JPS61181563A - Coating apparatus for high-viscosity material - Google Patents

Abstract

PURPOSE:To perform the sealing of a mating surface of a member in the required precision and the small bead by providing a nozzle and a gun block freely rockingly on a base plate and providing a pair-work guide on a nozzle shaft. CONSTITUTION:In case of coating a high-viscosity material such as a sealer in a mating surface of the material to be coated in order not to be interfered with a member of the material to be coated, a sealer coating apparatus 5 is constituted by providing a pair-work guide 39 to an extended nozzle shaft 33 of a block 7 which is pivoted freely rockingly on a spherical bearing 35 of a based plate 6. A discharge hole of a nozzle tip is provided freely attachably and detachably to the pair-work guide 39. In such a way, since the guide is faced to a working reference surface and the nozzle tip of the nozzle is rocked, the working error and the irregularity of a position of the members mutually connected are absorbed and thereby the coating and the blowing are surely performed in a fine bead.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The technology disclosed herein belongs to the technical field of applying a high-viscosity material such as a sealer material to the joints of objects to be coated so as not to interfere with the members of the objects.

Therefore, the invention of this application is an automatic II! This invention relates to a high-viscosity material coating device that seals the seams of a workpiece made up of a plurality of members that are integrally constructed while having a mutual positional relationship or posture relationship in a painting process. In particular, the nozzle and gun block are swingably provided via ball bearings on a base plate that can be freely attached to the wrist of a robot or the like that has two or more degrees of freedom of movement, or are restrained by a stopper or the like. A high viscosity material applicator is provided through a separating device, and a nozzle shaft is provided with a workpiece guide, and a discharge hole of the nozzle is formed so as to be freely offset with respect to the guide. This is such an invention.

<Prior Art> As is well known, for example, in the body painting process of an automobile manufacturing factory, a sealer filler is applied as a predetermined sealing material along the seams of predetermined panels joined by spot welding or the like to form the body. There is a sealing process, such as coating the body, to prevent precipitation from leaking around the body, and technology to prevent rust and corrosion.

Therefore, in conventional sealing devices that automatically seal the seams of these types of panels, such as those using playback type painting robots, the seams of the panels may be caused by misalignment of the center of the body transport conveyor, etc. Due to cumulative errors such as loading misalignment between the body and the truck or jig on which the body is loaded, and errors in the assembly of the body itself, it is unavoidable that misalignment occurs for each automobile body. There is a problem in that it is difficult to maintain a constant relative position between the body and the sealing device during operation and to accurately apply the sealer material to the panel joints.

In particular, in addition to the above-mentioned errors, the application of sealant to parts of the car body such as doors, hoods, trunk lids, etc.
Furthermore, there are also errors in the installation process, and unlike traditional manual methods, it is difficult to flexibly absorb errors and apply sealant with a thin bead along the joint, making it impossible to ensure accuracy. there were.

To deal with this, the following systems have recently been devised to deal with the sealing of the automobile body.

One of them is to set a sealing device on the body shell or a door panel installed on it, detect the misalignment of the set position, and add the detected misalignment to the operating program of the sealing device as a correction amount. A detection signal of the detected positional deviation between the panel seam and the target point of the coating device is input as a feedback signal to control the sealing device into a system or coating device that performs sealing after feedback and eliminating positional deviation. There are also systems that have a control function that allows the aim point to match the seam.

<Problems to be Solved by the Invention> However, in the conventional systems of this kind, particularly in the case of a system in which the sealing device is used for a structure having a complex three-dimensional curved surface such as an automobile body, It has the disadvantage that the structure of the position detection part and the control part is complicated and expensive, and furthermore, in the former, it takes a considerable amount of time to detect and correct the operation program, leading to a loss of work time of the robot. Regarding the latter, it is necessary to install a detection section on or near the application device itself, and therefore the detection section interferes with the body components and the application range is significantly limited. There was this inconvenience.

Therefore, due to such practical reasons, devices have been adopted in which a coating device suitable for each part is attached to a dedicated sealing device and can be applied to a predetermined area of the body. The installed equipment not only increases the number of sealing devices required, but also increases the number of sealing processes, resulting in an increase in space and cost.Furthermore, the robot used as the sealing device will be specialized for each part. , it has the disadvantage of being less responsive to changes in vehicle models, etc.

In addition, there were various disadvantages such as a lot of waste in the robot's movements and an increase in the number of necessary steps.

Until now, there have been only a limited number of robots that can apply coatings on doors, etc., at the same speed and accuracy that was conventionally done by hand. ± 1 to 211 according to the teaching of
Since an accuracy of about 1I11 is required, there is an undesirable point that a large number of complicated man-hours are required for teaching.

Based on this background, commercially available industrial playback robots can be used as a sealing device without modification, and they can also be used as a sealing device without interfering with the components of complex three-dimensional structures such as automobile bodies. A versatile, low-cost coating that has a simple and compact configuration, occupies small space, does not limit the work process, requires only a small number of teaching steps for each part, and can perform coating with sufficient accuracy. The device was desired.

<Technical Problem to be Solved> The purpose of the invention of this application is to solve the problem of sealing joints of workpieces such as automobile bodies having complex three-dimensional curved surfaces based on the above-mentioned prior art. It can be attached to industrial robots such as commercially available playback type robots without interfering with complex components such as car bodies, and provides a high degree of freedom in work without specifying or limiting the work area. It can be applied to each sealing area with sufficient accuracy, has a structure that is easy to maintain, inspect, and manage, and has a wide range of versatility and high reliability.
To provide an excellent high viscosity material coating device which is low in cost, minimizes the number of steps and robots, and reduces teaching man-hours, thereby benefiting processing applications in the manufacturing industry. It is something.

<Technical means/effects for solving the problem> In accordance with the above-mentioned purpose, the structure of the invention of this application, which is summarized in the claims mentioned above, is to solve the above-mentioned problem. When sealing a seam that does not have a guide surface for the sealing part, use a restraining separation device such as a stopper provided on the gun body block to fix the gun body block and nozzle shaft to the base plate of the sealing device. Then, the nozzle at the tip of the nozzle shaft is directed to a predetermined sealing area, and the sealing device is used to move and direct the gun body block and the nozzle shaft to a predetermined position to teach and perform the predetermined coating and spraying work. Then, when sealing a hemming seam of a door panel assembly that has a reference surface on the workpiece as a guide during coating work, the above-mentioned restraint separation device is separated from the gun body block so that the guide faces the workpiece reference surface, By moving the nozzle tip of the nozzle one step, the discharge port is taught to be close to and away from the guide attached to the shaft in a predetermined manner, and the coating and spraying operations are performed in a predetermined manner, and in this way they are interconnected. Technical measures have been taken to assemble the parts to each other to absorb errors, positional deviations, trajectory errors, etc., and to ensure coating and spraying with a convergent bead.

<Embodiments - Configuration> Next, embodiments of the invention of this application will be described below based on the drawings.

In the embodiments shown in Figures 1 to 11, as shown in Figure 3,
In this embodiment, a car body 1 is sealed by a robot 2 as a sealing device.A coating device 5 is attached to the tip of a twist shaft 4 of a wrist 3 having three degrees of freedom of the robot 2, and the twist shaft 4 is coaxial with the robot 2. The details of the structure are provided in Section 1.2.
It is configured as shown in the figure.

That is, the applicator 5 is equipped with a gun body 7 that serves as a block body for discharging sealer material, and a sealer that supplies a sealer (not shown) as a predetermined sealant is attached to the lower side surface of the gun body 7. A supply port 8 is drilled and opens to a gun extension 9 fixed to the lower part thereof with a bolt or the like (not shown).

A nozzle base 12 in which a needle seat 11 is inserted through a gasket 10 is firmly screwed below the gun extension 9, and furthermore, a nozzle gasket 13 is clamped on the nozzle base 12. The nozzle tip 14 is screwed onto a nozzle holder 15 to be pressed and fixed.

Further, a cylinder 1G is fixed to the upper part of the gun body 7, and a needle shaft 17 is fixedly extended downward to the needle seat 11, and a piston 19, which is integrally fixed with a nut 18, connects a ring packing 20. It is slidable within the cylinder 16 via the cylinder 16.

Furthermore, the cylinder 16 is disposed on the midway side of the gun body 7.
A gun air supply port 21 communicating with the cylinder 16 is drilled and opened, and a cylinder base 22 is interposed at the bottom of the cylinder 16 and fixed with bolts (not shown). The cylinder 16 is kept airtight by a base ring 24 and a cap O-ring 25, which are fixed with bolts.

On the other hand, the needle shaft 17 and the cylinder base 22
An O-ring 26 is also inserted between the two, and the plate 27 is fixedly sealed.

Therefore, the gun body 1 has a gun extension 9.
, and the nozzle base 12, it forms a so-called airless gun.

Furthermore, on one side of the cylinder cap 23, there is a gun o.
ff air supply port 28 is bored and opened.

Furthermore, a pressure spring 29 is interposed between the cylinder cap 23 and the piston 19 to press the piston 19 downward to ensure a seal between the cylinder cap 23 and the needle shaft 17. .

In addition, in order to ensure sealing between the sealer supply port 8 and the needle shaft 11, a packing 30 and a V packing presser 31 are inserted into the gun body 7 and extend downward from the gun extension 9 to the nozzle 32. This ensures sealing between the nozzle shaft 33 and the needle shaft 17 with respect to the ring-shaped passage 34.

On the other hand, the gun extension 9 is supported by the lower end of the base plate 6 via a ball bearing 35, and firmly fits and supports the gun body block and the gun nozzle so that they can integrally rotate within a 360° angle. .

Then, the tip of the base plate 6 and the nozzle shaft 3
Between the holder flange 36 fixed in the middle of 3,
A rocking spring 31 is disposed externally on the nozzle shaft 33 and elastically supports the nozzle 32.

The guide holder 38 integrally attaches the guide bin 39 as a guide to the outer surface of the nozzle shaft 33 from the holder 7 flange 36 to the vicinity of the attachment portion of the nozzle base 12 below it. It is provided so as to extend downwardly through a stroke ball bearing 40, and is mounted along the nozzle shaft 33 so as to be slidable up and down in the axial direction thereof.A spring 39 provided on the outside of the nozzle shaft 33 The guide bin 4
G is pressed and biased in the direction of the nozzle base 15, and its upper and lower ends are bent into an L shape and inserted and locked into holes formed in the holder 7 flange 36 and guide holder 38, so as to return to the circumferential neutral position posture. is energized by

On the other hand, a holder 42 is fixed in the middle of the base plate 6, and a cylinder 44 is installed via a bracket 43, and the base end of a drive plate 4G is fixed to the rod tip of the cylinder 44 via a floating coupler 45.

The holder 42 is attached to the tip of the drive plate 46.
The shaft 4 is supported up and down via the sleeve 41.
8 has a cone-shaped attachment 49 integrally fixed to its lower end, and the cone-shaped receptacle of the attachment receptacle 50 located above the cap 23 of the cylinder 16 fits into the hole and comes into contact with it, and then separates and separates to be restrained and released. It is equipped with W151.

<Embodiment - Effect> In the above-described configuration, when a predetermined portion of the automobile body 1 is sealed by the robot 2, the operating rotation of the robot 2 as a sealing device is within the fan-shaped range shown by the dashed line in FIG. If there is, the door panel and part of the floor can be used as a sealing work area.

When sealing the door panel, as shown in Figure 4, the door panel alignment 111
However, as mentioned earlier, due to errors etc., the positioning is mainly due to the actual f position, which is shifted by d, as shown by the two-dot chain line above and below.
There are iJ prerequisites, and as a matter of course, the required work conditions are that the door panel is better than the floor, etc. 1
Robot 2 has an inherent precision that allows it to apply to the floor in situations where robot No. 11 requires more accurate application.
If so, the same robot 2 and coating device 5 are used for the door.
This allows for sufficiently accurate application.

In this case, in view of the general structure, the floor does not have a guide reference surface, whereas the door panel arrangement 111 has a structure in which the outer circumference of the door can serve as a guide reference surface.

Therefore, in the case of coating the floor part, first, high-pressure air is supplied from a high-pressure air source (not shown) to the cylinder 44 of the coating device 5 of the embodiment through the air piping, and the rod is drawn in, and the floating coupler is directly connected to the rod. 45 and the shaft 48 is lowered through the drive plate 46, and the attachment 49 is lowered and advanced into the hole of the attachment receiver 50 to the state shown by the two-dot chain line in FIG.
2 is directed to the sealing area, the robot 2 is taught the application operation, and then the sealer material is supplied from the sealer supply port 8, and the gun on air supply port 2 is directed to the sealing area.
1 to supply high pressure air against the pressurizing spring 29,
The needle shaft 17 is raised together with the piston 19 to perform the coating work.

In this state, the movement of the tip of the nozzle 32 that faithfully follows the movement of the robot 2 can be obtained, and a wide range of coating can be performed.

Next, when sealing the door panel seal 111, the shaft 48 is pulled up by high pressure air against the cylinder 44, contrary to the above operation, and the nozzle shaft 33
is set in a free state so that it can freely rotate 360' in FIG. 1, and the coating operation is taught and the coating work is performed.

Therefore, the outer periphery of the door panel 111 etc.
．． As shown in the cross section in Figure 6.7, a hemming with a guide function is formed as a single M surface, and the width W between the seam 112 and the outermost circumference is 10 to 12 am at most parts. is formed.

Therefore, as shown in FIG. 7, the application device 5 is oscillated in the direction X perpendicular to the seam 112, and the guide pin 39 is pressed against the outer circumference of the hemming by the elastic force of the oscillation spring 37. 4 to perform the teaching coating operation while aligning the discharge hole 51 of the nozzle tip 14 along the outer circumference of the door as a guide, the position of the door panel alignment 111 can be adjusted as shown in FIG. Even if there is a deviation d, or even if the movement accuracy of the robot 2 is poor and a deviation occurs in the movement locus, a part separated by a predetermined distance tti from the outer periphery can be sealed with a thin bead, and accurate sealing can be performed.

It should be noted that the embodiments of the invention of this application are of course not limited to the above-mentioned embodiments. For example, the guide may have a simpler rotation mechanism, and the discharge hole 52 may be aligned with the gun center axis without offset. Similar effects can be obtained even with a structure like the embodiment shown in FIG. 10.11.

That is, even when the relative positions of the guide bin 39 and the nozzle tip 14 are fixed, the line connecting the center of the guide bin 39 and the discharge hole 52 is perpendicular to the hemming outer circumferential line 113. With respect to the distance 1'' between the discharge hole 52 and the id pin 39 as shown in FIG. 12, the gun is twisted together with the guide bin 39 so that it is inclined to the hemming outer circumferential line 113, as shown in FIG. If used, discharge hole 5
2 and the guide bin 39 becomes narrower.

Thereby, teaching coating similar to that shown in FIG. 8 can be performed.

Further, various aspects can be adopted, such as using a mechanism in which the guide is slidable in the axial direction, and when the guide is not in use, it is retracted, and the vicinity of the nozzle is made slimmer.

<Effects of the Invention> As described above, according to the invention of this application, sealing for the joints of members whose positions and orientations are intricately linked in the coating process, etc. at an automobile manufacturing factory can be done without errors during installation. The excellent effect of sealing with a thin bead with the necessary and desired precision is achieved without any influence from the above.

In addition, the robot used for the sealing device does not need to be modified with a special control circuit or the like on a commercially available industrial robot such as a playback type, and can be used as is, which has the advantage of reducing manufacturing costs. It also has the excellent effect of occupying less space and being able to be installed compactly and simply.

In addition, since there are fewer limitations on the range that can be applied to coating operations, the operating efficiency of the robots set up is high, and the number of processes is reduced, which in turn reduces maintenance management and minimizes the number of work process controls, etc., and the entire system is It also has the excellent effect of being simple, low cost, and easy to adapt to changes in the production process.

Moreover, since the coating speed can be effectively increased to the limit of the sealing device, there is also the effect that highly efficient coating work can be performed, and the excellent effect that the teaching man-hour can be dramatically reduced is achieved.

Further, since the coating accuracy is improved, the amount of coating material used is reduced, and there is also the advantage that the material cost is reduced accordingly.

Further, since the desired coating operation can be reliably performed on each necessary part of the workpiece, there is also the effect that the product accuracy can be improved as a result.

In addition, by integrating the nozzle shaft and gun body block and supporting it on the base plate via a ball bearing, the nozzle can swing freely, and in combination with the operation of sealing devices such as robots, teaching can be performed using the in-cylinder structure. , it has excellent effects when applied.

Furthermore, an offset discharge hole is provided in the nozzle tip with a guide at the tip of the nozzle shaft, and
By linking the nozzle tip with the driving device of the sealing device, it is possible not only to use the guide as described above to form an approximate reference position and reference portion, and apply the coating material as desired by the nozzle, but also to drive the sealing device. By rotating the nozzle tip using a device and adjusting the discharge hole toward and away from the guide, it faithfully follows the complex seam of the hemming part mentioned above, and uses less coating material to create a thin bead. The excellent effect of being able to perform coating work is achieved.

By providing a restraint separation position between the gun body and the base plate, it is possible to work with no interfering parts,
71 to the am work! Another effect is that the teaching application work can be changed flexibly.

[Brief explanation of the drawing]

The drawings are detailed explanatory diagrams of the invention of this application, in which Fig. 1 is a partially sectional side view of a coating device according to one embodiment, Fig. 2 is an overall front view of the same sealing equipment, and Fig. 3 is a sealing device for an automobile. Fig. 4 is a front view of the door alignment error explanation part, Fig. 5 is a side view of the door alignment, Fig. 6 is a plane cross-sectional view of Fig. 5 Vl-Vl, and Fig. 7 is a rear perspective view of the door panel hemming part. Fig. 8 is a side view of the hemming part applied, Fig. 9 is a bottom view of the nozzle, Fig. 10 is a side view of the nozzle part of another embodiment, Fig. 11 is a bottom view of the same, and Figs. 12 and 13 are another one. It is a coating explanatory drawing of an Example. 111...Work, member, 4...Coating device,
5... Base plate, 35... Ball bearing, 33
,...Nozzle shaft, 39...Guide, 51...
・Restraint separation device, 52...Discharge hole Figure 3 Figure 7 Figure 8 Figure 11 Procedural amendment (Rei) March 3, 1988 Director General of the Patent Office 1, Indication of the case Showa 1959 Patent Application No. 145943 High viscosity material coating device Representative Kiyoshi Matsumoto 5 Date of amendment order February 25, 1985 (shipment date of procedure amendment order) 6 Specification subject to amendment

Claims (2)

[Claims] (1) In a high-viscosity material coating device that seals workpieces made of multiple members in different positions and orientations, and which can be freely attached to a robot via a base plate, the sealing material coating device is configured as described above. A workpiece guide is provided on the extended nozzle shaft of the block, which is swingably supported on a ball bearing provided on the base plate, and the discharge hole at the tip of the nozzle is provided so as to be freely offset from the guide. High viscosity material coating equipment. (2) In a high-viscosity material coating device that seals workpieces made of multiple members in different positions and orientations, and which can be freely attached to a robot via a base plate, the sealing material coating device is A workpiece guide is provided on the extending nozzle shaft of the block which is swingably supported on a ball bearing provided on the base plate, and a release device for restraining the nozzle shaft with respect to the block is provided. High viscosity material coating equipment.