to the robot arm (Ra), and a fixed amount of chips (C) supplied from the chip supply device (C) attached to this pace member (7).
Clamp member (12a) that removably clamps 37)
(12b), and this clamp (12a
)Q2b) A chip gripping hand characterized in that a tip of a wiping agent supply tube 0υ and a tip of an air discharge tube (2j) are provided in close proximity to Q2b).